CN114407081A - Passive compliant device at tail end of hybrid variable impedance mechanical arm - Google Patents
Passive compliant device at tail end of hybrid variable impedance mechanical arm Download PDFInfo
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- CN114407081A CN114407081A CN202210211492.3A CN202210211492A CN114407081A CN 114407081 A CN114407081 A CN 114407081A CN 202210211492 A CN202210211492 A CN 202210211492A CN 114407081 A CN114407081 A CN 114407081A
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- connecting plate
- electromagnet
- permanent magnet
- compliant device
- shell
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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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a passive compliant device for the tail end of a hybrid variable impedance mechanical arm, which comprises a shell, wherein an upper port and a lower port of the shell are positioned on the same axis; the periphery of the upper end connecting plate is in sliding fit with the inner cavity of the shell, an upper end shaft in sliding connection with the upper end opening is fixedly arranged in the middle of the back surface of the upper end connecting plate, and the upper end electromagnet and the upper end permanent magnet are fixed on the front surface of the upper end connecting plate; the periphery of the lower end connecting plate is in sliding fit with the inner cavity of the shell, a lower end shaft in sliding connection with the lower port is fixedly arranged in the middle of the back of the lower end connecting plate, and a lower end electromagnet and a lower end permanent magnet are fixed on the front of the lower end connecting plate; the upper permanent magnet and the lower permanent magnet are oppositely arranged at intervals, and the magnetizing directions of the upper permanent magnet and the lower permanent magnet are opposite; the upper end electromagnet and the lower end electromagnet are oppositely arranged at intervals, and the magnetizing directions of the upper end electromagnet and the lower end electromagnet are opposite. By adopting the invention, the basic impedance can be changed before the operation is started, and the on-line impedance can be changed in the operation process.
Description
Technical Field
The invention belongs to the technical field of mechanical arms, and particularly relates to a passive compliant device for a tail end of a hybrid variable impedance mechanical arm.
Background
The existing passive compliant device applied to the automatic assembly of the mechanical arm is composed of a parallel spring, a damper or a rubber material, and the compliant contact effect when the tail end of the mechanical arm is in contact with the outside is realized through the rigidity or the damping of the passive compliant device. On the basis, the impedance of the passive compliance device can be changed by adjusting the initial state of the spring or the rubber material. However, this structure can only be adjusted before the operation starts, and cannot be changed during the operation, and thus cannot be applied to different stages of the same operation task.
Disclosure of Invention
The invention aims to provide a passive compliant device at the tail end of a mixed variable-impedance mechanical arm, which can change the basic impedance before the operation is started and can also change the on-line impedance in the operation process.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
a passive compliant device for a tail end of a hybrid variable impedance mechanical arm comprises a shell, and an upper end connecting plate, a lower end connecting plate, an upper end magnetic assembly and a lower end magnetic assembly which are arranged in the shell, wherein the shell is provided with an upper port and a lower port, and the upper port and the lower port are positioned on the same axis; the periphery of the upper end connecting plate is in sliding fit with the inner cavity of the shell, an upper end shaft in sliding connection with the upper end opening is fixedly arranged in the middle of the back of the upper end connecting plate, the upper end magnetic assembly is fixed on the front of the upper end connecting plate, and the upper end magnetic assembly comprises an upper end electromagnet and an upper end permanent magnet; the periphery of the lower end connecting plate is in sliding fit with the inner cavity of the shell, a lower end shaft in sliding connection with the lower port is fixedly arranged in the middle of the back of the lower end connecting plate, the lower end magnetic assembly is fixed on the front of the lower end connecting plate, and the lower end magnetic assembly comprises a lower end electromagnet and a lower end permanent magnet; the upper permanent magnet and the lower permanent magnet are oppositely arranged at intervals, and the magnetizing direction of the upper permanent magnet is opposite to that of the lower permanent magnet; the upper end electromagnet and the lower end electromagnet are oppositely arranged at intervals, and the magnetizing direction of the upper end electromagnet is opposite to that of the lower end electromagnet.
As a preferred scheme of the invention, the upper end permanent magnet is fixed in the middle of the upper end connecting plate, a plurality of upper end electromagnets are arranged, and the plurality of upper end electromagnets are arranged around the upper end permanent magnet; the lower end permanent magnet is fixed in the middle of the lower end connecting plate, a plurality of lower end electromagnets are arranged, and the plurality of lower end electromagnets are arranged around the lower end permanent magnet in an enclosing manner.
As a preferred scheme of the invention, the upper-end electromagnet is fixed in the middle of the upper-end connecting plate, a plurality of upper-end permanent magnets are arranged, and the plurality of upper-end permanent magnets surround the upper-end electromagnet; the lower end electromagnet is fixed in the middle of the lower end connecting plate, the lower end permanent magnets are arranged in a plurality of numbers, and the lower end permanent magnets are arranged around the lower end electromagnet in a surrounding mode.
As a preferable aspect of the present invention, each of the upper and lower electromagnets includes an iron core and an electromagnetic coil wound around an outer periphery of the iron core.
In a preferred embodiment of the present invention, the housing is formed by connecting an upper end housing and a lower end housing.
As a preferable mode of the present invention, the end of the upper shaft passes through the upper port and is connected to an upper end connection flange.
As a preferable scheme of the present invention, the upper port extends with a shaft sleeve matched with the upper shaft, the shaft sleeve is provided with a plurality of first pin holes distributed along an axial direction of the shaft sleeve, the upper shaft is provided with a second pin hole communicated with the first pin holes, and pins are sequentially connected to the first pin holes and the second pin holes in a penetrating manner.
In a preferred embodiment of the present invention, the lower end shaft has a distal end passing through the lower port and connected to a lower end connection flange.
As a preferable aspect of the present invention, gaps for allowing the lower end connecting plate to deflect are provided between the outer periphery of the lower end connecting plate and the inner cavity of the housing and between the lower end shaft and the lower port, respectively.
Compared with the prior art, the passive compliant device for the tail end of the hybrid variable-impedance mechanical arm has the beneficial effects that:
the passive compliance device is provided with magnetic assemblies consisting of electromagnets and permanent magnets on an upper end connecting plate and a lower end connecting plate respectively, and makes the magnetizing directions of the upper end magnetic assembly and the lower end magnetic assembly opposite to each other to form repulsion force; the repulsion between the upper and lower permanent magnets determines the basic impedance capability of the passive compliant device, and the setting of the initial impedance can be realized by adjusting the distance between the upper and lower permanent magnets or replacing the permanent magnets with different magnetic parameters before the operation task; the repulsion force of the electromagnets at the upper end and the lower end determines the real-time impedance capability of the passive compliance device, and the real-time impedance change can be realized by changing the current; therefore, the passive compliance device can effectively ensure the compliance contact between the tail end of the mechanical arm and the assembled object, can realize mixed variable impedance, can change the basic impedance before the operation starts on one hand, and can change the on-line impedance in the operation process on the other hand, and has wide application range.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
Fig. 1 is a front view of a hybrid variable impedance mechanical arm end passive compliance device provided in an embodiment of the present invention;
FIG. 2 is a cross-sectional view A-A of the structure shown in FIG. 1;
FIG. 3 is a cross-sectional view of B-B in the configuration shown in FIG. 1;
FIG. 4 is a cross-sectional view of C-C in the configuration shown in FIG. 1;
fig. 5 is a perspective view of a hybrid variable impedance mechanical arm end passive compliant device according to an embodiment of the present invention.
The labels in the figure are:
1. a shell body 11, an upper port 12, a lower port 13 and a shaft sleeve; 2. an upper end connecting plate 21, an upper end shaft; 3. a lower end connecting plate 31, a lower end shaft; 4. an upper end magnetic assembly 41, an upper end electromagnet 42 and an upper end permanent magnet; 5. a lower end magnetic assembly 51, a lower end electromagnet 52 and a lower end permanent magnet; 6. the upper end is connected with a flange; 7. the lower end is connected with a flange; 8. a pin.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. It should be understood that the terms "upper end", "lower end", and the like are used herein to describe various information, but the information should not be limited to these terms, which are used only to distinguish one type of information from another. For example, "upper" information may also be referred to as "lower" information, and similarly, "lower" information may also be referred to as "upper" information, without departing from the scope of the present invention.
As shown in fig. 1 to 5, a passive compliant device for a hybrid impedance-varying mechanical arm end provided by an embodiment of the present invention includes a housing 1, and an upper end connecting plate 2, a lower end connecting plate 3, an upper end magnetic assembly 4, and a lower end magnetic assembly 5 which are disposed in the housing 1, where the housing 1 is provided with an upper port 11 and a lower port 12, and the upper port 11 and the lower port 12 are located on the same axis; the periphery of the upper end connecting plate 2 is in sliding fit with the inner cavity of the shell 1, an upper end shaft 21 in sliding connection with the upper port 11 is fixedly arranged in the middle of the back of the upper end connecting plate 2, the upper end magnetic assembly 4 is fixed on the front of the upper end connecting plate 2, and the upper end magnetic assembly 4 comprises an upper end electromagnet 41 and an upper end permanent magnet 42; the periphery of the lower end connecting plate 3 is in sliding fit with the inner cavity of the shell 1, a lower end shaft 31 in sliding connection with the lower port 12 is fixedly arranged in the middle of the back of the lower end connecting plate 3, the lower end magnetic assembly 5 is fixed on the front of the lower end connecting plate 3, and the lower end magnetic assembly 5 comprises a lower end electromagnet 51 and a lower end permanent magnet 52; the upper permanent magnet 42 and the lower permanent magnet 52 are oppositely arranged at intervals, and the magnetizing direction of the upper permanent magnet 42 is opposite to that of the lower permanent magnet 52; the upper end electromagnet 41 and the lower end electromagnet 51 are oppositely arranged at intervals, and the magnetizing direction of the upper end electromagnet 41 is opposite to that of the lower end electromagnet 51.
Therefore, according to the passive compliant device at the tail end of the hybrid variable impedance mechanical arm provided by the embodiment of the invention, the upper end connecting plate 2 and the lower end connecting plate 3 are respectively provided with the magnetic assemblies consisting of the electromagnet and the permanent magnet, and the magnetizing directions of the upper end magnetic assembly 5 and the lower end magnetic assembly 5 are opposite to each other to form repulsion; the repulsion between the upper and lower permanent magnets 52 determines the basic impedance capability of the passive compliant device, and the initial impedance can be set by adjusting the distance between the upper and lower permanent magnets 52 or replacing the permanent magnets with different magnetic parameters before the operation task; the repulsion force of the upper and lower electromagnets 51 determines the real-time impedance capability of the passive compliance device, and the real-time impedance change can be realized by changing the magnitude of the current. Therefore, the passive compliance device can effectively ensure the compliance contact between the tail end of the mechanical arm and the assembled object, can realize mixed variable impedance, can change the basic impedance before the operation starts on one hand, and can change the on-line impedance in the operation process on the other hand, and has wide application range.
Illustratively, the upper end permanent magnet 42 is fixed in the middle of the upper end connecting plate 2, a plurality of upper end electromagnets 41 are provided, and a plurality of upper end electromagnets 41 are arranged around the upper end permanent magnet 42; the lower end permanent magnet 52 is fixed in the middle of the lower end connecting plate 3, the lower end electromagnets 51 are arranged in a plurality, and the lower end electromagnets 51 are arranged around the lower end permanent magnet 52 in an enclosing manner. Of course, in other alternative embodiments, the upper-end electromagnet is fixed in the middle of the upper-end connecting plate, the upper-end permanent magnets are provided in plurality, and the upper-end permanent magnets are arranged around the upper-end electromagnet in a surrounding manner; the lower end electromagnet is fixed in the middle of the lower end connecting plate, the lower end permanent magnets are arranged in a plurality of numbers, and the lower end permanent magnets are arranged around the lower end electromagnet in a surrounding mode.
Illustratively, each of the upper end electromagnet 41 and the lower end electromagnet 51 includes an iron core and an electromagnetic coil wound around the outer periphery of the iron core.
Illustratively, the shell 1 is formed by connecting an upper end shell and a lower end shell, and is convenient to disassemble, assemble and maintain.
Illustratively, to facilitate the connection of the passive compliant device to the end of the robotic arm, the end of the upper shaft 21 passes through the upper port 11 and is connected to the upper connecting flange 6.
Illustratively, in order to conveniently adjust the distance between the upper and lower permanent magnets 52 to realize the setting of the initial impedance, the upper port 11 extends to form a shaft sleeve 13 which is matched with the upper end shaft 21, the shaft sleeve 13 is provided with a plurality of first pin holes which are distributed along the axial direction of the shaft sleeve, the upper end shaft 21 is provided with a second pin hole which is communicated with the first pin holes, and the pin 8 is sequentially connected to the first pin hole and the second pin hole in a penetrating manner.
Illustratively, to facilitate the connection of the passive compliance device to an end effector (e.g., a gripper or robot), the end of the lower shaft 31 passes through the lower port 12 and is connected to the lower connecting flange 7.
Illustratively, a gap for deflecting the lower end connecting plate 3 (i.e. allowing the axis of the lower end shaft 31 and the axis of the lower port 12 to form a deflection angle smaller than 3 degrees) is provided between the outer periphery of the lower end connecting plate 3 and the inner cavity of the housing 1 and between the lower end shaft 31 and the lower port 12, so as to increase the freedom of movement between the passive compliance device and the end effector.
Illustratively, the upper end connecting plate 2 and the lower end connecting plate 3 are of a disc-shaped structure.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (9)
1. A passive compliant device for the tail end of a hybrid variable impedance mechanical arm is characterized by comprising a shell, and an upper end connecting plate, a lower end connecting plate, an upper end magnetic assembly and a lower end magnetic assembly which are arranged in the shell, wherein the shell is provided with an upper port and a lower port which are positioned on the same axis; the periphery of the upper end connecting plate is in sliding fit with the inner cavity of the shell, an upper end shaft in sliding connection with the upper end opening is fixedly arranged in the middle of the back of the upper end connecting plate, the upper end magnetic assembly is fixed on the front of the upper end connecting plate, and the upper end magnetic assembly comprises an upper end electromagnet and an upper end permanent magnet; the periphery of the lower end connecting plate is in sliding fit with the inner cavity of the shell, a lower end shaft in sliding connection with the lower port is fixedly arranged in the middle of the back of the lower end connecting plate, the lower end magnetic assembly is fixed on the front of the lower end connecting plate, and the lower end magnetic assembly comprises a lower end electromagnet and a lower end permanent magnet; the upper permanent magnet and the lower permanent magnet are oppositely arranged at intervals, and the magnetizing direction of the upper permanent magnet is opposite to that of the lower permanent magnet; the upper end electromagnet and the lower end electromagnet are oppositely arranged at intervals, and the magnetizing direction of the upper end electromagnet is opposite to that of the lower end electromagnet.
2. The passive compliant device for the tail end of the hybrid variable impedance mechanical arm according to claim 1, wherein the upper end permanent magnet is fixed in the middle of the upper end connecting plate, the upper end electromagnets are provided in plurality, and the plurality of upper end electromagnets are arranged around the upper end permanent magnet in an enclosing manner; the lower end permanent magnet is fixed in the middle of the lower end connecting plate, a plurality of lower end electromagnets are arranged, and the plurality of lower end electromagnets are arranged around the lower end permanent magnet in an enclosing manner.
3. The passive compliant device for the tail end of the hybrid variable impedance mechanical arm according to claim 1, wherein the upper end electromagnet is fixed in the middle of the upper end connecting plate, a plurality of upper end permanent magnets are arranged, and the plurality of upper end permanent magnets surround the upper end electromagnet; the lower end electromagnet is fixed in the middle of the lower end connecting plate, the lower end permanent magnets are arranged in a plurality of numbers, and the lower end permanent magnets are arranged around the lower end electromagnet in a surrounding mode.
4. The passive compliant device at the tail end of the hybrid variable impedance mechanical arm according to claim 1, wherein the upper end electromagnet and the lower end electromagnet comprise an iron core and an electromagnetic coil, and the electromagnetic coil is wound on the periphery of the iron core.
5. The passive compliant device for a hybrid variable impedance mechanical arm tip of claim 1, wherein the housing is formed by connecting an upper end shell and a lower end shell.
6. The passive compliant device for a hybrid variable impedance manipulator tip of claim 1, wherein the tip of the upper shaft passes through the upper port and is connected to an upper connecting flange.
7. The passive compliant device for the tail end of a hybrid impedance-varying mechanical arm according to claim 6, wherein a shaft sleeve matched with the upper end shaft extends from the upper port, a plurality of first pin holes are formed in the shaft sleeve and distributed along the axial direction of the shaft sleeve, a second pin hole communicated with the first pin holes is formed in the upper end shaft, and pins are sequentially connected to the first pin holes and the second pin holes in a penetrating manner.
8. The passive compliant device for a hybrid variable impedance manipulator tip of claim 1, wherein the tip of the lower shaft passes through the lower port and is connected to a lower connecting flange.
9. The passive compliant device for a hybrid variable impedance mechanical arm tip of claim 8, wherein a gap for deflecting the lower end connecting plate is respectively provided between the outer periphery of the lower end connecting plate and the inner cavity of the housing and between the lower end shaft and the lower port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210211492.3A CN114407081A (en) | 2022-02-28 | 2022-02-28 | Passive compliant device at tail end of hybrid variable impedance mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210211492.3A CN114407081A (en) | 2022-02-28 | 2022-02-28 | Passive compliant device at tail end of hybrid variable impedance mechanical arm |
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| CN114407081A true CN114407081A (en) | 2022-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210211492.3A Pending CN114407081A (en) | 2022-02-28 | 2022-02-28 | Passive compliant device at tail end of hybrid variable impedance mechanical arm |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05116087A (en) * | 1991-10-28 | 1993-05-14 | Matsushita Electric Works Ltd | Posture control method for movable body by compliance mechanism |
| WO2006065155A1 (en) * | 2004-12-14 | 2006-06-22 | Flexidrill Limited | Vibrational apparatus |
| CN105479146A (en) * | 2016-02-03 | 2016-04-13 | 中山市工业技术研究中心 | Equipment and method for achieving shaft hole assembly |
| CN105537927A (en) * | 2016-02-03 | 2016-05-04 | 中山市工业技术研究中心 | Flexible buffer mechanism for achieving shaft hole assembling through magnetic field repulsive force and method |
| JP2018153898A (en) * | 2017-03-19 | 2018-10-04 | 学校法人早稲田大学 | Contact force adjusting end effector |
| CN110450161A (en) * | 2019-08-15 | 2019-11-15 | 四川大学 | A kind of flexible mechanical arm assembly that can actively and passively adjust rigidity |
| CN110878810A (en) * | 2018-09-06 | 2020-03-13 | 湖北鹰牌动力科技有限公司 | Diesel generating set with electromagnetic shock absorber |
-
2022
- 2022-02-28 CN CN202210211492.3A patent/CN114407081A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05116087A (en) * | 1991-10-28 | 1993-05-14 | Matsushita Electric Works Ltd | Posture control method for movable body by compliance mechanism |
| WO2006065155A1 (en) * | 2004-12-14 | 2006-06-22 | Flexidrill Limited | Vibrational apparatus |
| CN105479146A (en) * | 2016-02-03 | 2016-04-13 | 中山市工业技术研究中心 | Equipment and method for achieving shaft hole assembly |
| CN105537927A (en) * | 2016-02-03 | 2016-05-04 | 中山市工业技术研究中心 | Flexible buffer mechanism for achieving shaft hole assembling through magnetic field repulsive force and method |
| JP2018153898A (en) * | 2017-03-19 | 2018-10-04 | 学校法人早稲田大学 | Contact force adjusting end effector |
| CN110878810A (en) * | 2018-09-06 | 2020-03-13 | 湖北鹰牌动力科技有限公司 | Diesel generating set with electromagnetic shock absorber |
| CN110450161A (en) * | 2019-08-15 | 2019-11-15 | 四川大学 | A kind of flexible mechanical arm assembly that can actively and passively adjust rigidity |
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