CN112873247B - Two-claw flexible manipulator grabbing force and grabbing pose control system and method - Google Patents

Two-claw flexible manipulator grabbing force and grabbing pose control system and method Download PDF

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Publication number
CN112873247B
CN112873247B CN202011642913.5A CN202011642913A CN112873247B CN 112873247 B CN112873247 B CN 112873247B CN 202011642913 A CN202011642913 A CN 202011642913A CN 112873247 B CN112873247 B CN 112873247B
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Prior art keywords
fingertip
claw
knuckle
pressure
finger
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CN112873247A (en
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潘柏松
邵旭辉
吴全会
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Taizhou Research Institute of Zhejiang University of Technology
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Taizhou Research Institute of Zhejiang University of Technology
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Priority to PCT/CN2021/141936 priority patent/WO2022143613A1/en
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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
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • 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
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • 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
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control

Abstract

The invention provides a two-claw flexible manipulator grabbing force and grabbing pose control system and method, wherein the control system comprises a two-claw flexible manipulator, the two-claw flexible manipulator comprises a first claw and a second claw which are symmetrically arranged on a fixed seat, the first claw and the second claw respectively comprise a finger root joint, a middle finger joint and a finger tip joint which are sequentially hinged, and a finger tip driving cylinder; the driving unit is used for providing and adjusting air inlet pressure of the fingertip driving cylinders or enabling the left fingertip driving cylinder and the right fingertip driving cylinder to form a certain air pressure difference; a sensing unit for detecting a claw gripping pressure and an intake pressure of the fingertip driving cylinder; and the controller is used for controlling the air pressure adjusting device to act to adjust the air inlet pressure of the fingertip driving cylinder based on the control instruction and the data acquired by the claw pressure sensor and the air pressure detection sensor, so as to control the clamping force of the two-claw flexible manipulator and/or adjust the clamping pose.

Description

Two-claw flexible manipulator grabbing force and grabbing pose control system and method
Technical Field
The invention relates to the technical field of flexible manipulator control, in particular to a system and a method for controlling gripping force and finely adjusting gripping pose of a flexible manipulator.
Background
The manipulator end effector is an important component in a manipulator actuating mechanism, and the design of the structure of the manipulator end effector has great influence on the grabbing effect and the working efficiency of the manipulator. Most of the general manipulator end effectors are rigid structures, the grabbing force is large, and the grabbed target objects are hard in appearance and regular in shape.
The flexible manipulator has been widely used in the industrial field, and in the industrial manufacturing and assembling field, the robot has been widely used, and the control of the clamping force required by different parts and different feature shapes are different. The traditional manipulator is only a special manipulator designed for a single target part product, has poor adaptability to multiple target parts and is high in replacement cost. And the combination of the industrial robot and the flexible manipulator can effectively solve the problem of adaptability of clamping different parts. However, the control requirement of the manipulator for realizing variable clamping force on the target piece is provided aiming at different clamping characteristics required by different target pieces. Control of the gripping force is also one of the features of the flexible manipulator.
The existing flexible manipulator aiming at the gripping force control adopts a control mode of a servo drive finger and an angle sensor, and converts an angle change value obtained by clamping a monitored flexible finger end into a deformation of a flexible finger deformation patch so as to calculate the size of the gripping force. Although the force control of the flexible manipulator is accurate, the control method is not suitable for the industrial field. On the one hand, the control method is relatively complex and relatively high in cost. On the other hand, target parts facing the industrial field are complex, the clamping characteristic requirements are different, the change range is large, and the existing control mode is difficult to adapt to the requirements. For example, generally, a large clamping force is needed to ensure clamping accuracy when a blank is machined, and a proper gripping force needs to be controlled to adaptively grasp a thin-wall part or a precise part.
Disclosure of Invention
In order to solve the problems in the prior art, the invention comprehensively considers the requirements of cost, control mode, adaptability and the like, provides a novel manipulator control mode, adopts the mode of driving fingers by using an air cylinder, and realizes the control of clamping force by adjusting the air pressure of the air cylinder.
In order to achieve the purpose, the invention adopts the following technical scheme:
the first aspect of the invention is a two-claw flexible manipulator grabbing force and grabbing pose control system, comprising:
the two-claw flexible manipulator comprises a first claw and a second claw which are symmetrically arranged on the fixed seat, the first claw and the second claw respectively comprise a finger root section, a middle finger section, a finger tip section and a finger tip driving cylinder which are sequentially hinged, the tail end of the finger tip driving cylinder is hinged with the finger root section, and the movable end of the finger tip driving cylinder is hinged with the finger tip section;
the driving unit comprises an air source and an air pressure regulator, and is used for providing and regulating air inlet pressure of the fingertip driving cylinders or enabling the left fingertip driving cylinder and the right fingertip driving cylinder to form a certain air pressure difference;
a sensing unit including a claw clamping pressure sensor and an air pressure detecting sensor for detecting a claw clamping pressure and an intake air pressure of the fingertip driving cylinder;
and the controller is connected with the air pressure adjusting device, the claw pressure sensor and the air pressure detection sensor and is used for controlling the air pressure adjusting device to act to adjust the air inlet pressure of the fingertip driving cylinder based on a control instruction and data acquired by the claw pressure sensor and the air pressure detection sensor so as to control the clamping force of the two-claw flexible manipulator and/or adjust the clamping pose.
Furthermore, the fixing seat comprises a finger root joint fixing seat and a finger root joint fixing plate, the front end of the finger root joint fixing seat is a finger root joint fixing end, the rear end of the finger root joint fixing seat is a finger root joint reference shaft, two sides of the finger root joint fixing seat are limit pins, and a hole position above the middle of the finger root joint fixing seat is a positioning pin hole; the left side and the right side of the finger root joint fixing plate are symmetrically provided with an arc-shaped U hole respectively, a finger root seat reference shaft of the finger root joint fixing seat is positioned at the center through hole of the arc-shaped U hole, and limiting pins at two sides are positioned in arc-shaped waist-shaped holes at two sides of the center through hole of the arc-shaped U hole; the finger root joint comprises three connecting ends, the first end is hinged with the finger root joint fixing seat through a finger root joint fixing pin shaft, the second end is hinged with the finger root joint push rod through a cylinder tailstock fixing pin shaft, and the third end is hinged with the middle finger joint through a middle finger joint fixing pin shaft; the middle knuckle comprises two connecting ends, the first end is hinged with the fingertip knuckle through a middle knuckle fixing pin shaft, the second end is hinged with the finger root knuckle through a fingertip knuckle connecting pin shaft, and the middle knuckle and the fingertip knuckle realize clamping of the flexible manipulator and form an enveloping angle; the fingertip joint comprises two connecting ends, the first end of the fingertip joint is hinged with the middle knuckle through a fingertip joint connecting pin shaft, and the second end of the fingertip joint is hinged with a Y-shaped joint at one end of the fingertip driving cylinder through a Y-shaped joint connecting pin shaft; the fingertip drives the cylinder, a Y-shaped joint at one end is hinged with a fingertip joint through a Y-shaped joint connecting pin shaft, and the other end is hinged with a finger root joint push rod and a finger root joint through a cylinder tailstock fixing pin shaft; the two-claw flexible manipulator further comprises a middle knuckle torsion spring, the middle knuckle torsion spring is arranged around a fixed pin shaft of the middle knuckle and the knuckle, and two ends of the middle knuckle and the knuckle are respectively fixed on the middle knuckle and the knuckle; and the fingertip knuckle torsion spring is arranged around the fixed pin shaft of the middle knuckle and the fingertip knuckle, and two ends of the fingertip torsion spring are respectively fixed on the middle knuckle and the fingertip knuckle.
Furthermore, the air pressure adjusting device comprises an electric control pressure adjusting valve I and an electric control pressure adjusting valve II which are connected with an air source, an electromagnetic directional valve I which is connected with the electric control pressure adjusting valve I and a first fingertip driving cylinder, and an electromagnetic directional valve II which is connected with the electric control pressure adjusting valve II and a second fingertip driving cylinder, wherein the electric control pressure adjusting valve I and the electric control pressure adjusting valve II are electric control precision pressure reducing valves.
Furthermore, the claw pressure sensor comprises four integrally arranged contact pressure gaskets and patch type pressure sensors which are respectively arranged on the clamping contact surfaces in the middle finger joints and the finger tip joints of the first claw and the second claw, and a sensor processing module connected with the patch type pressure sensors, and the sensor processing module is connected with the controller.
Furthermore, the air pressure detection sensor comprises a first air inlet pressure detector arranged on a pipeline between the first electric control pressure regulating valve and the first electromagnetic reversing valve, and a second air inlet pressure detector arranged on a pipeline between the second electric control pressure regulating valve and the second electromagnetic reversing valve.
A second aspect of the present invention is a method for controlling gripping force and gripping pose of a two-claw flexible manipulator, which is applied to the control system according to the first aspect, and includes:
controlling the grasping force: 10) determining a suitable gripping force range according to different characteristics of the target piece; 11) converting a thrust value range of the required fingertip driving cylinder according to the determined clamping force; 12) reversely deducing the air pressure value range of the fingertip driving air cylinder based on an air cylinder thrust formula according to the calculated thrust value; 13) the air pressure adjusting device is controlled by the controller to adjust the air inlet pressure of the fingertip driving cylinder to a preset air pressure value range.
Further, in step 11), the thrust value of the required fingertip driving cylinder is converted according to the clamping force based on the following formula:
Figure BDA0002872750770000031
wherein, F1、F2Indicating contact force when the manipulator grips the object，k1、k2The modulus of elasticity of the torsion spring between the fingers.
Further, in step 12), the cylinder inference formula is as follows:
F＝k·P·A-f
wherein F is the thrust value of the cylinder, k is the efficiency of the cylinder, P is the pressure intensity of the air pressure, and A is the sectional area of the cylinder.
Further, the method for controlling the grabbing force and the grabbing pose of the two-claw flexible manipulator further comprises the following steps:
and (3) grabbing pose control: 20) calculating a preset offset value of the two-claw flexible manipulator; 21) calculating the pressure value of the claw pressure sensor when the two-claw flexible manipulator is positioned at the preset offset position; 22) reversely converting the air pressure value range of the fingertip driving air cylinder based on an air cylinder thrust formula according to the calculated pressure value; 23) the controller controls the air pressure adjusting device to adjust the air inlet air pressure of the two fingertip driving cylinders to a preset air pressure value, so that an air pressure difference is formed, and the two-claw flexible manipulator reaches a set deviation value position.
The invention has the beneficial effects that:
function 1 is realized: based on the control system and the control method, the change of the clamping force of the manipulator in the process of clamping the target piece can be realized. In industrial applications, different requirements for the clamping force of the manipulator exist, so that the design of the manipulator requires precise control of the clamping force of the manipulator on the part. For example, a chuck clamp can be loaded with a large clamping force before machining, so that the loading stability of a workpiece is improved, and after machining is completed, the chuck clamp is not suitable for the large clamping force to prevent the surface of the part from being damaged due to high requirements on the surface of the workpiece. Then the air pressure of the adjustment cylinder can be controlled to use a smaller clamping force.
And realizing the function 2: based on the control system and the control method, the fine adjustment of the clamping position of the target piece can be realized.
By measuring the change of the pressure values of different contact points, the two fingertips are controlled to drive the cylinders to form unequal air pressure difference, so that the center of the clamped workpiece deviates to one side of the cylinder with large air pressure, and the position of the workpiece is finely adjusted.
Drawings
Fig. 1 is a schematic diagram of the composition and connection relationship of an embodiment of a two-claw flexible manipulator grabbing force and grabbing pose control system of the invention.
Fig. 2 is a schematic structural diagram of a two-jaw flexible manipulator in an embodiment of the invention.
Fig. 3 is a view of the finger base fixing plate and the finger base in the embodiment of the invention.
Fig. 4 is a schematic diagram of a three-finger basic structure of a robot belt drive according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a three-knuckle flexible manipulator grasping according to an embodiment of the invention.
Fig. 6 is a structural diagram of an indexable finger base of a manipulator according to an embodiment of the invention.
Fig. 7 is a schematic diagram of a driving and position fine-tuning structure of a two-claw flexible manipulator according to an embodiment of the invention.
Fig. 8 is a schematic diagram of a two-jaw flexible manipulator driving structure according to an embodiment of the invention.
FIG. 9 is a pose modulation schematic diagram of the gripping force and gripping pose control method of the two-claw flexible manipulator.
Fig. 10 is a control flow schematic diagram of the two-claw flexible manipulator grabbing force and grabbing pose control method of the invention.
Fig. 11 is a first mathematical model diagram of a micro-deflection clamping state related to the method for controlling the gripping force and the gripping pose of the two-claw flexible manipulator.
Fig. 12 is a second mathematical model diagram of a micro-deflection clamping state related to the method for controlling the gripping force and the gripping pose of the two-claw flexible manipulator.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Referring to fig. 1, a first illustrative embodiment of the present invention is a two-claw flexible manipulator grasping force and grasping pose control system, including:
the two-claw flexible manipulator 100 comprises a first claw and a second claw which are symmetrically arranged on a fixed seat, wherein the first claw and the second claw respectively comprise a finger root section, a middle finger section, a finger tip section and a finger tip driving cylinder which are sequentially hinged, the tail end of the finger tip driving cylinder is hinged with the finger root section, and the movable end of the finger tip driving cylinder is hinged with the finger tip section;
the driving unit comprises an air source 107 and an air pressure adjusting device and is used for providing and adjusting air inlet pressure of the fingertip driving cylinders or enabling the left fingertip driving cylinder and the right fingertip driving cylinder to form a certain air pressure difference;
a sensing unit including a claw clamping pressure sensor and an air pressure detecting sensor for detecting a claw clamping pressure and an intake air pressure of the fingertip driving cylinder;
and the controller 109 is connected with the air pressure adjusting device, the claw pressure sensor and the air pressure detection sensor and is used for controlling the air pressure adjusting device to act to adjust the air inlet pressure of the fingertip driving cylinder based on a control instruction and data collected by the claw pressure sensor and the air pressure detection sensor so as to control the clamping force of the two-claw flexible manipulator and/or adjust the clamping pose.
Referring to fig. 2-8, the two-jaw flexible manipulator in the present embodiment includes:
a finger root joint fixing seat 15, the front end of which is a finger root joint fixing end, the rear end of which is a finger root seat reference shaft 42, two sides of which are provided with limit pins 45, and a hole position above the middle of which is a positioning pin hole;
the finger root section fixing plate 18 is characterized in that the left side and the right side of a root section fixing panel are symmetrically provided with an arc-shaped U hole respectively, a finger root seat reference shaft 42 of a finger root fixing seat is positioned at a circle center through hole of the arc-shaped U hole, and limiting pins at two sides are positioned in arc-shaped waist-shaped holes at two sides of the circle center through hole of the arc-shaped U hole, so that the finger root fixing seat can have a rotation range of about-30 degrees to 30 degrees;
the finger root joint 12 comprises three connecting ends, the first end is hinged with the finger root joint fixing seat through a finger root joint fixing pin 14, the second end is hinged with a finger root joint push rod 13 through a cylinder tailstock fixing pin 10, the third end is hinged with the middle finger joint 8 through a middle finger joint fixing pin 9, and the opening and closing size of the finger root joint can be determined by the up-and-down pushing of the push rod;
the middle knuckle 8 comprises two connecting ends, the first end is hinged with the knuckle root section through a middle knuckle fixed pin shaft 9, the second end is hinged with the fingertip section 1 through a fingertip section connecting pin shaft 5, and the middle knuckle 8 and the fingertip section 1 realize clamping of the flexible manipulator and form an enveloping angle;
the fingertip joint 1 comprises two connecting ends, the first end of the fingertip joint is hinged with the middle knuckle 7 through a fingertip knuckle connecting pin shaft 5, and the second end of the fingertip joint is hinged with a Y-shaped joint 3 at one end of a fingertip driving cylinder 7 through a Y-shaped joint connecting pin shaft 2;
the middle knuckle torsion spring 11 is arranged around the fixed pin shafts of the middle knuckle and the knuckle, and two ends of the middle knuckle torsion spring are respectively fixed on the middle knuckle and the knuckle;
the finger tip section torsion spring 4 is arranged around the fixed pin shaft of the middle finger section and the finger tip section, and two ends of the finger tip section torsion spring are respectively fixed on the middle finger section and the finger tip section;
the fingertip drives the cylinder 7, the Y-shaped joint at one end is hinged with the fingertip joint through a Y-shaped joint connecting pin shaft, and the other end is hinged with the finger root joint push rod and the finger root joint through a cylinder tailstock fixing pin shaft. And the clamping and releasing positions of the flexible manipulator are realized according to the two telescopic limiting positions of the cylinder. The further cylinder drive that uses can realize the regulation to clamping force through the size of adjusting atmospheric pressure, thereby can effectually realize two cylinders through the control adjustment to two cylinder relief valves that form the atmospheric pressure difference and have the effect of a fine setting to the position when pressing from both sides and getting the target piece.
This embodiment still includes flexible manipulator finger root section drive part, includes:
the main motor 41 is used for providing opening and closing power for the finger root joints of the mechanical arm;
a main motor motion converting means including a main drive screw 39 and a main drive nut 61 for converting the rotational motion of the main motor 68 into a linear motion;
one end of the manipulator finger root joint 1 is hinged with a finger root joint driving part front fixing plate 58 through a finger root fixing seat 15, the other end of the manipulator finger root joint 1 is hinged with one end of a finger root joint push rod 23, and the other end of the finger root joint push rod 23 is hinged with push rod arms on two sides of a main driving movable plate 38;
wherein, the main driving screw 39 is fixedly connected with the output shaft of the main motor 41, the main driving nut 61 is fixed on the main driving movable plate 38 of the flexible manipulator knuckle driving part, and the main motor 41 is fixed on the main motor fixing plate of the flexible manipulator knuckle driving mechanism;
the end part of the main motor screw rod 39 is nested on a front fixing plate 58 of the flexible manipulator knuckle driving mechanism through a first bearing seat, and the front main motor fixing plate is connected with a knuckle driving part connecting piece 51;
the front main motor fixing plates are connected through a guide supporting column 37; a linear bearing is arranged between the front main motor fixing plate and the guide supporting column 37;
wherein position fine setting part actuating mechanism includes:
the auxiliary motor is used for realizing the integral front-back displacement of the manipulator;
the auxiliary motor motion conversion device comprises an auxiliary motor screw 59 and an auxiliary motor screw nut 57 and is used for converting the rotary motion of the auxiliary motor into linear motion;
wherein, the auxiliary motor screw 59 is fixedly connected with the output shaft of the auxiliary motor, the auxiliary motor screw nut 57 is fixed on the middle fixing plate 55 of the position fine adjustment part, the auxiliary motor is fixed on the auxiliary motor fixing plate, and the middle fixing plate 55 is fixedly connected with the robot tail end fixing plate 54 through a T-shaped connecting plate 53; the end part of the auxiliary motor screw 59 is nested on the front end fixing plate 58 of the position fine adjustment part through a second bearing seat; the auxiliary motor fixing plate 50 is connected with the front end fixing plate 58 through a position fine-tuning part connecting piece 49, and two position fine-tuning part guide supporting columns are arranged between the auxiliary motor fixing plate and the front end fixing plate;
wherein shock attenuation part includes: the damping sleeve 66 and the compression spring 67 are respectively fixed on the finger root joint driving part front fixing plate 58 and the main motor fixing plate, the compression spring 67 is arranged between the damping sleeve end and the auxiliary motor fixing plate 50 and between the damping sleeve end and the front end fixing plate 63, a rubber damping sleeve is arranged in the sleeve and sleeved on the position fine adjustment part guide supporting column, and the rubber sleeve is fixed through a damping sleeve end cover.
The main motor and the auxiliary motor are both main stepping motors.
The finger root joint driving part connecting piece and the position fine adjustment part connecting piece are both 'C' -shaped fixing pieces.
The first bearing and the second bearing are both linear bearings.
The first bearing and the second bearing are supported through a rhombic bearing seat.
The main motor 21 provides the opening and closing power for the finger root section of the mechanical hand, wherein a screw nut of the main motor 21 is fixed on a movable push plate 20 of a driving part of the finger root section of the flexible mechanical hand, the main motor is fixed on a rear motor fixing plate 1 of the driving part of the finger root section of the flexible mechanical hand, meanwhile, the end part of the lead screw of the main stepping motor is nested with the front fixing plate 17 of the finger root joint driving part of the mechanical arm through a diamond-shaped bearing seat, the two front main motor fixing plates are connected through a [ -shaped fixing piece 6, and the guide supporting columns 2 of the finger root joint driving part are also connected between the front main motor fixing plates, the guide post structure has the advantages that the movable push plate positioned in the middle can slide along the direction of the guide post, meanwhile, the linear bearing is arranged between the fixed push plate and the guide post, so that the sliding friction force is reduced, meanwhile, the guide post is effectively prevented from being abraded, and the movement accuracy of the movable push plate is improved.
Similarly, for the position fine adjustment part of the flexible manipulator, an auxiliary main stepping motor for realizing the integral forward and backward displacement of the manipulator, a screw rod 11 and nut pair 10 for changing the rotary motion into the linear motion, and a screw rod nut of the same auxiliary main stepping motor is fixed on a middle fixing plate 9 of the position fine adjustment part. And the middle fixing plate 9 and the robot end fixing plate 8 are rigidly connected through the T-shaped connecting plate 7. And the small motor is fixed on the auxiliary motor fixing plate 4. Meanwhile, the port of the auxiliary motor screw rod is nested on the front fixing plate 12 of the position fine adjustment part through a diamond bearing seat. The two front main motor fixing plates are also connected through a [ -shaped fixing piece 3. Wherein the intermediate fixing plate 9 and the robot end fixing plate are in a fixed state. And the auxiliary main stepping motor drives the whole manipulator to move when rotating.
Referring to fig. 6, a rotatable knuckle is particularly designed for a target member with a clamping side surface having an inclination angle. The adaptation angle is α 1. The specific indexing mechanism for the finger root joint comprises a finger root seat reference shaft 44, a clamping ring 43, a scroll spring 42 and a limiting pin 45, wherein the finger root seat reference shaft 44 penetrates through a circle center through hole of an arc-shaped U hole to be fixed through the clamping ring 43, the scroll spring 42 is arranged at the position of the finger root seat reference shaft 44 and the circle center through hole, and certain constraint force is formed by the scroll spring 42.
The basic structure of a single finger is analyzed first. Each finger is provided with a far knuckle, a near knuckle and a middle knuckle, each knuckle is provided with one degree of freedom, the three degrees of freedom are counted, the input end is provided with two drives, one drive is that the clamping range of the finger root is adjusted through an external connecting rod, and the second drive is that the finger root directly acts on the finger tip to complete the process of enveloping and clamping the target piece. The mechanism is an under-actuated mechanism because the external input has only two actuations. The freedom of the position of the middle knuckle without actuation must therefore be limited. The principle of the manipulator structure with torsion springs added at the hinged parts between the middle knuckle and the near knuckle and between the far knuckle and the middle knuckle as the restoring elements between the knuckles is shown in fig. 4.
The state diagram of the process of grabbing the object after adding the driving element is shown in figure 5(1), and the hand grip is in the initial state. The middle knuckle fitting target member at the initial stage when the finger base part is pushed by the finger base push rod EG at the beginning of the gripping is shown in FIG. 5 (2). After the primary attaching is finished, the finger tip position is pushed by the EF rod to further clamp, and the finger tip is attached continuously along with the inclination angle when contacting the surface of the target part once as shown in (3) of FIG. 5, so that the matching effect of the envelope state in the horizontal direction and the inclination angle in the vertical direction is formed on the target part.
In the clamping process of the two-claw flexible manipulator in the embodiment of the invention, the main stepping motor drives the knuckle push rod to move. And stopping after reaching the proper clamping width of the target piece. Then the finger tip section drives the cylinder to drive, so that the finger tip is close to the target part, and the finger tip section is automatically attached to the angle of force balance along with the action of the clamping force and is matched with the side edge inclination angle of the target part. When the proper position is achieved, the finger tip joint and the middle finger joint can form an envelope on the outer contour of the target part, and the clamping state of the flexible manipulator on different target parts is shown in fig. 3.
The two-claw flexible manipulator in the embodiment of the invention is respectively driven by a main stepping motor and an air cylinder, the main stepping motor pushes a movable plate to move forwards or backwards through the transmission of a screw nut, so that the opening and closing state of a finger root section is adjusted, the two-claw flexible manipulator is suitable for clamping parts in different width ranges, a finger claw is pushed by a finger air cylinder, and the opening and closing of a finger tip can be adjusted and the clamping is realized through the pushing and pulling of the air cylinder.
Referring to fig. 1, the control system in the embodiment of the present invention includes a first electrically controlled pressure regulating valve 105 and a second electrically controlled pressure regulating valve 106 connected to the air source, and a first electromagnetic directional valve 101 connected to the first electrically controlled pressure regulating valve 105 and the first fingertip driving cylinder, and a second electromagnetic directional valve 102 connected to the second electrically controlled pressure regulating valve 106 and the second fingertip driving cylinder. The first electric control pressure regulating valve and the second electric control pressure regulating valve are electric control precision pressure reducing valves which mainly comprise precision pressure reducing valves and driving motors, and the controller controls the pressure value change through the left rotation or the right rotation of the driving motors. The air filter, the air pump and the air tank jointly form an air source part.
Referring to fig. 1 and 9, in the control system according to the embodiment of the present invention, the jaw pressure sensor includes four integrally-arranged contact pressure pads and patch pressure sensors 120 respectively disposed on the inner clamping contact surfaces of the middle knuckle and the fingertip knuckle of the first jaw and the second jaw, and a sensor processing module connected to the patch pressure sensors, and the sensor processing module is connected to the controller. The object contacts the pressure pad, creating an equilibrium force that is projected onto the pressure sensor. The specific value of the clamping force is obtained by processing the voltage by the pressure sensor processing module and transmitting the processed voltage to the controller.
Referring to fig. 1, in the control system according to the embodiment of the present invention, the air pressure detecting sensor includes a first air inlet pressure detector 103 disposed on a pipeline between the first electrically controlled pressure regulating valve and the first electromagnetic directional valve, and a second air inlet pressure detector 104 disposed on a pipeline between the second electrically controlled pressure regulating valve and the second electromagnetic directional valve, and feeds back a detection signal to the controller through a wire.
The first illustrated embodiment of the present invention is a control method of the two-claw flexible manipulator grasping force and grasping pose control system, including grasping force control and grasping pose control.
Controlling the grasping force: 10) determining a suitable gripping force range according to different characteristics of the target piece; 11) converting a thrust value range of the required fingertip driving cylinder according to the determined clamping force; 12) reversely deducing the air pressure value range of the fingertip driving air cylinder based on an air cylinder thrust formula according to the calculated thrust value; 13) the air pressure adjusting device is controlled by the controller to adjust the air inlet pressure of the fingertip driving cylinder to a preset air pressure value range.
The thrust value of the required fingertip driving cylinder is converted according to the clamping force and is based on the following formula:
Figure BDA0002872750770000091
wherein, F1、F2Representing the contact force, k, of the manipulator gripping the object1、k2The modulus of elasticity of the torsion spring between the fingers.
Further, in step 12), the cylinder inference formula is as follows:
F＝k·P·A-f
wherein F is the thrust value of the cylinder, k is the efficiency of the cylinder, P is the pressure intensity of the air pressure, and A is the sectional area of the cylinder.
And (3) grabbing pose control: 20) calculating a preset offset value of the two-claw flexible manipulator; 21) calculating the pressure value of the claw pressure sensor when the two-claw flexible manipulator is positioned at the preset offset position; 22) reversely converting the air pressure value range of the fingertip driving air cylinder based on an air cylinder thrust formula according to the calculated pressure value; 23) the controller controls the air pressure adjusting device to adjust the air inlet air pressure of the two fingertip driving cylinders to a preset air pressure value, so that an air pressure difference is formed, and the two-claw flexible manipulator reaches a set deviation value position.
Further, step 21) specifically includes:
firstly, a position fine adjustment offset workpiece circle center seat is obtained[ P ]x',Py']Wherein P' ═ xCC',yCC']The coordinates of the center point after the deviation; the equation of the offset value is s ═ P'x-PxThen the preset offset is s ═ P'x(ii) a Under ideal conditions PxThe force angles and positions of the 4 forces F1, F2, F3, F4 after being offset by the S position are then determined according to the force balance principle.
This is described in further detail below in conjunction with fig. 9-11.
Referring to fig. 11, in achieving the slightly biased state, the analysis of the kinematic state was performed on the basis of the ABE segment as a fixed basis. In this case, the angle α 2 is a presumed known quantity. The workpiece diameter R and the preset deviation value s can be used as parameters.
Position fine adjustment offset work piece center coordinates [ Px',Py']
Figure BDA0002872750770000101
Figure BDA0002872750770000102
The coordinates of point C' are:
[L0×cos(α0)+L2×cos(α0+α3)-L5,L0×sin(α0)+L2×sin(α0+α3)]
the center line CC' equation:
Figure BDA0002872750770000103
Figure BDA0002872750770000104
the distance equation ZP 'BC from the center point P' to the BC section is:
Figure BDA0002872750770000105
Figure BDA0002872750770000106
the distance equation from the central point P ' to the segment B ' C ' is as follows:
Figure BDA0002872750770000107
Figure BDA0002872750770000108
adding constraint conditions:
(1) the point of the circle center P 'is on the connecting line CC'.
(2)ZP'BC＝R。
(3)ZP'B'C'＝R。
Wherein P' ═ xCC',yCC']Are the shifted center point coordinates. The equation of the offset value is s ═ P'x-PxUnder ideal conditions P x0, then the preset offset is s-P'x。
Fine tuning of the workpiece in the X-direction can be achieved by varying the length of the EF section, where the values of the expansion are μ and η.
Analyzing and giving a relation equation of the mu value and the expected deviation amount S:
the angle between the connecting line CC' and the connecting rod BC can be deduced by an angle alpha 2 equation:
Figure BDA0002872750770000111
Figure BDA0002872750770000112
determination of the directional offset compensation value m:
m＝L0×sin(α0)+L2×sin(π-α0-f-1(α1))-yCC'
TABLE 1 Fine tuning of deviation motion state parameters
Figure BDA0002872750770000113
Assume that a 5mm micro-deflection operation is to be performed on the workpiece. The workpiece with the radius of 50mm is set as a target object, parameters are respectively studied in the ranges of 55 degrees, 60 degrees and 65 degrees and are drawn into a deflection model to be solved, and deflection motion parameters are obtained.
(1) When the finger root and the finger rotate angle alpha 0 is 55 degrees and the radius of the clamping object is 50 mm. Then the offset compensation value m is 0.466mm and the position of the center point P' in the Y direction is 97.291 mm. Ideally, the angle α 1 is 51.61 °, the actual yaw angle α '1 of the right middle knuckle after the yawing motion is 45.14 °, and the actual yaw angle α' 3 of the left middle knuckle is 59.03 °.
(2) When α 0 is 60 °, the offset m is 0.363mm, and the position of the center point P' in the Y direction is 101.272 mm. Alpha in the ideal state140.92 DEG, right middle knuckle deflection angle alpha'135.00 DEG, left middle knuckle deflection angle alpha'3＝47.52°。
(3) When α 0 is 65 °, the offset m is 0.295mm, and the position of the center point P' in the Y direction is 104.277 mm. Alpha in the ideal state130.73 °, right middle knuckle deflection angle α'125.26 °, left middle knuckle deflection angle α'3＝36.74°。
Suppose that the workpiece is to be similarly slightly biased to the left by 5 mm. The workpiece with the clamping radius of 50mm, 55mm and 60mm is respectively researched and clamped as a target object under the condition that the finger root rotation angle is set to be 65 degrees and is not changed, parameter drafting is carried out, and the workpiece is brought into a deflection model to be solved to obtain deflection motion parameters.
(1) When the finger root finger rotation angle alpha 0 is fixed and unchanged at 65 degrees, the radius of the clamping object is 55 mm. Then the offset compensation value m is 0.414mm and the position of the center point P' in the Y direction is 103.221 mm. In an ideal state, the angle α 1 is 37.05 °, the actual yaw angle α '1 of the right middle knuckle after the yaw motion is 30.93 °, and the actual yaw angle α' 3 of the left middle knuckle is 44.05 °.
(2) When the gripping target radius is set to 60mm, the offset value m is 0.947mm, and the position of the center point P' in the Y direction is 100.389 mm. Alpha in the ideal state145.58 DEG, right middle knuckle deflection angle alpha'138.23 DEG, left middle knuckle deflection angle alpha'3＝55.73°。
Determining the adjusting expansion amount mu and eta value of the EF variable rod:
μ＝L6(f-1(α1))-L6(α'3)
η＝L6(f-1(α3))-L6(α'3)
2. statics analysis of flexible manipulator micro-deflection clamping cylindrical target part
When the flexible manipulator clamps and gets cylinder class part, if two finger cylinder pressure differentials of manipulator are zero, two cylinder pressures are equal promptly. This is the case in the ideal situation for gripping a cylindrical target. But the cylinder pressure difference is not zero because of the error in the ventilation of the solenoid valve and the manufacturing error of its two cylinders.
Similarly, it can be found that when the pressure difference between the two finger cylinders is not zero, the target cylinder member will have a certain deflection. The situation can be utilized to realize the micro horizontal movement of the target part by the manipulator, namely the micro-offset clamping operation of the manipulator by adjusting the pressure difference of the air cylinders.
Then, according to the above two cases, the gripping state of the manipulator when the cylinder pressure difference is not zero needs to be considered for research.
Referring to fig. 12, the manipulator is based on the force balance principle when it swings towards the target. The circle center is positioned on the connecting line of the CC' point. Wherein F1, F2, F3 and F4 are all centripetal forces, and the action points are at the positions of the offset circle centers P'. Where MB and MC are the torques after the addition of the torsion spring.
Determining the stress point after deflection displacement:
deducing coordinate formulas of F1 and F3 stress points,
Figure BDA0002872750770000131
Figure BDA0002872750770000132
Figure BDA0002872750770000133
Figure BDA0002872750770000134
Figure BDA0002872750770000135
Figure BDA0002872750770000136
the contact force points of the manipulator are different for different objects, and the study object is a circle. Finding the distance from the contact point to point C
Figure BDA0002872750770000139
And
Figure BDA00028727507700001310
Figure BDA0002872750770000137
Figure BDA0002872750770000138
therefore, the force-bearing position points of the points F2 and F4 can be obtained.
Figure BDA00028727507700001311
Figure BDA00028727507700001312
Figure BDA00028727507700001410
Figure BDA00028727507700001411
Figure BDA0002872750770000141
Figure BDA0002872750770000142
Figure BDA0002872750770000143
Figure BDA0002872750770000144
Simultaneous system of equations:
Figure BDA0002872750770000145
Figure BDA0002872750770000146
Figure BDA0002872750770000147
Figure BDA0002872750770000148
Ft1·sin(β1)·LBF+k1(α01+α1)＝k2(α02+α2)+F1·LBF1+F2·sin(β3)·LBF2
left cylinder thrust Ft2Thrust F of the right cylindert1The clamping force Fn.
TABLE 2 parameter table for clamping cylindrical parts in slightly deviated state
Figure BDA0002872750770000149
When the manipulator does X-direction micro-deflection motion on the cylindrical target part, the micro-deflection motion can be obtained through static model analysis, and the thrust of the cylinder is changed by only properly controlling the change of the air pressure of the two fingertips. The stress of the target part can be changed and the target part can be deviated in a preset direction.
Then different variations of left and right cylinders can be explored by varying the parameters of the cylindrical target with different offset values.
Now, the thrust variation of the left cylinder is studied by changing the offset parameter and the target member diameter while presetting that Ft1 is 50N, which is the standard value of the thrust of the right cylinder. The diameter of the preset target part is 60mm, the left offset of the target part is marked by "-", and the offset is 0mm, 3mm and 5 mm. The friction coefficient of the manipulator and the target part is 0.2. Substituting parameters such as the rotation angle of the finger root joint and the coefficient of the finger joint torsion spring into a hovering grabbing model of the manipulator, and respectively calculating to obtain:
(1) when the left offset of the cylindrical target part is 0mm, the rotation angle of the middle knuckle alpha 1 on the right side is 45.14 degrees, and the rotation angle of the middle knuckle alpha 3 on the left side is 59.03 degrees, the resultant force Fn is 68.87N, and the thrust Ft2 of the left cylinder is 50N;
(2) when the left offset of the cylindrical target part is 3mm, the rotation angle of the middle knuckle alpha 1 on the right side is 35 degrees, and the rotation angle of the middle knuckle alpha 3 on the left side is 47.52 degrees, the resultant force Fn is 71.34N, and the thrust Ft2 of the left cylinder is 54.20N;
(3) when the left offset of the cylindrical target part is 5mm, the rotation angle of the middle knuckle alpha 1 on the right side is 25.26 degrees, and the rotation angle of the middle knuckle alpha 3 on the left side is 36.74 degrees, the time resultant force Fn is 69.97, and the thrust Ft2 of the left cylinder is 55.83N;
the diameter of the preset cylindrical target part is 55mm and 50mm, the left offset of the cylindrical target part is not changed into 5mm, and the friction coefficient between the manipulator and the target part is 0.2. Substituting parameters such as the rotation angle of the finger root joint and the coefficient of the finger joint torsion spring into a hovering grabbing model of the manipulator, and respectively calculating to obtain:
(1) when the diameter of the cylindrical target part is 55mm, the rotation angle of the middle knuckle alpha 1 on the right side is 30.93 degrees, the rotation angle of the middle knuckle alpha 3 on the left side is 44.05 degrees, the resultant force Fn is 63.30N, and the thrust Ft2 of the left cylinder is 57.71N;
(2) when the left offset of the cylindrical target part is 0mm, the rotation angle of the middle knuckle alpha 1 on the right side is 38.23 degrees, the rotation angle of the middle knuckle alpha 3 on the left side is 55.73 degrees, the time resultant force Fn is 58.28N, and the thrust Ft2 of the left cylinder is 57.91N;
in summary, the gripped cylindrical target diameter and offset both have an effect on cylinder thrust, while the target diameter has an effect on the finger base joint α 0 and the middle joint α 1.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered in the protection scope of the present invention.

Claims (8)

1. The utility model provides a two flexible manipulators of claw grabs power and snatchs position appearance control system which characterized in that includes:
the two-claw flexible manipulator comprises a first claw and a second claw which are symmetrically arranged on the fixed seat, the first claw and the second claw respectively comprise a finger root section, a middle finger section, a finger tip section and a finger tip driving cylinder which are sequentially hinged, the tail end of the finger tip driving cylinder is hinged with the finger root section, and the movable end of the finger tip driving cylinder is hinged with the finger tip section; the fixing seat comprises a finger root section fixing seat and a finger root section fixing plate, the front end of the finger root section fixing seat is a finger root section fixing end, the rear end of the finger root section fixing seat is a finger root section reference shaft, two sides of the finger root section fixing seat are limit pins, and a hole position above the middle of the finger root section fixing seat is a positioning pin hole; the left side and the right side of the finger root joint fixing plate are symmetrically provided with an arc-shaped U hole respectively, a finger root seat reference shaft of the finger root joint fixing seat is positioned at the center through hole of the arc-shaped U hole, and limiting pins at two sides are positioned in arc-shaped waist-shaped holes at two sides of the center through hole of the arc-shaped U hole; the finger root joint comprises three connecting ends, the first end is hinged with the finger root joint fixing seat through a finger root joint fixing pin shaft, the second end is hinged with the finger root joint push rod through a cylinder tailstock fixing pin shaft, and the third end is hinged with the middle finger joint through a middle finger joint fixing pin shaft; the middle knuckle comprises two connecting ends, the first end is hinged with the knuckle root knuckle through a middle knuckle fixed pin shaft, the second end is hinged with the fingertip knuckle through a fingertip knuckle connecting pin shaft, and the middle knuckle and the fingertip knuckle realize clamping of the flexible manipulator and form an enveloping angle; the fingertip joint comprises two connecting ends, the first end of the fingertip joint is hinged with the middle knuckle through a fingertip joint connecting pin shaft, and the second end of the fingertip joint is hinged with a Y-shaped joint at one end of the fingertip driving cylinder through a Y-shaped joint connecting pin shaft; the fingertip drives the cylinder, a Y-shaped joint at one end is hinged with a fingertip joint through a Y-shaped joint connecting pin shaft, and the other end is hinged with a finger root joint push rod and a finger root joint through a cylinder tailstock fixing pin shaft; the two-claw flexible manipulator further comprises a middle knuckle torsion spring, the middle knuckle torsion spring is arranged around a fixed pin shaft of the middle knuckle and the knuckle, and two ends of the middle knuckle and the knuckle are respectively fixed on the middle knuckle and the knuckle; the fingertip knuckle torsion spring is arranged around the fixed pin shaft of the middle knuckle and the fingertip knuckle, and two ends of the fingertip torsion spring are respectively fixed on the middle knuckle and the fingertip knuckle;
the driving unit comprises an air source and an air pressure regulator, and is used for providing and regulating air inlet pressure of the fingertip driving cylinders or enabling the left fingertip driving cylinder and the right fingertip driving cylinder to form a certain air pressure difference;
a sensing unit including a claw clamping pressure sensor and an air pressure detecting sensor for detecting a claw clamping pressure and an intake air pressure of the fingertip driving cylinder;
and the controller is connected with the air pressure adjusting device, the claw pressure sensor and the air pressure detection sensor and is used for controlling the air pressure adjusting device to act to adjust the air inlet pressure of the fingertip driving cylinder based on a control instruction and data acquired by the claw pressure sensor and the air pressure detection sensor so as to control the clamping force of the two-claw flexible manipulator and/or adjust the clamping pose.
2. The system for controlling the gripping force and the gripping pose of the two-claw flexible manipulator according to claim 1, wherein the air pressure regulating device comprises a first electrically controlled pressure regulating valve and a second electrically controlled pressure regulating valve which are connected with an air source, a first electromagnetic directional valve which is connected with the first electrically controlled pressure regulating valve and a first fingertip driving cylinder, and a second electromagnetic directional valve which is connected with the second electrically controlled pressure regulating valve and a second fingertip driving cylinder, and the first electrically controlled pressure regulating valve and the second electrically controlled pressure regulating valve are electrically controlled precise pressure reducing valves.
3. The two-jaw flexible manipulator grasping force and grasping pose control system according to claim 2, wherein the jaw pressure sensors include four integrally arranged contact pressure pads and patch type pressure sensors respectively arranged on the middle knuckle and the fingertip knuckle inner clamping contact surfaces of the first jaw and the second jaw, and a sensor processing module connected to the patch type pressure sensors, the sensor processing module being connected to the controller.
4. The two-claw flexible manipulator grabbing force and grabbing pose control system of claim 2, wherein the air pressure detection sensor comprises a first air inlet pressure detector arranged on a pipeline between the first electrically controlled pressure regulating valve and the first electromagnetic directional valve, and a second air inlet pressure detector arranged on a pipeline between the second electrically controlled pressure regulating valve and the second electromagnetic directional valve.
5. A two-claw flexible manipulator grabbing force and grabbing pose control method is applicable to the control system of any one of claims 1-4, and is characterized by comprising the following steps:
controlling the grasping force: 10) determining a suitable gripping force range according to different characteristics of the target piece; 11) converting a thrust value range of the required fingertip driving cylinder according to the determined clamping force; 12) reversely deducing the air pressure value range of the fingertip driving air cylinder based on an air cylinder thrust formula according to the calculated thrust value; 13) the air pressure adjusting device is controlled by the controller to adjust the air inlet pressure of the fingertip driving cylinder to a preset air pressure value range.
6. The method for controlling the gripping force and the gripping pose of the two-claw flexible manipulator according to claim 5, wherein in the step 11), the thrust value of the required fingertip driving cylinder is converted according to the gripping force based on the following formula:
Figure FDA0003466230970000021
wherein, F1、F2Representing the contact force, k, of the manipulator gripping the object1、k2The modulus of elasticity of the torsion spring between the fingers.
7. The method for controlling the gripping force and the gripping pose of the two-claw flexible manipulator according to claim 6, wherein in the step 12), the thrust formula of the air cylinder is as follows:
F＝k·P·A-f
wherein F is the thrust value of the cylinder, k is the efficiency of the cylinder, P is the pressure intensity of the air pressure, and A is the sectional area of the cylinder.
8. The two-claw flexible manipulator grasping force and grasping pose control method according to any one of claims 5 to 7, characterized by further comprising:
and (3) grabbing pose control: 20) calculating a preset offset value of the two-claw flexible manipulator; 21) calculating the pressure value of the claw pressure sensor when the two-claw flexible manipulator is positioned at the preset offset position; 22) reversely converting the air pressure value range of the fingertip driving air cylinder based on an air cylinder thrust formula according to the calculated pressure value; 23) the controller controls the air pressure adjusting device to adjust the air inlet air pressure of the two fingertip driving cylinders to a preset air pressure value, so that an air pressure difference is formed, and the two-claw flexible manipulator reaches a set deviation value position.
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