CN203380904U - Leaf spring framework flexible claw driven and controlled by electric push rods - Google Patents
Leaf spring framework flexible claw driven and controlled by electric push rods Download PDFInfo
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- CN203380904U CN203380904U CN201320434470.XU CN201320434470U CN203380904U CN 203380904 U CN203380904 U CN 203380904U CN 201320434470 U CN201320434470 U CN 201320434470U CN 203380904 U CN203380904 U CN 203380904U
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Abstract
The utility model relates to a leaf spring framework flexible claw driven and controlled by electric push rods. The claw comprises a palm and three flexible fingers, wherein one of the three flexible fingers 1 is installed at a symmetrical center on the left side of the rectangular palm 2, and the other two flexible fingers 1 are installed on two sides of a symmetrical center on the right side of the rectangular palm 2 respectively; and the three flexible fingers 1 are installed on three corresponding edges of the hexagonal palm 3 respectively. All flexible fingers are identical in structure, and each flexible finger mainly comprises the electric push rod and a leaf spring; each leaf spring serving as a framework is divided into a deformation section and a grasping section, and lengths of the deformation sections and the grasping sections can be adjusted relatively; the multi-finger claw is used for grasping brittle objects or specially-shaped objects with changing shapes and sizes and belongs to the application technology field of robots and mechanical-electrical integration; and the claw is connected with a robot body and is particularly applicable to production and logistics sites of grasping, sorting, packaging and the like of food, agricultural products and light industrial products.
Description
Technical field:
The utility model belongs to the technical field of robot, electromechanical integration, relates to a kind of electric pushrod and drives the flexible paw of the flat spring skeleton of controlling, for production and the logistics occasions such as crawl, sorting and packing of food, agricultural product, light industrial goods.
Background technology:
Large-scale production situation for light industry and food service industry, the logistics of the raw material complex-shaped for meeting, that physical property is various, semi-finished product, finished product and the needs of packing, for problems such as the recruitment cost that solves simple work are high, working condition is poor, need the logistics graping chaw.The kind of the complex object just captured: 1. yielding soft object (bread, soft package article); 2. frangible brittle body (birds, beasts and eggs, glass and ceramic product); 3. the object that in irregular shape, size differences is large (melon and fruit, vegetables); 4. abnormity, location status is chaotic and the difficult object (bottle, bottle for cosmetics) of making in order; From, the difference of the material character of complex object, geomery and location status is larger.The traditional industry paw is clamp-type or parallel movable structure, can only capture that shape size is identical, location status unanimously, rigidity workpiece that can not be damaged.Humanoid dextrous hand needs locus and the shape of perception complex object, need accurate controlled motion and grasp force, otherwise can damage complex object or can not reliably capture, but humanoid dextrous hand still is in the laboratory research stage at present.
The rigid bar that conventional rigid mechanism is connected by kinematic pair forms, and is moved, the mechanical device of power or energy transmission or conversion.Compliant mechanism (Compliant Mechanisms) also can transmission or converting motion, power or energy, but different from rigid mechanism, and compliant mechanism, not only by kinematic pair transmission campaign, also at least obtains part motion from the distortion of its compliant member.Two large superiority of compliant mechanism: reduce costs (reduce number of parts, reduce assembling, simplify and manufacture, alleviate quality) and improve performance (improve precision, increase reliability, reduce wear, reduce maintenance).
The flexible finger of the utility model paw is exactly a kind of compliant mechanism, and flat spring is the deformation element of compliant mechanism, is characterized in: external applied load is had to the good flexible free degree and shock-absorbing capacity, and while therefore capturing complex object, flexible adaptivity is good.
The critical component of the utility model paw is flexible finger, also is called flexible joint.Before the utility model, granted patent (plate spring skeleton hydrulic pneumatic flexible bending joint, ZL200410065130.X) proposed that a kind of rubber corrugated tube swelling loaded type Pneumatic artificial muscle is driver drives, the flexible bending joint flat spring skeleton, its shortcoming is: 1. the inner chamber pressure of rubber bellows Pneumatic artificial muscle driver is large not, the backup plate spring action, be returned to initial straight configuration; 2. the length of flat spring sweep (being deformation section) can not be regulated, and the versatility that captures object is good not; 3. the deflection along with flat spring is larger, and the pressure increment of the artificial-muscle inner chamber that the unit increment of deflection is required is larger, the more difficult bending of flat spring, that is the slope of curve of the angle of bend-air pressure of flexible finger is more and more less; 4. under especially artificial-muscle drives, the tension that flat spring is subject to increases with artificial-muscle inner chamber pressure, need to increase the flat spring area of section and could meet requirement of strength, and can make the difficulty of flat spring large deformation increase when increasing the flat spring sectional area, the artificial-muscle power output has increased the active force that makes the flat spring distortion, has reduced the grasp force of flexible joint output.
Summary of the invention:
The utility model electric pushrod drives the flexible paw of the flat spring skeleton of controlling, and paw is comprised of a palm and three flexible fingers, and palm has rectangle and two kinds of structures of hexagon; Each flexible finger structure is identical, mainly a flat spring and an electric pushrod (being called again electric cylinder, linear actuator, Linear actuator, linear actuator), consists of; Flat spring as skeleton is divided into deformation section and captures section, but two segment length relative adjustment; Drive to produce grasping force by electric pushrod, these many finger paws are applied to frangible brittle body, or the grasping of the Special-shaped object of shape, size variation.
The utility model has overcome above-mentioned deficiency, the many finger paws of the utility model have three flexible fingers, each flexible finger structure is identical, flexible finger adopts submissive four-bar mechanism, four bars respectively: the seat bar (pressing plate 6a, rocker bar bearing 7a composition) that drive rod (electric pushrod 1a form with hinge seat 5a), flexible link (flat spring 4a), length-adjustable two power bars (left-hand thread hinge-rod 8a, thread bush 9a, right-hand thread hinge-rod 10a form) and position are adjustable.
Drive rod does not rotatablely move, but the rectilinear motion of electric pushrod 1a and hinge seat 5a.By regulating two power pole lengths, the length of flat spring sweep (being deformation section) can be regulated; Two power pole lengths are shorter, and the length of flat spring 4a sweep (being deformation section) is shorter; Two power pole lengths are shorter, and electric pushrod 1a stroke is shorter, and during original state, the angle of two power bars and flat spring is larger, and the bending effect of flat spring is better.
Main solution of the present utility model is achieved in that
As shown in accompanying drawing 1,2, a kind of structure of the many finger paws of the utility model: formed by three flexible fingers 1 and a rectangle palm 2.A flexible finger 1 is installed in the symmetrical centre place, left side of rectangle palm 2, and other two flexible fingers 1 are installed in respectively the both sides of rectangle palm 2 right side symmetrical centre.
As shown in accompanying drawing 3,4, the another kind of structure of the many finger paws of the utility model: formed by three flexible fingers 1 and a hexagon palm 3.Three flexible fingers 1 are installed in respectively three corresponding sides places of hexagon palm 3.Wherein the inscribed circle radius of three corresponding sides is larger, is applicable to the major diameter grasping body; The inscribed circle radius of three corresponding sides is less, is applicable to small diameter objects and captures.
As shown in Figure 5, aforesaid flexible finger 1 is parts, and its mounting structure is: the tailstock of electric pushrod 1a is screwed and is referring to that on root plate 2a, electric pushrod 1a head end and hinge seat 5a thread connection also screw locking with nut; The upper end of flat spring 4a is fixed on and refers to that between root plate 2a and fixture block 3a, the centre of flat spring 4a is fixed between pressing plate 6a and rocker bar bearing 7a by bolt and nut by screw, and flat spring 4a curved surface bottom is the crawl section, contacts with crawled object; Between the hinge seat 5a of electric pushrod 1a head end and right-hand thread hinge-rod 10a, it is hinge-coupled, hinge-coupled between rocker bar bearing 7a and left-hand thread hinge-rod 8a, left-hand thread hinge-rod 8a and right-hand thread hinge-rod 10a all are spun in thread bush 9a and screw locking with nut; Suitable, be rotated counterclockwise thread bush 9a, can make relative distance between left-hand thread hinge-rod 8a and right-hand thread hinge-rod 10a increase or shorten.
The installation form of the many finger paws of the utility model is: identical flexible finger 1 for each, it refers to that root plate 2a all is fixed on rectangle palm 2 or hexagon palm 3 by screw.
Compared with the prior art the utility model has the following advantages:
(1) flexible finger adopts electric pushrod to replace rubber bellows Pneumatic artificial muscle driver, and driving force is large, grasp force is large; By the electric pushrod counter motion, and not backup plate spring action is returned to initial straight configuration.
(2) the larger complex object to the difference of material character, geomery and location status, by crawl, test and analytical calculation, the length of adjustable plate spring bending part (being deformation section) again, so not only guaranteed that flexibility reliably captured adaptively, but also can not damage the crawl object, therefore the versatility of many finger paws is good.
(3) along with the push rod of electric pushrod 1a is constantly passed downwards, because the angle of two power bars and flat spring constantly increases, the component of flat spring bending is constantly increased, flat spring is more flexible; The deflection of flat spring is larger, and the unit increment required thrust of deflection is less, that is the slope of curve of the angle of bend of flexible finger-electric pushrod thrust is increasing.
(4) tension that especially flat spring is subject to increases and reduces with electric pushrod thrust, can when meeting requirement of strength, reduce the flat spring sectional area, and be easy to make the flat spring large deformation when reducing the flat spring sectional area, reduce electric pushrod thrust and made the active force part of flat spring distortion, thereby increased the grasp force that flexible joint is exported.
The accompanying drawing explanation:
The electric pushrod that Fig. 1 is the rectangle palm drives A-A master's cutaway view of the flexible paw of flat spring skeleton of controlling
The electric pushrod that Fig. 2 is the rectangle palm drives the top view of the flexible paw of flat spring skeleton of controlling
The electric pushrod that Fig. 3 is the hexagon palm drives B-B master's cutaway view of the flexible paw of flat spring skeleton of controlling
The electric pushrod that Fig. 4 is the hexagon palm drives the top view of the flexible paw of flat spring skeleton of controlling
Fig. 5 is the front view that electric pushrod drives the flexible finger of the flexible paw of flat spring skeleton of controlling
The specific embodiment:
Be below operation principle of the present utility model and the course of work:
One section of flat spring 4a (refer to root plate 2a and fixture block 3a clamp sentence down to pressing plate 6a and more than rocker bar bearing 7a clamping place) be deformation section, bear the electric pushrod driving and the generation large deformation; The flat spring 4a downside that pressing plate 6a and rocker bar bearing 7a clamp is that curved surface is to capture section bottom, and the crawl contact site of complex object just captures section at flat spring 4a.
Electric pushrod 1a energising, its push rod moves downward, thereby drives two power bars (left-hand thread hinge-rod 8a, thread bush 9a, right-hand thread hinge-rod 10a form), overcomes elastic force and makes flat spring 4a bending, and flat spring 4a captures the section contact and is grabbed object; Electric pushrod 1a continues motion, and flat spring 4a is out of shape increase, and grasp force also increases; When meeting the requirements of grasp force, electric pushrod 4a outage, the self-locking of electric pushrod 4a internal screw nut body, keep grasp force constant.
1. original state is regulated
To aforementioned special object, grab minimum, the maximum crawl object that captures object or crawl object in irregular shape or the stressed variation of material size, need flexible adaptive structure, more need to carry out the fine adjustment of structure original state.
The fine adjustment of structure original state: as shown in Figure 1, 2, according to complex object microscler, rectangle, after experimental study and theory analysis, regulate the length of two power bars (left-hand thread hinge-rod 8a, thread bush 9a, right-hand thread hinge-rod 10a form), then adjust pressing plate 6a and rocker bar bearing 7a and be fixed on the position in the middle of flat spring 4a.As shown in Figure 3,4, the complex object of circle, short cylindrical shape, after same experimental study and theory analysis, regulated according to above-mentioned steps.
2. duty calibration
Because the difference of material character, geomery and the location status of aforementioned complex object is larger, the flexible paw of the utility model flat spring skeleton has the self-adapting flexible structure.Flexible paw meets the demands as follows: the contact of 1. grabbing minimum, maximum crawl object changes as far as possible little, capture minimum crawl object and do not damage the maximum force request that captures object to meet safety, crawl object in irregular shape (as agricultural product such as apples) is also had to adaptivity; 2. electric pushrod directly drives, and drive system is without feedback; 3. paw structure, driving control system are simple and reliable; While 4. capturing, on the paw height, location is constant all the time, and supporting robot body is controlled convenient.
To concrete complex object, first according to the Elasticity of structure, estimated; The crawl object of selecting again minimum to capture size, maximum crawl size is tested, final definite the selection: adopt the concrete displacement parameter of electric pushrod displacement control or the concrete driving force parameter that electric pushrod thrust (direct current generator output torque) is controlled.
To concrete complex object, the concrete driving force parameter that the concrete displacement parameter that the electric pushrod displacement of selecting is previously controlled or electric pushrod thrust are controlled is well-determined in application, starts to set, and no longer change, so control system is simple and reliable.
3. electric pushrod motor control method
The utility model adopts miniature electric pushrod, and for direct current generator drives, in the occasion that needs speed to control, speed is controlled the switch power element that adopts full-control type and carried out pulsewidth modulation (pulse width modulation is called for short PWM).This speed regulating method has that the switching frequency high, low speed is stable, dynamic property is good, the efficiency advantages of higher.
Because the structure of the flexible paw of the utility model flat spring skeleton has self-adapting flexible, the required precision that grasp force is controlled is not high, and its straightforward procedure has two kinds: the 1. position probing of the position-sensor-free based on the line voltage difference and control; 2. the moment of torsion Detection & Controling based on line voltage or the unable sensor based on the winding inductance variation characteristic.
Claims (1)
1. electric pushrod drives the flexible paw of the flat spring skeleton of controlling, it is characterized in that: the tailstock of electric pushrod (1a) is screwed and is referring on root plate (2a), the upper end of flat spring (4a) is fixed on and refers between root plate (2a) and fixture block (3a) by screw, the centre of flat spring (4a) is fixed between pressing plate (6a) and rocker bar bearing (7a) by bolt and nut, flat spring (4a) be curved surface bottom, be convenient to contact crawled object; Between the hinge seat (5a) of electric pushrod (1a) head end and right-hand thread hinge-rod (10a), it is hinge-coupled, hinge-coupled between rocker bar bearing (7a) and left-hand thread hinge-rod (8a), left-hand thread hinge-rod (8a) and right-hand thread hinge-rod (10a) all are spun in thread bush (9a) and screw locking with nut; Suitable, be rotated counterclockwise thread bush (9a), can make relative distance between left-hand thread hinge-rod (8a) and right-hand thread hinge-rod (10a) increase or shorten; Aforesaid these parts form flexible fingers (1), identical flexible finger (1) for each, and it refers to that root plate (2a) all is fixed on rectangle palm (2) or hexagon palm (3) by screw; A flexible finger (1) is installed in the symmetrical centre place, left side of rectangle palm (2), and other two flexible fingers (1) are installed in respectively the both sides of rectangle palm (2) right side symmetrical centre, and this is a kind of version; Three flexible fingers (1) are installed in respectively three corresponding sides places of hexagon palm (3), and this is another kind of version.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320434470.XU CN203380904U (en) | 2013-07-22 | 2013-07-22 | Leaf spring framework flexible claw driven and controlled by electric push rods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320434470.XU CN203380904U (en) | 2013-07-22 | 2013-07-22 | Leaf spring framework flexible claw driven and controlled by electric push rods |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203380904U true CN203380904U (en) | 2014-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320434470.XU Expired - Fee Related CN203380904U (en) | 2013-07-22 | 2013-07-22 | Leaf spring framework flexible claw driven and controlled by electric push rods |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203380904U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317521A (en) * | 2013-07-22 | 2013-09-25 | 江南大学 | Electric push rod drive controlled flexible gripper with plate spring frameworks |
-
2013
- 2013-07-22 CN CN201320434470.XU patent/CN203380904U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317521A (en) * | 2013-07-22 | 2013-09-25 | 江南大学 | Electric push rod drive controlled flexible gripper with plate spring frameworks |
| CN103317521B (en) * | 2013-07-22 | 2016-08-10 | 江南大学 | Electric pushrod drives the flat spring skeleton flexibility paw controlled |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140108 Termination date: 20140722 |
|
| EXPY | Termination of patent right or utility model |