CN113084868A - Flexible finger rigidity testing system - Google Patents
Flexible finger rigidity testing system Download PDFInfo
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- CN113084868A CN113084868A CN202110315659.6A CN202110315659A CN113084868A CN 113084868 A CN113084868 A CN 113084868A CN 202110315659 A CN202110315659 A CN 202110315659A CN 113084868 A CN113084868 A CN 113084868A
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- finger
- continuum
- flexible finger
- stiffness
- rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
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- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention provides a flexible finger rigidity testing system, which comprises: the mounting seat is provided with an accommodating cavity, and the top of the accommodating cavity is provided with a mounting hole communicated with the outside; the motor is placed at the bottom of the accommodating chamber, the mounting hole is used for placing a continuum finger, one end of the connecting piece is connected with the power output end of the motor, and the other end of the connecting piece is used for being connected with the tail end of the continuum finger; with the connector in a shortened condition, the distal end of the continuum finger is in a flexed state, and the measuring end of the force sensor is in separable contact with the distal end of the continuum finger. The flexible finger rigidity testing system can quickly obtain the horizontal rigidity of the continuum finger, and is simple in structure, convenient to use and high in measuring accuracy.
Description
Technical Field
The invention relates to the technical field of rigidity testing, in particular to a system for testing rigidity of a flexible finger.
Background
The manipulator, which is an end effector of the robot, has become a major research object for researchers since the widespread development of robot technology. With the development of science and technology and the social progress, a large number of flexible mechanical arms are needed in industrial product loading, unloading and assembling, military robots, agricultural robots, disabled people and service robots to complete the functions similar to human hands, and the smart operation can be realized by replacing people.
The performance indexes of the flexible manipulator are mainly flexibility, flexibility and control performance. The flexible manipulator can be divided into the following parts in a driving mode: the manipulator is driven by the motor, gas-liquid driving, functional material driving and the like, wherein the manipulator driven by the motor has better control performance; the flexibility of the gas-liquid driven flexible manipulator is good, and the pneumatic air source is convenient and light, so that the application of the pneumatic power in the light flexible manipulator is wide; the functional material drive is the drive of shape memory alloy, ultrasonic wave, high molecular polymer and functional liquid, and has unique advantages in the occasions requiring the mechanical arm to be small and exquisite and light.
At present, a flexible finger rigidity testing system is lacked for carrying out rigidity testing on a flexible manipulator and quickly obtaining the rigidity of the flexible manipulator, so that upgrading and reconstruction can be better carried out until the requirements of users are met.
Disclosure of Invention
The invention provides a flexible finger rigidity testing system which is used for solving the problem that rigidity parameters of a flexible manipulator are difficult to obtain in the prior art.
The invention provides a flexible finger rigidity testing system, which comprises: the mounting seat is provided with an accommodating cavity, and the top of the accommodating cavity is provided with a mounting hole communicated with the outside;
the motor is placed at the bottom of the accommodating chamber, the mounting hole is used for placing a continuum finger, one end of the connecting piece is connected with the power output end of the motor, and the other end of the connecting piece is used for being connected with the tail end of the continuum finger;
with the connector in a shortened condition, the distal end of the continuum finger is in a flexed state, and the measuring end of the force sensor is in separable contact with the distal end of the continuum finger.
According to the system for testing the rigidity of the flexible finger, provided by the invention, the system for testing the rigidity of the flexible finger further comprises a moving assembly, wherein the moving assembly comprises a linear driving mechanism and an installation rod, the axial direction of the installation rod is vertical to the moving direction, the force sensor is arranged on the installation rod, and the linear driving mechanism is used for driving the installation rod to move towards or away from the continuum finger.
According to the system for testing the rigidity of the flexible finger, the linear driving mechanism comprises a ball screw transmission unit or a linear sliding table.
According to the system for testing the rigidity of the flexible finger, provided by the invention, the moving assembly further comprises an adapter rod, the axial direction of the adapter rod is perpendicular to the axial direction of the mounting rod, one end of the adapter rod is connected with the mounting rod, and the other end of the adapter rod is provided with the force sensor.
According to the flexible finger rigidity testing system provided by the invention, the connecting piece is a rope.
According to the flexible finger rigidity testing system provided by the invention, the mounting seat comprises a bottom plate and a frame, the frame is arranged on the top surface of the bottom plate, and the frame is provided with the accommodating chamber.
According to the flexible finger rigidity testing system provided by the invention, at least one side surface of the accommodating chamber is made of a transparent material.
According to the flexible finger rigidity testing system provided by the invention, at least one side surface of the accommodating chamber is open.
According to the flexible finger rigidity testing system provided by the invention, the bottom surface of the bottom plate is provided with the moving wheel.
According to the system for testing the rigidity of the flexible finger, provided by the invention, the motor is a stepping motor.
According to the flexible finger rigidity testing system provided by the invention, under the action of the motor, the connecting piece is in a shortened state, at the moment, under the action of the tensile force provided by the connecting piece for the tail end of the continuum finger, the tail end of the continuum finger is in a bent state, the force sensor moves towards the tail end direction of the continuum finger until the end face of the measuring end of the force sensor is contacted with the end face of the bent tail end of the continuum finger, and at the moment, the measured value obtained by the force sensor is zero; the force sensor continues to move for a distance towards the tail end direction of the continuum finger, reading the readings of the force sensor, obtaining the horizontal rigidity at the moment, and defining the ratio of the readings of the force sensor to the moving distance of the force sensor as the horizontal rigidity, namely horizontal force/horizontal displacement. The flexible finger rigidity testing system can quickly obtain the horizontal rigidity of the continuum finger, and is simple in structure, convenient to use and high in measuring accuracy.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a side view of a flexible finger stiffness testing system provided by the present invention;
FIG. 2 is a perspective view of a flexible finger stiffness testing system provided by the present invention;
reference numerals:
1: a base plate; 2: a motor; 3: a connecting member;
4: a housing chamber; 5: a continuum finger; 6: a force sensor;
7: a transfer lever; 8: mounting a rod; 9: a linear drive mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The flexible finger stiffness test system of the present invention is described below with reference to fig. 1 to 2.
As shown in fig. 1 and 2, a flexible finger stiffness test system according to an embodiment of the present invention includes: force sensor 6, motor 2, connecting piece 3 and mount pad. Wherein the motor 2 may be a stepper motor.
The mount pad has and holds cavity 4, holds the top of cavity 4 and offers the mounting hole with external intercommunication.
The motor 2 is placed at the bottom of the accommodating chamber 4, the mounting hole is used for placing the continuum finger 5, the continuum finger 5 comprises a hollow rod body, the rod body can be made of flexible materials, a plurality of first grooves and second grooves which are arranged in a staggered mode are arranged in the axial direction of the rod body, namely the second grooves are located between the two first grooves, and the direction of the notches of the first grooves is opposite to that of the notches of the second grooves. Wherein, first recess and second recess all communicate with the inside of the body of rod. And, the body of rod extends along the axial direction of the body of rod and is formed with the through-hole, and a plurality of above-mentioned through-holes arrange along the circumferential direction of the body of rod.
One end of the connecting piece 3 is connected with the power output end of the motor 2, and the other end of the connecting piece 3 is used for being connected with the tail end of the continuum finger 5, namely, the other end of the connecting piece 3 passes through the through hole and then is connected with the tail end of the continuum finger 5, and at the moment, the head end of the continuum finger 5 is positioned at the mounting hole; wherein the connecting element 3 may be a rope.
With the link 3 in the shortened state, the distal end of the continuum finger 5 is in a bent state, and the measuring end of the force sensor 6 is in separable contact with the distal end of the continuum finger 5.
It should be noted that the height of the measuring end of the force sensor 6 needs to be the same as the height of the tip of the continuum finger 5 in the curved state, and at this time, the type of contact between the measuring end of the force sensor 6 and the tip of the continuum finger 5 is surface contact, that is, the end surface of the measuring end of the force sensor 6 and the end surface of the tip of the continuum finger 5 after being curved are in separable contact.
In the embodiment of the present invention, under the action of the motor 2, the connecting member 3 is in a shortened state, at this time, under the action of the pulling force provided by the connecting member 3 to the distal end of the continuum finger 5, the distal end of the continuum finger 5 is in a bent state, the force sensor 6 moves toward the distal end of the continuum finger 5 until the end surface of the measuring end of the force sensor 6 contacts with the end surface of the distal end of the bent continuum finger 5, and at this time, the measured value obtained by the force sensor is zero; the force sensor 6 continues to move for a distance towards the tail end direction of the continuum finger 5, reading the readings of the force sensor, and then obtaining the horizontal rigidity, wherein the ratio of the readings of the force sensor to the moving distance of the force sensor 6 is defined as the horizontal rigidity, namely horizontal force/horizontal displacement. The flexible finger rigidity testing system provided by the embodiment of the invention can quickly obtain the horizontal rigidity of the continuum finger 5, and has the advantages of simple structure, convenience in use and high measurement accuracy.
On the basis of the above embodiment, the flexible finger rigidity testing system further comprises a moving assembly, the moving assembly comprises a linear driving mechanism 9 and an installation rod 8, the axial direction of the installation rod 8 is perpendicular to the moving direction of the installation rod 8, the force sensor 6 is arranged on the installation rod 8, and the linear driving mechanism 9 is used for driving the installation rod 8 to move towards or away from the continuum finger 5.
In an alternative embodiment, the linear drive mechanism 9 comprises a ball screw transmission unit or a linear slide.
The following description will be given taking the linear drive mechanism 9 as a linear slide table as an example.
The linear sliding table comprises a driving device, a sliding block and a sliding table, the sliding table and the sliding block are connected with the sliding rail in a sliding mode through sliding grooves, the driving device is connected with the sliding block in a driving mode, and the mounting rod 8 is arranged on the sliding block. The driving device may be a reciprocating telescopic mechanism such as an air cylinder, an electric push rod, and an oil cylinder, and is not particularly limited herein.
In the embodiment of the invention, under the action of the motor 2, the connecting piece 3 is in a shortened state, at this time, under the action of the pulling force provided by the connecting piece 3 for the tail end of the continuum finger 5, the tail end of the continuum finger 5 is in a bent state, the driving device drives the sliding block to move, the force sensor 6 on the mounting rod 8 moves towards the tail end direction of the continuum finger 5 until the end surface of the measuring end of the force sensor 6 is in contact with the end surface of the bent tail end of the continuum finger 5, and the measured value obtained by the force sensor is zero; the force sensor 6 continues to move for a distance towards the tail end direction of the continuum finger 5, reading the readings of the force sensor, and then obtaining the horizontal rigidity, wherein the ratio of the readings of the force sensor to the moving distance of the slider is defined as the horizontal rigidity, namely horizontal force/horizontal displacement.
On the basis of the above embodiment, the moving assembly further comprises an adapter rod 7, the axial direction of the adapter rod 7 is perpendicular to the axial direction of the mounting rod 8, one end of the adapter rod 7 is connected with the mounting rod 8, and the other end of the adapter rod 7 is provided with a force sensor 6.
It should be noted that, in order to facilitate the contact between the end surface of the measuring end of the force sensor 6 and the end surface of the end of the bent continuum finger 5, the working range of the force sensor 6 can be increased by additionally arranging the adapter rod 7 on the mounting rod 8.
On the basis of the above embodiment, the mount includes the base plate 1 and a frame provided on the top surface of the base plate 1, the frame being formed with the accommodation chamber 4.
The linear driving mechanism 9 is provided on the top surface of the base plate 1. In order to move the flexible finger rigidity testing system conveniently, the bottom surface of the bottom plate 1 is provided with a moving wheel. And, the bottom surface of bottom plate 1 still is equipped with the leading wheel.
On the basis of the above embodiment, at least one side of the receiving chamber 4 is made of a transparent material.
It should be noted that, in order to facilitate the observation of the state of the connecting member 3 and the motor 2, at least one side surface of the accommodating chamber 4 is made of a transparent material. For example, the four sides of the accommodating chamber 4 are provided with glass, and the state changes of the connecting member 3 and the motor 2 can be observed in real time.
On the basis of the above-described embodiment, at least one side of the receiving chamber 4 is open.
It should be noted that, in order to facilitate the observation of the state of the connecting member 3 and the motor 2, at least one side of the accommodating chamber 4 is open. That is, the inside of the accommodation chamber 4 communicates with the outside. For example, four sides of the accommodating chamber 4 are opened, and the state change of the connecting member 3 and the motor 2 can be observed in real time.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A flexible finger stiffness testing system, comprising: the mounting seat is provided with an accommodating cavity, and the top of the accommodating cavity is provided with a mounting hole communicated with the outside;
the motor is placed at the bottom of the accommodating chamber, the mounting hole is used for placing a continuum finger, one end of the connecting piece is connected with the power output end of the motor, and the other end of the connecting piece is used for being connected with the tail end of the continuum finger;
with the connector in a shortened condition, the distal end of the continuum finger is in a flexed state, and the measuring end of the force sensor is in separable contact with the distal end of the continuum finger.
2. The system for testing the stiffness of the flexible finger according to claim 1, further comprising a moving assembly, wherein the moving assembly comprises a linear driving mechanism and a mounting rod, an axial direction of the mounting rod is perpendicular to a moving direction, the force sensor is disposed on the mounting rod, and the linear driving mechanism is used for driving the mounting rod to move towards or away from the continuum finger.
3. The flexible finger stiffness test system according to claim 2, wherein the linear drive mechanism comprises a ball screw transmission unit or a linear slide.
4. The system for testing the stiffness of a flexible finger according to claim 2, wherein the moving assembly further comprises an adapter rod, the axial direction of the adapter rod is perpendicular to the axial direction of the mounting rod, one end of the adapter rod is connected with the mounting rod, and the other end of the adapter rod is provided with the force sensor.
5. The flexible finger stiffness test system according to any one of claims 1 to 4, wherein the connector is a cord.
6. The system for testing the stiffness of a flexible finger according to any one of claims 1 to 4, wherein the mounting base comprises a bottom plate and a frame, the frame is arranged on the top surface of the bottom plate, and the frame is formed with the accommodating chamber.
7. The system for testing the stiffness of a flexible finger according to claim 6, wherein at least one side of the receiving chamber is made of a transparent material.
8. The flexible finger stiffness testing system according to claim 6, wherein at least one side of the receiving chamber is open.
9. The flexible finger stiffness test system according to claim 6, wherein the bottom surface of the bottom plate is provided with moving wheels.
10. The flexible finger stiffness test system according to any one of claims 1 to 4, wherein the motor is a stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110315659.6A CN113084868B (en) | 2021-03-24 | 2021-03-24 | Flexible finger rigidity testing system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110315659.6A CN113084868B (en) | 2021-03-24 | 2021-03-24 | Flexible finger rigidity testing system |
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| CN113084868A true CN113084868A (en) | 2021-07-09 |
| CN113084868B CN113084868B (en) | 2022-08-30 |
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| CN101474795A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Pre-bend coupling under-actuated three-joint robot finger device |
| CN107398926A (en) * | 2017-07-18 | 2017-11-28 | 华南理工大学 | A kind of vibrating flexible beam measurement apparatus and method based on end vision-based detection |
| CN108151946A (en) * | 2016-11-30 | 2018-06-12 | 迈克尔·康拉德 | The method that tactile tests measuring apparatus and force-displacement curve is determined in tactile test measures |
| CN108414166A (en) * | 2018-01-25 | 2018-08-17 | 哈尔滨工业大学 | A kind of plane elastic body stiffness measurement device for robot flexibility joint |
| CN109176587A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of more finger flexible manipulators based on scroll spring |
| CN109822619A (en) * | 2017-11-23 | 2019-05-31 | 沈阳新松机器人自动化股份有限公司 | A kind of flexible robot's stress detection mechanism |
| CN112518802A (en) * | 2020-11-26 | 2021-03-19 | 上海航天设备制造总厂有限公司 | High-precision device for robot rigidity measurement |
-
2021
- 2021-03-24 CN CN202110315659.6A patent/CN113084868B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101474795A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Pre-bend coupling under-actuated three-joint robot finger device |
| CN108151946A (en) * | 2016-11-30 | 2018-06-12 | 迈克尔·康拉德 | The method that tactile tests measuring apparatus and force-displacement curve is determined in tactile test measures |
| CN107398926A (en) * | 2017-07-18 | 2017-11-28 | 华南理工大学 | A kind of vibrating flexible beam measurement apparatus and method based on end vision-based detection |
| CN109822619A (en) * | 2017-11-23 | 2019-05-31 | 沈阳新松机器人自动化股份有限公司 | A kind of flexible robot's stress detection mechanism |
| CN108414166A (en) * | 2018-01-25 | 2018-08-17 | 哈尔滨工业大学 | A kind of plane elastic body stiffness measurement device for robot flexibility joint |
| CN109176587A (en) * | 2018-09-18 | 2019-01-11 | 哈尔滨工业大学（深圳） | A kind of more finger flexible manipulators based on scroll spring |
| CN112518802A (en) * | 2020-11-26 | 2021-03-19 | 上海航天设备制造总厂有限公司 | High-precision device for robot rigidity measurement |
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