CN103317522A - Linear motor drive controlled gripper with tandem flexible hinge frameworks - Google Patents
Linear motor drive controlled gripper with tandem flexible hinge frameworks Download PDFInfo
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- CN103317522A CN103317522A CN2013103067403A CN201310306740A CN103317522A CN 103317522 A CN103317522 A CN 103317522A CN 2013103067403 A CN2013103067403 A CN 2013103067403A CN 201310306740 A CN201310306740 A CN 201310306740A CN 103317522 A CN103317522 A CN 103317522A
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Abstract
The invention relates to a linear motor drive controlled gripper with tandem flexible hinge frameworks. The gripper comprises a palm and three flexible fingers, wherein one flexible finger 1 is installed in the left symcenter of a rectangular palm 2 and the other two flexible fingers 1 are respectively installed on the two sides of the right symcenter of the rectangular palm 2; the three flexible fingers 1 are respectively installed on three corresponding edges of a hexagonal palm 3; each flexible finger has the same structure and mainly comprises a linear motor and a tandem flexible hinge. The flexible fingers 1 are compliant mechanisms. The tandem flexible hinges are deformed components and have good degree of freedom of flexibility, buffer performance and flexibility adaptability. The gripper is applied to gripping fragile objects or special-shaped objects with shapes and sizes varying and belongs to the technical fields of robots and mechatronics. The gripper is connected with a robot body and is especially suitable for the production and logistics fields for gripping, sorting and packaging food, agricultural products and light industrial products.
Description
Technical field:
The invention belongs to the technical field of robot, electromechanical integration, relate to the series connection flexible hinge skeleton paw that a kind of linear electric motors drive control, be used 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 satisfying, that physical property is various, semi-finished product, finished product and the needs of packing, the problem such as high for the recruitment cost that solves simple work, that working condition is poor needs logistics to grasp many finger paws.The kind of the complex object of crawl just: 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; As seen from upper, the difference of the material character of complex object, geomery and location status is larger.The many finger paws of traditional industry are clamp-type or parallel movable structure, can only grasp that shape size is identical, location status unanimously, can not damaged rigidity workpiece.Humanoid dextrous hand needs locus and the shape of perception complex object, needs accurate controlled motion and grasp force, otherwise can damage complex object or can not reliably grasp, 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 moves, 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 also obtains part motion at least not only by kinematic pair transmission campaign from the distortion of its compliant member.Two large superiority of compliant mechanism: reduce cost (reduce number of parts, reduce assembling, simplify and make, alleviate quality) and improve performance (improve precision, increase reliability, reduce wear, reduce maintenance).
The flexible finger of paw of the present invention is exactly a kind of compliant mechanism, and the series connection flexible hinge is the deformation element of compliant mechanism, is characterized in: external applied load is had the good flexible free degree and shock-absorbing capacity, and when therefore grasping complex object, flexible adaptivity is good.
The critical component of paw of the present invention is flexible finger, also is called flexible joint.Before the present invention, patent application (a kind of articulated flexible manipulator, 200810023616.5) flexible bending joint a kind of rubber corrugated tube swelling loaded type Pneumatic artificial muscle driver drives, series connection flexible hinge skeleton proposed, its shortcoming is: 1. the inner chamber pressure of rubber bellows Pneumatic artificial muscle driver is large not, by the effect of series connection flexible hinge, be returned to initial straight configuration; 2. the active length of flexible hinge of connecting can not be regulated, and the versatility of crawl object is good not; 3. the deflection along with the series connection flexible hinge 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 series connection flexible hinge, that is the slope of curve of the angle of bend-air pressure of flexible finger is more and more less; 4. especially artificial-muscle drives lower, the tension that the series connection flexible hinge is subject to increases with artificial-muscle inner chamber pressure, need to increase series connection flexible hinge minimum cross-sectional area and could satisfy requirement of strength, and increase the difficulty of series connection flexible hinge large deformation is increased, increase the artificial-muscle power output and made the active force part of series connection flexible hinge distortion, thereby reduced the grasp force of flexible joint output.
Summary of the invention:
Linear electric motors of the present invention drive the series connection flexible hinge skeleton paw of control, 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 is comprised of a series connection flexible hinge and linear electric motors (being called again linear electric machine, linear motor, line motor, linear actuator); Drive to produce grasping force by linear electric motors, this paw is applied to frangible brittle body, or the grasping of the Special-shaped object of shape, size variation.
The present invention has overcome above-mentioned deficiency, paw of the present invention has three flexible fingers, each flexible finger structure is identical, flexible finger adopts submissive four-bar mechanism, and four bars are respectively: drive rod (the mover 4a of linear electric motors, push away a 3a, guiding push rod 7a and hinge seat 9a form), flexible link (flexible hinge 8a namely connects), the adjustable seat bar (pressing plate 10a, rocker bar bearing 11a composition) of length-adjustable two power bars (left-hand thread hinge-rod 12a, thread bush 13a, right-hand thread hinge-rod 14a form) and position.
Drive rod does not rotatablely move, but but the mover 4a of linear electric motors drives the rectilinear motion that pushes away a 3a, guiding push rod 7a and hinge seat 9a.By regulating two power pole lengths, the arm of force length of series connection flexible hinge sweep can be regulated; Two power pole lengths are shorter, and the arm of force length of series connection flexible hinge sweep is shorter; Two power pole lengths are shorter, and the linear electric motors stroke is shorter, and two power bars are larger with the angle of the flexible hinge of connecting during original state, and the bending effect of series connection flexible hinge is better.
Main solution of the present invention is achieved in that
Shown in accompanying drawing 1,2, a kind of structure of the many finger paws of the present invention: 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 mounted respectively the both sides of rectangle palm 2 right side symmetrical centre.
Shown in accompanying drawing 3,4, the another kind of structure of the many finger paws of the present invention: 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 fit to the major diameter grasping body; The inscribed circle radius of three corresponding sides is less, is fit to the small diameter objects crawl.
As shown in Figure 5, aforesaid flexible finger 1 is parts, its mounting structure is: the stator component 1a of linear electric motors is screwed and is referring on the root plate 2a, the stator component 1a of linear electric motors drive and guiding under, the mover 4a of linear electric motors rectilinear motion up and down, push away a 3a and be screwed on the mover 4a of linear electric motors, linear bearing 6a is fixed on the L-square 5a with soket head cap screw; The upper end threaded portion of guiding push rod 7a adopts nut to connect with pushing away a 3a, and guiding push rod 7a passes the linear bearing 6a that play the guiding role, and guiding push rod 7a lower end threaded portion and hinge seat 9a thread connection also screws locking with nut; The upper end of series connection flexible hinge 8a is fixed on by screw and refers between root plate 2a and the L-square 5a, the lower end of series connection flexible hinge 8a is fixed between pressing plate 10a and the rocker bar bearing 11a by bolt and nut, series connection flexible hinge 8a be curved surface bottom, be convenient to contact crawled object; Hinge-coupled between the hinge seat 9a of guiding push rod 7a and the right-hand thread hinge-rod 14a, hinge-coupled between rocker bar bearing 11a and the left-hand thread hinge-rod 12a, left-hand thread hinge-rod 12a and right-hand thread hinge-rod 14a all are spun in the thread bush 13a and screw locking with nut; Suitable, be rotated counterclockwise thread bush 13a, can make the relative distance between left-hand thread hinge-rod 12a and the right-hand thread hinge-rod 14a increase or shorten.
The installation form of the many finger paws of the present invention is: for each identical flexible finger 1, it refers to that root plate 2a all is fixed on rectangle palm 2 or the hexagon palm 3 by screw.
Compared with the prior art the present invention has the following advantages:
(1) flexible finger adopts linear electric motors to replace rubber bellows Pneumatic artificial muscle driver, and the driving force of generation grasp force large, that produce is large; By the linear electric motors counter motion, and not by the elastic reaction of series connection flexible hinge, the series connection flexible hinge is returned to initial straight configuration.
(2) complex object larger to the difference of material character, geomery and location status, by crawl experiment and analytical calculation, regulate again the position that two power bars act on series connection flexible hinge lower end, so not only guaranteed adaptively reliably crawl of flexibility, but also can not damage, therefore the versatility of many finger paws is good.
(3) because the effect of force-increasing mechanism of the present invention along with constantly passing downwards of guiding push rod 7a, because two power bars constantly increase with the angle of the flexible hinge of connecting, constantly increases the component of series connection flexible hinge bending, the series connection flexible hinge is more flexible; The deflection of series connection flexible hinge is larger, and the required linear motor pushing force increment of the unit increment of deflection is less, that is the slope of curve of the angle of bend-linear motor pushing force of flexible finger is increasing.
(4) especially connect tension that flexible hinge is subject to increases with linear motor pushing force and reduces, the flexible hinge minimum cross-sectional area can reduce to connect when satisfying requirement of strength, and be easy to make the large deformation of series connection flexible hinge when reducing to connect the flexible hinge minimum sectional area, reduce linear motor pushing force and made the active force of series connection flexible hinge distortion, thereby increased the grasp force of flexible joint output.
Description of drawings:
Fig. 1 is the A-A cutaway view that the linear electric motors of rectangle palm drive the series connection flexible hinge skeleton paw of control
Fig. 2 is the top view that the linear electric motors of rectangle palm drive the series connection flexible hinge skeleton paw of control
Fig. 3 is the B-B cutaway view that the linear electric motors of hexagon palm drive the series connection flexible hinge skeleton paw of control
Fig. 4 is the top view that the linear electric motors of hexagon palm drive the series connection flexible hinge skeleton paw of control
Fig. 5 is the front view that linear electric motors drive the flexible finger of the series connection flexible hinge skeleton paw of controlling
The specific embodiment:
The below is operation principle of the present invention and the course of work:
Series connection flexible hinge 8a bears linear electric motors and drives and the generation distortion, the lower end of the series connection flexible hinge 8a that pressing plate 10a and rocker bar bearing 11a clamp, flexible hinge 8a is curved sections bottom, and the crawl contact position of complex object is just in the curved sections of flexible hinge 8a of connecting.After the characterisitic parameter optimal design of two hinge configurations of series connection flexible hinge 8a, the coordination of totally four angular displacements at two hinge places of two hinges (bearing), series connection flexible hinge 8a is for flexible self-adapting grasping provides the foundation.
The linear electric motors energising, its mover 4a band action-oriented push rod 7a moves downward, thereby drive two power bars (left-hand thread hinge-rod 12a, thread bush 13a, right-hand thread hinge-rod 14a form), overcome elastic force and make series connection flexible hinge 8a crooked, object is grabbed in the contact of series connection flexible hinge 8a crawl section; Linear motor rotor 4a continues motion, and series connection flexible hinge 8a distortion increases, and grasp force also increases; When meeting the requirements of grasp force, just in time in the self-locking scope, the linear electric motors outage does not move on guiding push rod 7a does not also understand, and keeps grasp force constant between two power bars and the guiding push rod 7a.
1. original state is regulated
To aforementioned special object, grab the crawl object of minimum, maximum crawl 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.
To concrete complex object, grab the crawl object of minimum, maximum crawl object or crawl object in irregular shape or the stressed variation of material size, angle between the fine adjustment while necessary assurance two power bars of structure original state and the push rod of driving is at self-locking state, like this when keeping grasp force, linear electric motors cut off the power supply, rather than " stall " state of linear electric motors is in order to avoid burn linear electric motors.
The fine adjustment of structure original state: as shown in Figure 1, 2, according to complex object microscler, rectangle, behind experimental study and the theory analysis, regulate the two power bars length of (left-hand thread hinge-rod 12a, thread bush 13a, right-hand thread hinge-rod 14a form), adjust again pressing plate 10a and rocker bar bearing 11a and be fixed on the middle position of series connection flexible hinge 8a.Shown in Fig. 3,4, the complex object of circle, short cylindrical shape equally according to above-mentioned steps, is regulated behind experimental study and the theory analysis.
2. duty calibration
Because the difference of material character, geomery and the location status of aforementioned complex object is larger, the present invention's flexible paw of flexible hinge skeleton of connecting adopts and 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, to satisfy the minimum force request that grasps object and do not damage maximum crawl object of safety crawl, crawl object in irregular shape also there is adaptivity; 2. linear motor direct drive, drive system is without feedback; 3. paw structure, driving control system are simple and reliable; When 4. grasping, the location is constant all the time on the paw height, and supporting robot body control is convenient.
To concrete complex object, estimate according to the Elasticity of structure first; Select again the crawl object of minimum crawl size, maximum crawl size to test, final definite the selection: to adopt the concrete displacement parameter of linear electric motors displacement control or the concrete driving force parameter of linear motor pushing force control.
To concrete complex object, the concrete displacement parameter of the linear electric motors displacement control of selecting previously or the concrete driving force parameter of linear motor pushing force control are well-determined in application, begin to set, and no longer change, so control system are simple and reliable.
3. motor control method
The present invention adopts the miniature linear of direct drive, and in the occasion that needs speed control, speed control adopts the switch power element of full-control type to carry 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 efficient advantages of higher.
The structure of the flexible paw of flexible hinge skeleton has self-adapting flexible because the present invention connects, and the control accuracy of grasp force is less demanding, and its straightforward procedure has two kinds: 1. based on position probing and the control of the position-sensor-free of line voltage difference; 2. based on line voltage or based on the driving force Detection ﹠ Controling of the unable sensor of winding inductance variation characteristic.
Claims (1)
1. linear electric motors drive the series connection flexible hinge skeleton paw of control, it is characterized in that: the stator component of linear electric motors (1a) is screwed and is referring on the root plate (2a), the stator component (1a) of linear electric motors drive and guiding under, the mover (4a) of linear electric motors moves up and down, push away seat (3a) and be screwed mover (4a) at linear electric motors, linear bearing (6a) is fixed on the L-square (5a) with soket head cap screw; The guiding push rod (7a) the upper end threaded portion with push away the seat (3a) employing a nut connect, guiding push rod (7a) passes the linear bearing (6a) that play the guiding role, and guiding push rod (7a) lower end threaded portion and hinge seat (9a) thread connection also screws locking with nut; The upper end of series connection flexible hinge (8a) is fixed on by screw and refers between root plate (2a) and the L-square (5a), the lower end of series connection flexible hinge (8a) is fixed between pressing plate (10a) and the rocker bar bearing (11a) by bolt and nut, and what connect flexible hinge (8a) is curved surface bottom, be convenient to contact crawled object; Hinge-coupled between the hinge seat (9a) of guiding push rod (7a) and the right-hand thread hinge-rod (14a), hinge-coupled between rocker bar bearing (11a) and the left-hand thread hinge-rod (12a), left-hand thread hinge-rod (12a) and right-hand thread hinge-rod (14a) all are spun in the thread bush (13a) and screw locking with nut; Suitable, be rotated counterclockwise thread bush (13a), can make the relative distance between left-hand thread hinge-rod (12a) and the right-hand thread hinge-rod (14a) increase or shorten; Aforementioned these parts consist of flexible finger (1), and for each identical flexible finger (1), it refers to that root plate (2a) all is fixed on rectangle palm (2) or the 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 mounted respectively the both sides of rectangle palm (2) right side symmetrical centre, and this is a kind of version; Perhaps three flexible fingers (1) are installed in respectively three corresponding sides places of hexagon palm (3), and this is another kind of version.
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| CN201310306740.3A CN103317522B (en) | 2013-07-22 | 2013-07-22 | The series connection flexible hinge framework paw of linear electric motors drived control |
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| CN201310306740.3A CN103317522B (en) | 2013-07-22 | 2013-07-22 | The series connection flexible hinge framework paw of linear electric motors drived control |
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| CN103317522A true CN103317522A (en) | 2013-09-25 |
| CN103317522B CN103317522B (en) | 2015-08-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079833A (en) * | 2018-09-07 | 2018-12-25 | 江南大学 | The manipulator of double drive series connection Trapezoidal flexible hinge framework |
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| JPS63144985A (en) * | 1986-12-09 | 1988-06-17 | 工業技術院長 | Gripping mechanism |
| CN1365311A (en) * | 2000-03-28 | 2002-08-21 | 精工爱普生株式会社 | Pump-integrated flexible actuator |
| CN101554730A (en) * | 2008-04-11 | 2009-10-14 | 江南大学 | Articulated flexible manipulator |
| CN102689309A (en) * | 2012-05-29 | 2012-09-26 | 江南大学 | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton |
| KR101187599B1 (en) * | 2010-09-07 | 2012-10-04 | 한국과학기술연구원 | Finger drive device of robot |
| CN103213138A (en) * | 2013-04-09 | 2013-07-24 | 江南大学 | Pneumatic serial-connection flexible hinge multi-finger paw of compliant mechanism |
| CN203380905U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Serial flexible hinge framework type gripper driven and controlled by linear motor |
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2013
- 2013-07-22 CN CN201310306740.3A patent/CN103317522B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS63144985A (en) * | 1986-12-09 | 1988-06-17 | 工業技術院長 | Gripping mechanism |
| CN1365311A (en) * | 2000-03-28 | 2002-08-21 | 精工爱普生株式会社 | Pump-integrated flexible actuator |
| CN101554730A (en) * | 2008-04-11 | 2009-10-14 | 江南大学 | Articulated flexible manipulator |
| KR101187599B1 (en) * | 2010-09-07 | 2012-10-04 | 한국과학기술연구원 | Finger drive device of robot |
| CN102689309A (en) * | 2012-05-29 | 2012-09-26 | 江南大学 | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton |
| CN103213138A (en) * | 2013-04-09 | 2013-07-24 | 江南大学 | Pneumatic serial-connection flexible hinge multi-finger paw of compliant mechanism |
| CN203380905U (en) * | 2013-07-22 | 2014-01-08 | 江南大学 | Serial flexible hinge framework type gripper driven and controlled by linear motor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109079833A (en) * | 2018-09-07 | 2018-12-25 | 江南大学 | The manipulator of double drive series connection Trapezoidal flexible hinge framework |
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| CN103317522B (en) | 2015-08-05 |
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