CN113772405A - Force control clamping device and method based on ultrasonic waves - Google Patents
Force control clamping device and method based on ultrasonic waves Download PDFInfo
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- CN113772405A CN113772405A CN202110984370.3A CN202110984370A CN113772405A CN 113772405 A CN113772405 A CN 113772405A CN 202110984370 A CN202110984370 A CN 202110984370A CN 113772405 A CN113772405 A CN 113772405A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 238000002474 experimental method Methods 0.000 claims abstract description 6
- 238000004026 adhesive bonding Methods 0.000 claims description 4
- 239000013642 negative control Substances 0.000 abstract description 3
- 239000013641 positive control Substances 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000000203 mixture Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/42—Soft elements to prevent damage to articles, e.g. bristles, foam
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
Abstract
The invention provides a force control clamping device and method based on ultrasonic wave, a positioning base positions a precise flexible part; the precise electric clamping jaw drives the left force measuring clamping finger and the right force measuring clamping finger to clamp the precise flexible part; under the clamping state, the ultrasonic sensor transmits ultrasonic signals and is reflected by the deformed array holes in the elastic clamping block; the ultrasonic reflection signal is received by the ultrasonic sensor and transmitted to the PC through the control loop; substituting the amplitude of the reflected signal into the relation between the amplitude of the ultrasonic reflected signal determined according to the calibration experiment and the clamping force to obtain the size of the clamping force; according to the size of the difference between the clamping force and the preset clamping force and the opening and closing of the positive and negative control precision electric clamping jaw, the precise control of the clamping force is realized, and finally the preset clamping force is achieved. The invention can realize the measurement and control of the clamping force of the precise flexible part, has high measurement precision, high control precision, quick response and high degree of automation, and can be suitable for the assembly of the precise flexible part.
Description
Technical Field
The invention belongs to the field of automatic assembly, and provides a force control clamping device and method based on ultrasonic waves, aiming at the problem that precise flexible parts are difficult to clamp reliably.
Background
The precision flexible parts are widely applied to the fields of various instruments and instruments, precision machinery and the like. For precision flexible parts with complex structures, the deformation of the precision flexible parts during the assembly process can seriously affect the assembly quality. In special cases, the method for picking and delivering parts by adsorption is difficult to meet the requirements due to the limitation of the structure size and the assembly requirement. Therefore, the clamping and conveying of the precision flexible parts by the clamping device is one of the effective ways to solve the above problems. However, when the clamping device is used for clamping a precise flexible part, the slight change of the clamping force can cause the part to be deformed obviously, thereby causing the assembly task to fail. Therefore, a simple and feasible clamping device capable of achieving accurate control of clamping force is found, and reliable clamping of precise flexible parts is necessary.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a force control clamping device based on ultrasonic waves, which can realize accurate measurement of clamping force so as to improve the clamping reliability of precise flexible parts.
The purpose of the invention is realized as follows: the precise flexible part comprises a positioning base, a right force measuring clamp finger, a precise electric clamping jaw, a left force measuring clamp finger and a control loop, wherein a positioning pin C is arranged on the positioning base, and a group of through holes D matched with the positioning pin C are formed in the end part of the precise flexible part; the right force measuring clamping finger and the left force measuring clamping finger are arranged oppositely and respectively comprise an adapter plate, an elastic clamping block, a rear pressing block, a front pressing block and an ultrasonic sensor, and the adapter plate is fixedly arranged on a corresponding clamping jaw of the precise electric clamping jaw through a bolt; the front pressing block and the rear pressing block tightly press and fix the elastic clamping block on the adapter plate through bolts; the ultrasonic sensor is fixed in the bottom groove of the elastic clamping block by gluing; the contact interface of the right force measuring clamping finger and the left force measuring clamping finger in a closed state is superposed with the symmetrical plane of the precision flexible part, and the two elastic clamping blocks are simultaneously contacted with the precision flexible part in the closing process of the clamping fingers; the control loop comprises a PC, an ultrasonic signal card, two ultrasonic sensors, a motion control card and a stepping motor driver, wherein the ultrasonic signal card and the motion control card are positioned in the PC; the two ultrasonic sensors are connected with the ultrasonic signal card; the step motor driver is connected with the motion control card and the precise electric clamping jaw through a lead.
The invention also includes such structural features:
1. ultrasonic signals measured by the two ultrasonic sensors are sent to the PC through the control loop; then, automatically calculating the small clamping force according to the relation between the amplitude of the ultrasonic signal and the clamping force; and adjusting the opening and closing of the electric clamping jaw according to the clamping force until the required clamping force is achieved.
2. The method for accurately controlling the clamping force by adopting the force control clamping device based on the ultrasonic wave comprises the following steps:
the first step is as follows: the parts are fed in a feeding way,
placing the precision flexible part on a positioning base, and enabling a group of through holes D at the end part of the precision flexible part to be in clearance fit with a group of positioning pins C on the positioning base, so as to realize the feeding and positioning of the precision flexible part;
the second step is that: the measurement of the clamping force is carried out,
the precise electric clamping jaw drives the left force measuring clamping finger and the right force measuring clamping finger to be closed to clamp the precise flexible part; ultrasonic signals emitted by the two ultrasonic sensors are respectively reflected at the array holes on the elastic clamping block; the reflected ultrasonic signals are respectively received by the two ultrasonic sensors and transmitted to the PC through the control loop; substituting the amplitude of the reflected signal into the relation between the amplitude of the ultrasonic reflected signal determined according to the calibration experiment and the clamping force to obtain the size of the clamping force;
the third step: the clamping force is adjusted by the clamping device,
the PC calculates the difference between the real-time clamping force and the preset clamping force, and determines the opening and closing of the precise electric clamping jaw according to the size and the positive and negative of the difference; and in the adjusting process, the clamping force is measured in real time according to the method in the second step, the difference value between the real-time clamping force and the preset clamping force is calculated, and the opening and closing of the precise electric clamping jaw are controlled until the difference value is within the allowable error, so that the adjustment of the clamping force is stopped.
Compared with the prior art, the invention has the beneficial effects that: (1) the ultrasonic wave is adopted to measure the clamping force, so that the measuring device not only has high measuring precision and resolution, but also can realize the quick real-time measurement of the clamping force, and improve the adjusting precision of the clamping force and the clamping reliability of the precise flexible part 2; (2) the precise electric clamping jaw 4 in the device has high repeated positioning precision, so that the precise adjustment of the clamping force can be ensured.
Drawings
FIG. 1 is a schematic structural view of a precision flexible part;
FIG. 2 is a schematic view of the overall structure of the apparatus;
FIG. 3 is a schematic view of the right force measuring finger;
FIG. 4 is a schematic view of the left force measuring finger;
FIG. 5 is a schematic structural view of a positioning base;
FIG. 6 is a schematic view of a motorized jaw;
in the figure: 1, positioning a base; 2 precision flexible parts; 3, a right force measuring clamping finger; 3-1, an adapter plate A; 3-2 elastic clamping block A; 3-3, pressing the block A; 3-4, pressing a block A; 3-5 ultrasonic sensor A; 4, a precise electric clamping jaw; 4-1 right clamping jaw; 4-2 left clamping jaw; 5, left force measuring clamping fingers; 5-1, an adapter plate B; 5-2 elastic clamping block B; 5-3, pressing the mixture into a block B; 5-4, pressing a block B; 5-5 ultrasonic sensor B.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
With reference to fig. 1 to 6, the force control clamping device based on ultrasonic waves of the present invention includes a positioning base 1, a right force measuring clamping finger 3, a precision electric clamping jaw 4, a left force measuring clamping finger 5, and a control circuit.
The positioning base 1 on have a set of regularly distributed locating pin C, 2 end's of accurate flexible part a set of through-hole D and locating pin C clearance fit realize accurate flexible part 2's location.
The right force measuring clamp finger 3 comprises an adapter plate A3-1, an elastic clamping block A3-2, a rear pressing block A3-3, a front pressing block A3-4 and an ultrasonic sensor A3-5. The adapter plate A3-1 is fixedly arranged on the right clamping jaw 4-1 of the precision electric clamping jaw 4 through a bolt; the front pressing block A3-3 and the rear pressing block A3-4 tightly press and fix the elastic clamping block A3-2 on the adapter plate A3-1 through bolts; the ultrasonic sensor A3-5 is fixed in the bottom groove of the elastic clamping block A3-2 by gluing.
The left force measuring clamp finger 5 comprises an adapter plate B5-1, an elastic clamping block B5-2, a rear pressing block B5-3, a front pressing block B5-4 and an ultrasonic sensor B5-5. The adapter plate B5-1 is fixedly arranged on the left clamping jaw 4-2 of the precision electric clamping jaw 4 through a bolt; the front pressing block B5-3 and the rear pressing block B5-4 tightly press and fix the elastic clamping block B5-2 on the adapter plate B5-1 through bolts; the ultrasonic sensor B5-5 is fixed in the bottom groove of the elastic clamping block B5-2 by gluing.
The contact interface of the right force measuring clamping finger 3 and the left force measuring clamping finger 5 in the closed state is superposed with the symmetry plane of the precision flexible part 2, so that the flexible clamping block A3-2 and the flexible clamping block B5-2 are ensured to be simultaneously contacted with the precision flexible part 2 in the closing process of the clamping fingers, and the situation that the parts are damaged due to unbalance loading clamping is avoided.
The control circuit comprises a PC (personal computer), an ultrasonic signal card, an ultrasonic sensor A3-5, an ultrasonic sensor B5-5, a motion control card, a stepping motor driver and a precise electric clamping jaw 4. The ultrasonic signal card and the motion control card are positioned in the PC; the ultrasonic sensor A3-5 and the ultrasonic sensor B5-5 are connected with an ultrasonic signal card; the step motor driver is connected with the motion control card and the precise electric clamping jaw 4 through a lead. Ultrasonic signals measured by the ultrasonic sensor A3-5 and the ultrasonic sensor B5-5 are sent to the PC through a control loop; then, automatically calculating the small clamping force according to the relation between the amplitude of the ultrasonic signal and the clamping force; and finally, adjusting the opening and closing of the electric clamping jaw 4 according to the clamping force until the required clamping force is achieved.
The measurement principle is as follows: the precise electric clamping jaw 4 drives the left force measuring clamping finger 3 and the right force measuring clamping finger 5 to be closed, and the precise flexible part 2 is clamped; the elastic clamping block A3-2 and the elastic clamping block B5-2 are elastically deformed in a clamping state, so that the array holes A on the elastic clamping block A3-2 and the array holes B on the elastic clamping block B5-2 are deformed; ultrasonic signals emitted by the ultrasonic sensor A3-5 and the ultrasonic sensor B5-5 are reflected at the array hole A and the array hole B respectively; the clamping force is different, the deformation of the array hole A and the deformation of the array hole B are different, and the amplitude values of the ultrasonic signals reflected by the array hole A and the array hole B are different; substituting the amplitude of the reflected signal into the relation between the amplitude of the ultrasonic reflected signal determined according to the calibration experiment and the clamping force to obtain the size of the clamping force; according to the size of the difference between the clamping force and the preset clamping force and the opening and closing of the positive and negative control precision electric clamping jaw 4, the precise control of the clamping force is realized, and finally the preset clamping force is achieved.
The method for accurately controlling the clamping force of the force control clamping device based on the ultrasonic wave comprises the following steps:
first, part feeding
Placing the precision flexible part 2 on the positioning base 1, and enabling a group of through holes D at the end part of the precision flexible part 2 to be in clearance fit with a group of positioning pins C on the positioning base 1, so as to realize the feeding and positioning of the precision flexible part 2;
second, the clamping force is measured
The precise electric clamping jaw 4 drives the left force measuring clamping finger 3 and the right force measuring clamping finger 5 to be closed, and the precise flexible part 2 is clamped; ultrasonic signals emitted by the ultrasonic sensor A3-5 and the ultrasonic sensor B5-5 are reflected at the array hole A on the elastic clamping block A3-2 and the array hole B on the elastic clamping block B5-2 respectively; the reflected ultrasonic signals are respectively received by the ultrasonic sensor A3-5 and the ultrasonic sensor B5-5 and transmitted to the PC through a control loop; substituting the amplitude of the reflected signal into the relation between the amplitude of the ultrasonic reflected signal determined according to the calibration experiment and the clamping force to obtain the size of the clamping force;
third, adjusting the clamping force
The PC calculates the difference between the real-time clamping force and the preset clamping force, and determines the opening and closing of the precise electric clamping jaw 4 according to the size and the positive and negative of the difference; and in the adjusting process, the clamping force is measured in real time according to the method in the second step, the difference value between the real-time clamping force and the preset clamping force is calculated, and the precise electric clamping jaw 4 is controlled to be opened and closed until the difference value is within the allowable error, and the adjustment of the clamping force is stopped.
In summary, the invention belongs to the field of automatic assembly, and provides a force control clamping device and method based on ultrasonic waves, which can realize real-time accurate measurement of clamping force through ultrasonic waves, and ensure accurate control of the clamping force and reliable clamping of precise flexible parts. A positioning base in the device positions the precise flexible part; the precise electric clamping jaw drives the left force measuring clamping finger and the right force measuring clamping finger to clamp the precise flexible part; under the clamping state, the ultrasonic sensor transmits ultrasonic signals and is reflected by the deformed array holes in the elastic clamping block; the ultrasonic reflection signal is received by the ultrasonic sensor and transmitted to the PC through the control loop; substituting the amplitude of the reflected signal into the relation between the amplitude of the ultrasonic reflected signal determined according to the calibration experiment and the clamping force to obtain the size of the clamping force; according to the size of the difference between the clamping force and the preset clamping force and the opening and closing of the positive and negative control precision electric clamping jaw, the precise control of the clamping force is realized, and finally the preset clamping force is achieved. The invention can realize the measurement and control of the clamping force of the precise flexible part, has high measurement precision, high control precision, quick response and high degree of automation, and can be suitable for the assembly of the precise flexible part.
Claims (3)
1. The utility model provides a power control clamping device based on ultrasonic wave which characterized in that: the precise flexible part comprises a positioning base, a right force measuring clamp finger, a precise electric clamping jaw, a left force measuring clamp finger and a control loop, wherein a positioning pin C is arranged on the positioning base, and a group of through holes D matched with the positioning pin C are formed in the end part of the precise flexible part; the right force measuring clamping finger and the left force measuring clamping finger are arranged oppositely and respectively comprise an adapter plate, an elastic clamping block, a rear pressing block, a front pressing block and an ultrasonic sensor, and the adapter plate is fixedly arranged on a corresponding clamping jaw of the precise electric clamping jaw through a bolt; the front pressing block and the rear pressing block tightly press and fix the elastic clamping block on the adapter plate through bolts; the ultrasonic sensor is fixed in the bottom groove of the elastic clamping block by gluing; the contact interface of the right force measuring clamping finger and the left force measuring clamping finger in a closed state is superposed with the symmetrical plane of the precision flexible part, and the two elastic clamping blocks are simultaneously contacted with the precision flexible part in the closing process of the clamping fingers; the control loop comprises a PC, an ultrasonic signal card, two ultrasonic sensors, a motion control card and a stepping motor driver, wherein the ultrasonic signal card and the motion control card are positioned in the PC; the two ultrasonic sensors are connected with the ultrasonic signal card; the step motor driver is connected with the motion control card and the precise electric clamping jaw through a lead.
2. An ultrasonic-based force-controlled clamping device as defined in claim 1, wherein: ultrasonic signals measured by the two ultrasonic sensors are sent to the PC through the control loop; then, automatically calculating the small clamping force according to the relation between the amplitude of the ultrasonic signal and the clamping force; and adjusting the opening and closing of the electric clamping jaw according to the clamping force until the required clamping force is achieved.
3. A method of precise control of clamping force using an ultrasonic-based force controlled clamping device of claim 1, wherein: the method comprises the following steps:
the first step is as follows: the parts are fed in a feeding way,
placing the precision flexible part on a positioning base, and enabling a group of through holes D at the end part of the precision flexible part to be in clearance fit with a group of positioning pins C on the positioning base, so as to realize the feeding and positioning of the precision flexible part;
the second step is that: the measurement of the clamping force is carried out,
the precise electric clamping jaw drives the left force measuring clamping finger and the right force measuring clamping finger to be closed to clamp the precise flexible part; ultrasonic signals emitted by the two ultrasonic sensors are respectively reflected at the array holes on the elastic clamping block; the reflected ultrasonic signals are respectively received by the two ultrasonic sensors and transmitted to the PC through the control loop; substituting the amplitude of the reflected signal into the relation between the amplitude of the ultrasonic reflected signal determined according to the calibration experiment and the clamping force to obtain the size of the clamping force;
the third step: the clamping force is adjusted by the clamping device,
the PC calculates the difference between the real-time clamping force and the preset clamping force, and determines the opening and closing of the precise electric clamping jaw according to the size and the positive and negative of the difference; and in the adjusting process, the clamping force is measured in real time according to the method in the second step, the difference value between the real-time clamping force and the preset clamping force is calculated, and the opening and closing of the precise electric clamping jaw are controlled until the difference value is within the allowable error, so that the adjustment of the clamping force is stopped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110984370.3A CN113772405A (en) | 2021-08-25 | 2021-08-25 | Force control clamping device and method based on ultrasonic waves |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110984370.3A CN113772405A (en) | 2021-08-25 | 2021-08-25 | Force control clamping device and method based on ultrasonic waves |
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| Publication Number | Publication Date |
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| CN113772405A true CN113772405A (en) | 2021-12-10 |
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| CN202110984370.3A Pending CN113772405A (en) | 2021-08-25 | 2021-08-25 | Force control clamping device and method based on ultrasonic waves |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103549997A (en) * | 2013-11-20 | 2014-02-05 | 沈阳工业大学 | Surgical robot slave manipulator clamping hand loaded with force sensing device |
| CN105922254A (en) * | 2016-07-04 | 2016-09-07 | 四川东巨自动化科技有限公司 | Electric clamping jaw |
| US20180099414A1 (en) * | 2016-10-07 | 2018-04-12 | Southern Taiwan University of Science and Technolo | Ultrasonic tactile sensor for detecting clamping force |
| CN109060207A (en) * | 2018-08-22 | 2018-12-21 | 大连理工大学 | It is interference fitted attachment force supersonic detection device and method |
| CN109129411A (en) * | 2018-09-30 | 2019-01-04 | 重庆大学 | The micro-clamp of integrated clamping force snesor and clamping jaw displacement sensor |
| CN109249416A (en) * | 2018-09-30 | 2019-01-22 | 重庆大学 | Clamping jaw be fiber bragg grating and can chucking power from sensing micro-clamp |
| CN111299996A (en) * | 2020-03-10 | 2020-06-19 | 重庆大学 | Micro-clamping robot |
-
2021
- 2021-08-25 CN CN202110984370.3A patent/CN113772405A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103549997A (en) * | 2013-11-20 | 2014-02-05 | 沈阳工业大学 | Surgical robot slave manipulator clamping hand loaded with force sensing device |
| CN105922254A (en) * | 2016-07-04 | 2016-09-07 | 四川东巨自动化科技有限公司 | Electric clamping jaw |
| US20180099414A1 (en) * | 2016-10-07 | 2018-04-12 | Southern Taiwan University of Science and Technolo | Ultrasonic tactile sensor for detecting clamping force |
| CN109060207A (en) * | 2018-08-22 | 2018-12-21 | 大连理工大学 | It is interference fitted attachment force supersonic detection device and method |
| CN109129411A (en) * | 2018-09-30 | 2019-01-04 | 重庆大学 | The micro-clamp of integrated clamping force snesor and clamping jaw displacement sensor |
| CN109249416A (en) * | 2018-09-30 | 2019-01-22 | 重庆大学 | Clamping jaw be fiber bragg grating and can chucking power from sensing micro-clamp |
| CN111299996A (en) * | 2020-03-10 | 2020-06-19 | 重庆大学 | Micro-clamping robot |
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