SU986775A1

SU986775A1 - Sensibilized manipulator gripper

Info

Publication number: SU986775A1
Application number: SU813321765A
Authority: SU
Inventors: Константин Константинович Шатилов; Феликс Михайлович Кулаков; Лариса Тихоновна Волкова
Original assignee: Ленинградский Научно-Исследовательский Вычислительный Центр Ан Ссср
Priority date: 1981-07-28
Filing date: 1981-07-28
Publication date: 1983-01-07

Description

упругих элементов усложн ет конструкцию и снижает надежность работы устройства . Большой разброс рассто ний между точкой приложени сил и центрами упругих пластин при одинаковой их толщине уменьшает диапазон измерени и увеличивает относительные габариты устройства.elastic elements complicates the design and reduces the reliability of the device. The large scatter of the distances between the point of application of forces and the centers of the elastic plates, with the same thickness, reduces the measurement range and increases the relative dimensions of the device.

II

Целью изобретени вл етс повышение надежности работы устройства и быстродействи процесса измерени сил и моментов взаимодействи объекта манипулировани с захватом.The aim of the invention is to improve the reliability of the device and the speed of the process of measuring the forces and moments of interaction of the object of manipulation with the grip.

Цель достигаетс тем, что предлагемый захват содержит дополнительные тензодатчики, а кажда часть снабжена опорой дл губки, выполненной в виде стакана, жестко закрепленного на торцовой поверхности упругих пластин и упругой балки многогранного сечени , консольно закрепленной в дне стакана, при этом губка установлена на свободном конце балки, а противоположна торцова поверхность пластин жестко- св зана с основанием , причем пластины расположены параллельно рабочей поверхности губок, а дополнительные тензодатчики установлены на плоских поверхност х упругих балок, кроме того,все тензодатчики соединены таким образом , что расположенные симметрично тензодатчики .образуют два последовательно подключенных к источнику питани плеча моста.The goal is achieved by the fact that the proposed grip contains additional strain gauges, and each part is provided with a support for a sponge made in the form of a glass rigidly fixed on the end surface of elastic plates and an elastic beam of multifaceted cross section, cantilevered fixed in the bottom of the glass, while the sponge is mounted on the free end beams, and the opposite end surface of the plates is rigidly connected to the base, the plates being parallel to the working surface of the jaws, and additional strain gauges are mounted on Gloss surfaces of the elastic beams, moreover, all the strain gauges are connected in such a way that the strain gauges are arranged symmetrically .obrazuyut two series-connected to the power source of the bridge arm.

На фиг.1 изображен захват манипул тора , общий вид; на фиг.2 - то же, продольный разрез; на фиг.З - разрез А-А на фиг.2; на фиг.4 - разрез Б-Б на фиг,2 и вид сбоку захвата; на фиг.З - разрез В-В на фиг.2; на фиг.6-12 - cxeivffii соединени тензодатчиков .Figure 1 shows the capture manipulator torus, a general view; figure 2 is the same, a longitudinal section; on fig.Z - section aa in figure 2; figure 4 - section bb in Fig, 2 and a side view of the grip; on fig.Z - section bb In figure 2; Figures 6-12 - cxeivffii strain gauge connections.

Захват манипул тора, очувствленный по силам, и моментам, содержит губки 1 и 2 захвата, центры которых соединены с торцами упругих балок 3 и 4, вторые торцы которых жестко соединены с внутренними поверхност ми дна стаканов 5, и 6, которые образуют опору. К боковой поверхности каждого стакана 5 и б торцами жестк.о присоединены упругие пластины 7, 8 и 9, 10. Их вторые торцы присоединены к соответствующим подвижным основани м 11 и 12 и образуют-с ними по двсе пр моугольные рамки. Подвижные основани 11 и 12 установлены на общем основании 13. Плоскости упругих пластин 7-10 перпендикул рны упругим балкам 3 и 4 и линии движени оснований 11 и 12. Тензодатчики 14-33 укреплены на четырех плоскост х упругих балок 3 и 4 и соединены в п ть мостовых схем (фиг.6-10), а тензодатчики 34-41 установлены на упругих пластинах 7-10 и соединены в две мостовые схемы (фиг.11-12). При этомThe gripper of the manipulator, sensing by forces and moments, contains the gripping jaws 1 and 2, the centers of which are connected to the ends of the elastic beams 3 and 4, the second ends of which are rigidly connected to the inner surfaces of the bottom of the glasses 5, and 6 that form the support. Elastic plates 7, 8, and 9, 10 are attached to the lateral surface of each glass 5 and b by the ends of the rigid plate. Their second ends are attached to the respective movable bases 11 and 12 and form rectangular frames with them. The movable bases 11 and 12 are mounted on a common base 13. The planes of the elastic plates 7-10 are perpendicular to the elastic beams 3 and 4 and the lines of movement of the bases 11 and 12. The strain gauges 14-33 are fixed on four planes of the elastic beams 3 and 4 and are connected in bridge circuits (Fig.6-10), and strain gauges 34-41 are mounted on elastic plates 7-10 and connected in two bridge circuits (Fig.11-12). Wherein

мостовые схемы собраны из тензодатчиков , установленных на симметричных мостах противоположных упругих балок 3 и 4 и пластин 7-10, Так, тензодатчики 14-29 располагаютс у жестко закрепленных концов упругих алок 3 и 4, и один из них 14 (16, 18, 20) соединен одним концрм с тензодатчиком 15 (17, 19, 21), расположенным на противоположной стороне .той же упругой балки 3 или 4, а другим концом - с тензодатчиком 17 (15, 21, 19), расположенным на противоположной стороне другой упругой балки 4 или 3, они образуют два моста, регистрирующих силы F., и F;( в направдени х осей Z и X.bridge circuits are assembled from strain gauges installed on symmetrical bridges opposite elastic beams 3 and 4 and plates 7-10. Thus, strain gauges 14-29 are located at rigidly fixed ends of elastic bars 3 and 4, and one of them is 14 (16, 18, 20 ) connected to one end of the strain gauge 15 (17, 19, 21) located on the opposite side of the same elastic beam 3 or 4, and the other end with a strain gauge 17 (15, 21, 19) located on the opposite side of the other elastic beam 4 or 3, they form two bridges registering the forces of F., and F; (in the directions of the axes Z and X.

Другой тензодатчик 22 (26, 25, 29) соединен одним концом с тензодатчиком 23 (27, 24, 28), расположеннымAnother strain gauge 22 (26, 25, 29) is connected at one end to a strain gauge 23 (27, 24, 28) located

на противоположной стороне той же упругой балки 3 или 4, а вторым концом - с тензодатчиком 24 (28, 23, 27), расположенным с той же стороны другой упругой балки 3 или 4, ониon the opposite side of the same elastic beam 3 or 4, and the second end with a strain gauge 24 (28, 23, 27) located on the same side of another elastic beam 3 or 4, they

образуют два моста, регистрирующих моменты вращени MX и Мг вокруг направлений осей X и Z. Тензодатчики 30-33, расположенные под углом 45°. к продольной оси упругих балок 3 и 4 на их средних част х, соединены в мостовую схему, регистрирующую момент вращени М; вокруг оси Y. Тензодатчики 34-41, расположенные на внутренних плоскост х упругих пластин 7-10, соединены в две .: мостовые схемы,they form two bridges that record the torques MX and Mg around the directions of the axes X and Z. Strain gages 30-33 located at an angle of 45 °. to the longitudinal axis of the elastic beams 3 and 4 in their middle parts, are connected in a bridge circuit that records the torque of rotation M; around the Y axis. Strain gages 34-41, located on the inner planes of the elastic plates 7-10, are connected in two: bridge circuits,

одна из которых (34-37) регистрирует силу F-y в направлении оси Y, а друга (38-41) - силу сжати захватом объекта манипулировани F... При этом каждый тензодатчик этих мостовых схем установлен на своей упругой пластине 7-10.one of which (34-37) registers the F-y force in the Y-axis direction, and the other (38-41) registers the compressive force of the manipulation object F ... Each strain gauge of these bridge circuits is installed on its elastic plate 7-10.

Устройство работает следующим образом.The device works as follows.

Объект манипулировани зажимаетс губками 1 и 2 захвата. При этом сила сжати объекта вызывает соответствующие упругие деформации пластин 7-10. Эти деформации преобразуютс тензодатчиками 38-41 в электрическийThe handling object is clamped with the jaws 1 and 2 of the gripper. The compression force of the object causes the corresponding elastic deformation of the plates 7-10. These deformations are converted by strain gauges 38-41 to electrical

сигнал, который будет пропорционален силе сжати F. объекта на выходе мостовой схемы.a signal that will be proportional to the compressive force F. of the object at the output of the bridge circuit.

При приложении к объекту манипулировани сил и моментов со стороны окружающей среды возникают деформации в упругих элементах 3, 4, 1-10, которые также преобразуютс тензодатчиками 14-37 в электрические сигналы . При этом на выходе тензометрических мостов по вл ютс сигналы,When forces and moments are applied to the object to be manipulated by the environment, deformations occur in the elastic elements 3, 4, 1-10, which are also converted by strain gauges 14-37 into electrical signals. At the same time, at the exit of the strain gauge bridges, signals appear

пропорциональные проекци м внешней силы F или момента М на оси системы координат X, Y, Z, центр которой расположен в центре линии, соедин ющей центры губок 1 и 2, т.е. вproportional to the projections of the external force F or moment M on the axis of the coordinate system X, Y, Z, whose center is located in the center of the line connecting the centers of the jaws 1 and 2, i.e. at

Claims

the middle of the object of manipulation. In the case of using self-centering sponges, the center of the object of manipulation may not be located in the center of the measuring coordinate system X, Y, 2. Thus, for example, if an external force F acts in the direction of the Y axis, deformations occur in all elastic elements 3, 4 7-10 . However, bending deformations of elastic plastics 7-10 will be most severe. The deformations of compression, however, the growth of elastic beams 3 and 4 is much less. In addition, half of the strain gauge bridges 14-17, 18-21, 22-25, 26-29, 30-33, are located on bars that have a counter. the positive sign of the deformation, due to which some changes in the values of the signals from the strain gauges mutually compensate (for the same values of resistance, strain gauges). Similarly compensate for and changes in the bridge circuit of the strain gauges 38-41. Therefore, the force applied in the direction of the Y axis causes only the unbalance of the bridge cf of strain gauges 34–37 that register the forces Fx, acting along the Y axis. Under the action of the forces F along the X and Z axes, the greatest deformations occur in elastic beams 3 and 4 and the smallest in the elastic plates 7-10, since the force F causes strain-compression deformations, which are significantly less than the flexural deformation. The bending of the plates under the action of the force F is also small due to the flat section of the plates and the location of the strain gauges. In addition, due to the connection of strain gauges into bridge circuits, the deformations caused by forces acting in other directions are mutually compensated at the same value of resistances of strain gauges. Thus, when applied to the object of manipulation, clamped by sponges, or to compressed sponges of external forces and moments, electrically the signals of strain gages appear proportional to the magnitudes of the projections of these forces and moments on the coordinate system associated with the grip. Such a grip, sensible in terms of forces and moments, provides the possibility of simultaneously and accurately determining all the projections of force and moment acting directly on the object of manipulation or the grip sponge, as well as the force of compression of the sponges. Claims of the invention Sensitive gripper of the manipulator, containing two parts located on both sides of the plane of symmetry, each of which consists of, connected through elastic plates with a base mounted movably in the axial direction and connected to the actuator, as well as strain gauges located on elastic plates connected to bridge circuits and connected to a source of titanium, characterized in that, in order to ensure speed and reliability, it contains additional strain gauges, and each the part is provided with a support for a sponge made in the form of a glass rigidly fixed on the end surface of elastic plates and an elastic beam of a many-sided cross section, which is cantileverly fixed in the bottom of the glass, while the sponge is installed on the free end of the beam and rigidly connected to the opposite end surface of the plates base, the plates are parallel to the working surface of the sponges, and additional strain gauges are installed on the flat surfaces of elastic beams, moreover, all strain gauges are connected in such a way that symmetrically positioned strain gauges form two successively connected to the power source the arms of the bridge. Sources of information taken into account in the examination 1. Medvedev B.C. et al., Control Systems for Manipulating Robots, 1978, p. 174-188.

2. US patent number 3948093, cl. G 01 L 5/16, published 1976

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