CN114029998A - Flexible underactuated manipulator for precision assembly of special-shaped parts - Google Patents
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- CN114029998A CN114029998A CN202111393864.0A CN202111393864A CN114029998A CN 114029998 A CN114029998 A CN 114029998A CN 202111393864 A CN202111393864 A CN 202111393864A CN 114029998 A CN114029998 A CN 114029998A
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The invention discloses a flexible underactuated manipulator for precision assembly of special-shaped parts, which comprises a power driving assembly, a driving guide assembly and a grabbing mechanism assembly, wherein the power driving assembly is used for driving a special-shaped part to be precisely assembled; the power driving assembly comprises a mounting base, a voice coil motor magnet and a voice coil motor coil; the driving guide assembly comprises a flexible guide member, an annular shell and a flexible decoupling hinge, wherein the flexible guide member consists of a guide member output end, a flexible beam and a support end; snatch mechanism's subassembly and include that the end floats, three flexible straight beam of three combination formula, three snatch mechanism, base, the flexible straight beam of combination formula contains two kinds of flexible hinges: the grabbing mechanism comprises finger tail ends and four semicircular flexible hinges. The flexible underactuated manipulator is driven by a single motor, and the adaptive grabbing mechanism realizes that the manipulator adapts to part shape change and position deviation in a certain range and can be used for grabbing special parts.
Description
Technical Field
The invention relates to the technical field of precision assembly, in particular to a flexible under-actuated manipulator for precision assembly of special-shaped parts.
Background
With the rapid development of science and technology, the automation level of precision manufacturing is higher and higher, and the precision manufacturing mainly embodies in the aspects of automatic grabbing, assembly automation, productivity improvement, production cost reduction and the like. The assembly of tiny components is always one of the important links of precision manufacturing, and the quality of the assembly operation has a crucial influence on the performance of the final product. Precision micro-assembly is a micro-operation which has very high requirement on the assembly precision of micro parts, and because the manual assembly operation efficiency is low, the precision is difficult to guarantee, and meanwhile, the production efficiency and the performance of the micro parts are also restricted by the relative lag of the existing automatic precision assembly. In the precise assembly link, the universality and the adaptability of tiny part grabbing are of great importance, so that the design of the micro-operation manipulator is the premise of successful precise assembly.
Although the research on the micro-operation manipulator has been greatly advanced, the requirements in the aspects of the grabbing range, the compactness, the task requirement for coping with the grabbing of the abnormal parts and the like are far from being met. The existing micro-operation manipulator has a complex structure and a small grabbing range, and can not stably grab special parts. One of the difficulties with current micromanipulation robots is the drive problem. Although the manipulator can be made small, the size of the driving device cannot be adapted to the structure; on the other hand, in terms of structural characteristics, a traditional mechanical gripper is generally formed by connecting rigid kinematic pairs, and although the gripping range is large, poor kinematic accuracy is easily caused due to the problems of gaps, friction and the like between the kinematic pairs, so that the gripper cannot be used for precise gripping. On the contrary, the connection between the components of the micro-operation manipulator is through a flexible hinge, and the micro-operation manipulator can be integrally processed or assembled in a small number, so that the structure mode has the characteristics of high precision, high stability, no clearance, no friction and the like, and the size is easy to control. In addition, when the flexible hinge moves in a limited displacement along a specific direction, certain elastic potential energy can be stored, and after the driving force and the external force are eliminated, the mechanism can be restored by the elastic force of the hinge. The Chinese patent 'miniaturized flexible micro-gripper (patent number: CN201310231678.6) based on piezoelectric ceramic drive' adopts a piezoelectric ceramic drive to a grabbing mechanism consisting of a flexible hinge, and the two fingers of the micro-operation manipulator move synchronously, namely the moving directions are opposite from beginning to end, and the displacement is the same, so the micro-operation manipulator does not have the self-adaptive grabbing characteristic and cannot adapt to the shape and position deviation of a part, the manipulator only can grab a floating tiny part and cannot grab a fixed part, most of the precisely assembled parts are placed on a special clamp, and the initial position and the posture of the part can be ensured to be unchanged by the mode. Therefore, the existing micro-manipulator cannot be used for precision assembly.
In view of the limitation of self structural characteristics of the existing micro-operation manipulator, the flexibility and the adaptability are poor, and the abnormal micro parts with different shapes, sizes and materials are difficult to process. Therefore, the flexible underactuated manipulator with self-adaptability and a large grabbing range is designed, the grabbing of special-shaped tiny parts can be realized, the position error of the parts can be automatically eliminated, the shape, the size and the material attribute change of the parts can be automatically adapted, and the flexible underactuated manipulator has great significance for promoting the development of precision assembly.
Disclosure of Invention
In view of this, the invention provides a flexible under-actuated manipulator for precision assembly of special parts, which mainly solves the problems of complex structure, poor adaptability, single object to be grasped and the like of the existing micro-operation manipulator, and the specific technical scheme is as follows:
a flexible underactuated manipulator for precision assembly of special-shaped parts comprises a power driving assembly, a driving guide assembly and a grabbing mechanism assembly;
the power driving assembly comprises a mounting base and a voice coil motor, the voice coil motor comprises a voice coil motor magnet and a voice coil motor coil, and the voice coil motor magnet is mounted on the mounting base;
the driving guide assembly comprises a flexible guide member, an annular shell and a flexible decoupling hinge, and the mounting base is connected with the annular shell through a screw; the flexible guide member consists of three parts, namely a guide member output end, flexible beams and a support end, wherein the flexible beams are arranged in three groups, are symmetrical at 120 degrees and are horizontally distributed on the periphery of the guide member output end; the support end is positioned at one end of the flexible beam far away from the output end of the guide member; the voice coil motor coil, the output end of the guide member and one end of the flexible decoupling hinge close to the output end of the guide member are fixedly connected together through screws; the three support ends are connected with the annular shell through screws; the flexible decoupling hinge has at least two rotational degrees of freedom;
the grabbing mechanism assembly comprises a floating end, three combined flexible straight beams, three grabbing mechanisms and a base, wherein one end of the flexible decoupling hinge, which is far away from the output end of the guide member, is connected with the floating end; the three combined flexible straight beams are symmetrically arranged on the floating end in an angle of 120 degrees and form a floating platform; the combined flexible straight beam is connected with the grabbing mechanisms through screws, and the three grabbing mechanisms are symmetrically arranged on the base in the same 120-degree mode; the combined flexible straight beam comprises two flexible hinges: a circular flexible hinge and a three-degree-of-freedom flexible hinge; the grabbing mechanism comprises finger tail ends and four semicircular flexible hinges, and the four semicircular flexible hinges form a flexible parallel four-bar mechanism so that the finger tail ends can move in a translation mode; the round flexible hinge and the semicircular flexible hinge are both single-degree-of-freedom rotating hinges.
By adopting the technical scheme, the flexible underactuated manipulator for the precision assembly of the special-shaped parts is driven by the voice coil motor, and is a novel self-adaptive flexible grabbing mechanism formed by coordinating a plurality of flexible hinges, wherein the flexible parallel four-bar grabbing mechanism formed by four semicircular flexible hinges can realize the translation of three fingers, and the middle two-degree-of-freedom floating platform can ensure that the manipulator can automatically adapt to the shape change and the position deviation of the parts in a certain range and can be used for grabbing the special-shaped parts.
Preferably, each set of said flexible beams consists of two identical parallel beams.
Preferably, the finger tip is designed into an arc structure.
Preferably, the gripping mechanism further comprises a strain type displacement sensor for detecting the displacement of the finger tip and a strain type force sensor for detecting the gripping force of the finger tip.
The flexible underactuated manipulator is driven by a single motor, and the adaptive grabbing mechanism realizes that the manipulator adapts to part shape change and position deviation in a certain range and can be used for grabbing special parts. Compared with the existing micro-operation manipulator, the manipulator disclosed by the invention has the advantages of simple structure, strong self-adaption, high grabbing precision, low cost and the like, can be produced in a large scale, and is widely applied to precision assembly of micro parts.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is an assembly diagram of a flexible underactuated robot.
Figure 2 is an exploded view of an assembly of a flexible under-actuated robot.
Fig. 3 is a schematic structural view of the flexible guide member.
Fig. 4 is a schematic structural view of components of the grasping mechanism.
FIG. 5 is a first-three-freedom-degree rotary hinge of the flexible decoupling hinge.
FIG. 6 is a two-configuration-two-degree-of-freedom compact rotary hinge of a flexible decoupling hinge.
FIG. 7 shows a three-large two-degree-of-freedom rotary hinge of the flexible decoupling hinge.
Fig. 8 is a schematic structural diagram of a combined flexible straight beam and gripping mechanism.
Fig. 9 is a schematic view of the robot grasping the fixed symmetrical parts when there is a lateral deviation.
Fig. 10 is a schematic view of the robot grasping the fixed symmetrical parts when there is a tilt deviation.
FIG. 11 is a schematic view of a robot gripping a different type of fixed part.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Example (b):
as shown in figure 1, the invention relates to a flexible underactuated manipulator for precision assembly of special parts, which comprises a power driving assembly 1, a driving guide assembly 2 and a grabbing mechanism assembly 3.
As shown in fig. 2, the power driving assembly 1 includes a mounting base 101 and a voice coil motor, the voice coil motor provides power for the manipulator, and the mounting base 101 protects and fixes the voice coil motor. The voice coil motor includes a voice coil motor magnet 102 and a voice coil motor coil 103, wherein the voice coil motor magnet 102 is mounted on the mounting base 101.
The driving guide assembly 2 comprises a flexible guide member 21, an annular shell 22 and a flexible decoupling hinge 23, and the driving guide assembly 2 is used for linearly guiding the voice coil motor coil 103. The mounting base 101 is connected to the annular housing 22 by screws.
As shown in fig. 3, the flexible guiding member 21 is composed of three parts, namely a guiding member output end 2101, flexible beams 2102 and a supporting end 2103, the flexible beams 2102 are arranged in three groups, are symmetrical at 120 degrees and are horizontally distributed on the periphery of the guiding member output end 2101, each group of flexible beams 2102 is composed of two identical parallel beams, and the structure has good linear motion. Support end 2103 is located at an end of flexible beam 2102 distal from guide member output end 2101. The voice coil motor coil 103, the guide member output end 2101 and one end of the flexible decoupling hinge 23 close to the guide member output end 2101 are fixedly connected together by screws. The three support ends 2103 in the flexible guide member 21 are connected to the annular housing 22 by screws.
As shown in fig. 4, the grasping mechanism assembly 3 mainly includes a floating end 31, three combined flexible straight beams 32, three grasping mechanisms 33, and a base 34, wherein one end of the flexible decoupling hinge 23 far away from the output end 2101 of the guide member is connected with the floating end 31. Wherein, three combined flexible straight beams 32 are symmetrically arranged on the floating end 31 in 120 degrees and form a floating platform. The combined flexible straight beam 32 is connected with the grabbing mechanism 33 through screws, and the three grabbing mechanisms 33 are also symmetrically arranged on the base 34 at 120 degrees. Finger tip 3301 is included on grasping mechanism 33.
When the movement displacement or applied gripping force of the finger tip 3301 of the three gripping mechanisms 33 is different during gripping, the movement or force can be transferred to the floating end 31 by tilting of the three combined flexible straight beams 32, so that the floating end 31 has a linear degree of freedom d in addition to that provided by the voice coil motorzIn addition, the two rotational degrees of freedom theta along the x-axis and the y-axisxAnd thetay. Because the flexible decoupling hinge 23 connects the guide member output 2101 and the floating end 31, the guide member output 2101 has one linear degree of freedom dz, while the floating end 31 has three degrees of freedom dz，θxAnd thetayTherefore, in order to avoid kinematic interference between the two, the flexible decoupling hinge 23 should have at least two rotational degrees of freedom θxAnd thetay. Fig. 5-7 show three decoupling hinge configurations, wherein fig. 5 is a three-degree-of-freedom rotary hinge, fig. 6 and 7 are two-degree-of-freedom rotary hinges, and fig. 6 is compact in structural size, and the three hinges can meet the required decoupling function.
As shown in fig. 8, the combined flexible straight beam 32 includes two flexible hinges: a circular flexible hinge 3201 and a three degree of freedom flexible hinge 3202. The grabbing mechanism 33 comprises four semicircular flexible hinges 3303 to form a flexible parallel four-bar mechanism, so that the translational motion of the finger end 3301 is ensured, and the grabbing is more stable. The circular flexible hinge 3201 and the semicircular flexible hinge 3303 are both single-degree-of-freedom rotating hinges.
Further, in this embodiment, the finger tip 3301 is designed to be an arc-shaped structure, mainly to increase the contact area between the manipulator and the object to be grasped.
Meanwhile, as the strain gauge has the advantages of small size, high sensitivity, low cost and the like, the displacement of the tail end 3301 of each finger is detected by adopting a strain type displacement sensor 3304; similarly, the grasping force of each finger tip 3301 is detected using a strain gauge force sensor 3302.
The parallelogram linkage in the grasping mechanism 33 of the present invention employs the semicircular flexible hinge 3303 instead of the circular flexible hinge 3201, mainly because the former deforms more than the latter, and a larger range of motion of the finger tip 3301 can be obtained on the premise of the same material.
The grabbing mechanism assembly 3 has the characteristics of simple and compact structure and strong adaptability, and is an important component of the flexible underactuated manipulator. The three combined flexible straight beams 32 and the floating end 31 form a two-degree-of-freedom floating platform, so that the self-adaptive function of the manipulator is ensured.
The robot of the present invention can automatically adapt to positional deviations, taking the grabbing of symmetrical parts as an example, when there is only a lateral error, as shown in fig. 9, where only two fingers are shown for clarity. The deviation between the robot center line 41 and the symmetrical part center line 42 is Δ. The symmetrical part 51 is fixed in the clamp 52, when each finger does not touch the part, the inclination angles of the three combined flexible straight beams 32 are the same, and the three fingers move synchronously; assuming that the right finger touches the part first and stops moving due to the motion limit, the left finger continues to move under the driving of the voice coil motor until the finger end 3301 touches the part and stops moving, at this time, the inclination angles of the three combined flexible straight beams 32 are different, and the floating end 31 deflects. Therefore, the flexible under-actuated manipulator provided by the invention can automatically adapt to the lateral error between the manipulator and the part. Similarly, as shown in fig. 10, when the manipulator grabs the symmetric part, there is a tilt angle deviation, and the three fingers sequentially touch the object according to the position relationship with the part, so as to finally realize stable grabbing of the three fingers.
When the manipulator grabs the irregular fixed part, the position relation of each finger relative to the part is shown in FIG. 11, O1And O2Respectively taking the center position of the mechanical arm and the center position of the abnormal part to grab the abnormal part 6, coordinately moving the three fingers according to the self-adaptive characteristic of the mechanical arm, and finally enabling the relative position of the tail end of each finger to meet d according to the difference of the shapes of the parts3＞d2＞d1。
Therefore, the under-actuated flexible manipulator designed by the invention can be used for grabbing fixed parts, can automatically adapt to position deviation (lateral deviation and inclination deviation) in a certain range, and can also be used for grabbing special parts.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A flexible under-actuated manipulator for precision assembly of special-shaped parts is characterized by comprising a power driving assembly (1), a driving guide assembly (2) and a grabbing mechanism assembly (3);
the power driving assembly (1) comprises a mounting base (101) and a voice coil motor, wherein the voice coil motor comprises a voice coil motor magnet (102) and a voice coil motor coil (103), and the voice coil motor magnet (102) is mounted on the mounting base (101);
the driving guide assembly (2) comprises a flexible guide member (21), an annular shell (22) and a flexible decoupling hinge (23), and the mounting base (101) is connected with the annular shell (22) through a screw; the flexible guide member (21) consists of three parts, namely a guide member output end (2101), a flexible beam (2102) and a support end (2103), wherein the flexible beams (2102) are arranged in three groups, are symmetrical at 120 degrees and are horizontally distributed on the periphery of the guide member output end (2101); the support end (2103) is located at an end of the flexible beam (2102) distal from the guide member output end (2101); the voice coil motor coil (103), the guide member output end (2101) and one end of the flexible decoupling hinge (23) close to the guide member output end (2101) are fixedly connected together through screws; the three support ends (2103) are connected with the annular shell (22) through screws; the flexible decoupling hinge (23) has at least two rotational degrees of freedom;
the grabbing mechanism assembly (3) comprises a floating end (31), three combined flexible straight beams (32), three grabbing mechanisms (33) and a base (34), wherein one end, far away from the output end (2101) of the guide member, of the flexible decoupling hinge (23) is connected with the floating end (31); the three combined flexible straight beams (32) are symmetrically arranged on the floating end (31) in an angle of 120 degrees and form a floating platform; the combined flexible straight beam (32) is connected with the grabbing mechanisms (33) through screws, and the three grabbing mechanisms (33) are also symmetrically arranged on the base (34) in 120 degrees; the combined flexible straight beam (32) comprises two flexible hinges: a circular flexible hinge (3201) and a three-degree-of-freedom flexible hinge (3202); the grabbing mechanism (33) comprises a finger tail end (3301) and four semicircular flexible hinges (3303), and the four semicircular flexible hinges (3303) form a flexible parallel four-bar mechanism, so that the finger tail end (3301) can move in a translation mode; the round flexible hinge (3201) and the semicircular flexible hinge (3303) are both single-degree-of-freedom rotating hinges.
2. A flexible underactuated manipulator for precision assembly of dissimilar parts according to claim 1, wherein each set of flexible beams (2102) consists of two identical parallel beams.
3. The flexible under-actuated manipulator for precision assembly of special-shaped parts as claimed in claim 1, characterized in that the finger tip (3301) is designed in an arc-shaped structure.
4. The flexible under-actuated manipulator for precision assembly of special-shaped parts as claimed in claim 1, characterized in that the gripping mechanism (33) further comprises a strain type displacement sensor (3304) for detecting the displacement of the finger tip (3301) and a strain type force sensor (3302) for detecting the gripping force of the finger tip (3301).
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2021
- 2021-11-23 CN CN202111393864.0A patent/CN114029998B/en not_active Expired - Fee Related
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