CN117621144A - End effector for electromagnetic rigidity-variable flexible force control of robot end - Google Patents
End effector for electromagnetic rigidity-variable flexible force control of robot end Download PDFInfo
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Abstract
The invention belongs to the technical field of mechanical transmission devices, and discloses a robot tail end electromagnetic type rigidity-variable flexible force control tail end actuator. The actuator comprises: lorentz linear motor modules, electromagnetic spring modules based on halbach arrays, sensors and other constituent elements. The invention provides a robot electromagnetic variable stiffness compliant end effector, the variable stiffness characteristic of which is realized by an electromagnetic spring, the electromagnetic spring has linear variable stiffness characteristic, and a hardware foundation is provided for easier stiffness control; the machining contact force is not indirectly transmitted through mechanical structures such as springs and the like, but is directly generated through the Lorentz motor, so that the high-response low-delay actuator performance is realized, and higher force control precision can be provided; the force and the rigidity are subjected to hardware decoupling, so that the problem of rigidity change during force control of the traditional electromagnetic variable-rigidity actuator is solved, and the control cost is reduced.
Description
Technical Field
The invention belongs to the technical field of mechanical transmission devices, and particularly relates to a robot tail end electromagnetic type rigidity-variable flexible force control tail end actuator.
Background
The traditional driving device realizes the driving of the object through a rigid design, namely, the motion and force transmission are carried out in a mode of 'motor + speed reducer + load', and the mode has fast response, simple operation and easy realization, and is widely applied in common engineering practice. However, in the case that the form and the size of the external load cannot be determined in the face of an unknown environment, the rigid design mode for realizing protection by means of control has great limitation, and the working condition requirement cannot be met.
In order to solve the problem of pure rigidity, a scholars put forward a design concept of a series elastic driver, namely, a connection mode of a motor, a speed reducer, a spring and a load is adopted to realize flexible driving, so that the flexible driving has better environmental adaptability. The safety performance of the driving device can be effectively enhanced through the spring buffering effect when the driving device collides with the environment, and the energy buffering is also stored. The use of electromagnetic springs to design compliant actuators is also currently one approach. There are also some limitations:
(1) The existing robot compliant actuator is designed in a pure spring or pure damping mode, has fixed rigidity and damping, faces complex processing workpieces and environments, and has insufficient adaptability.
(2) The force response realized through the spring displacement has hysteresis, so that the force response speed is reduced, the force control precision of the robot is affected, and the realization of high-precision force control is not facilitated.
(3) The single electromagnetic spring is used as an electromagnetic variable-rigidity flexible actuator, so that the problem of coupling force and rigidity exists, and the problem is difficult to solve from the control angle.
(4) The existing electromagnetic rigidity has high nonlinearity, which affects accurate rigidity control.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an electromagnetic variable-rigidity flexible force control end effector of a robot end.
The core of the technical scheme of the invention is to develop an electromagnetic variable-rigidity flexible force control end effector of a robot end, which is essentially technically characterized by comprising the following components: a highly integrated lorentz linear motor module for providing a direct drive force related to the magnitude of the current; an electromagnetic spring module based on a Halbach array, responsible for providing an adjustable stiffness; and a well-designed sensor system for achieving accurate force and displacement control. In addition, the actuator comprises a specially designed permanent magnet arrangement and a magnetic conduction structure, so that efficient electromagnetic performance and optimal configuration of a magnetic field are ensured. The coil heat conducting core made of nonmetal high heat conducting materials and the coil support with dampproof design are combined, so that the stability and durability of the device are ensured. The comprehensive technical characteristics enable the actuator to have flexibility, high efficiency and adaptability in the technical field of robots.
The invention is realized in such a way that a robot end electromagnetic type rigidity-variable flexible force-control end effector is characterized in that the effector comprises: lorentz linear motor modules, electromagnetic spring modules based on halbach arrays, sensors and other constituent elements.
Further, the lorentz motor module provides electromagnetic direct drive force which is independent of displacement and is only related to current magnitude, and an electromagnetic structure of the lorentz motor module comprises a lorentz motor first magnetic conductive iron yoke (101), a lorentz motor first permanent magnet (102), a lorentz motor first coil bracket (103), lorentz motor coils (104), lorentz motor first supports (105), lorentz motor second coil brackets (106), lorentz motor second permanent magnets (107), lorentz motor second magnetic conductive iron yokes (108), lorentz motor third permanent magnets (109), lorentz motor coil heat conducting cores (110), lorentz motor second supports (111) and lorentz motor fourth permanent magnets (112).
Furthermore, the first magnetic conductive iron yoke (101) of the Lorentz motor is provided with a material magnetic yoke material for embedding a slot enhanced magnetic field, a first permanent magnet (102) of the Lorentz motor and a third permanent magnet (109) of the Lorentz motor are embedded, and the magnetic poles of the permanent magnets are opposite in direction.
Further, the second magnetic conductive iron yoke (108) of the Lorentz motor is embedded into the second permanent magnet (107) of the Lorentz motor, the fourth permanent magnet (112) of the Lorentz motor, and the magnetic poles of the permanent magnets are opposite in direction.
Further, the magnetic pole directions of the Lorentz first permanent magnet (102) and the Lorentz second permanent magnet (107) are the same, and the magnetic pole directions of the Lorentz third permanent magnet (109) and the Lorentz fourth permanent magnet (112) are the same; and the four permanent magnets form a closed square-shaped magnetic field loop, and the formed magnetic field is a uniform magnetic field in a gap area.
Furthermore, the heat conducting core (110) of the Lorentz motor coil with the structure must use nonmetallic high heat conducting materials, and is embedded into the 1 Lorentz motor coil for common encapsulation so as to ensure efficient heat dissipation of the inner ring of the coil.
Further, the lorentz motor first coil support (103) and the lorentz motor second coil support (106) have mating embedded grooves to prevent the influence of a humid environment.
Further, the electromagnetic spring module provides stiffness, the magnitude of the stiffness is linearly related to the current, and the electromagnetic structure comprises an electromagnetic spring permanent magnet backboard (201), an electromagnetic spring first coil support (202), an electromagnetic spring first permanent magnet support (203), an electromagnetic spring coil (204), an electromagnetic spring coil heat conducting core (205), an electromagnetic spring second coil support (206), an electromagnetic spring first permanent magnet (207), an electromagnetic spring second permanent magnet (208), an electromagnetic spring third permanent magnet (209), an electromagnetic spring fourth permanent magnet (210), an electromagnetic spring fifth permanent magnet (211), an electromagnetic spring second permanent magnet support (212), an electromagnetic spring sixth permanent magnet (213), an electromagnetic spring seventh permanent magnet (214), an electromagnetic spring eighth permanent magnet (215), an electromagnetic spring ninth permanent magnet (216) and an electromagnetic spring tenth permanent magnet (217).
Furthermore, in order to facilitate the fixed installation of the permanent magnet, the electromagnetic spring permanent magnet backboard (201) is provided with an embedded groove, and the depth of the embedded groove is greater than 1/3 of the thickness of the permanent magnet;
the magnetic pole directions of the electromagnetic spring first permanent magnet (207), the electromagnetic spring fifth permanent magnet (211), the electromagnetic spring sixth permanent magnet (213) and the electromagnetic spring tenth permanent magnet (217) are the same, and are opposite to the magnetic pole directions of the electromagnetic spring third permanent magnet (209) and the electromagnetic spring eighth permanent magnet (215); the magnetic pole direction of the electromagnetic spring second permanent magnet (208) is the same as that of the electromagnetic spring fourth permanent magnet (210), and is opposite to that of the electromagnetic spring seventh permanent magnet (214) and the electromagnetic spring ninth permanent magnet (216);
the electromagnetic spring first permanent magnet (207), the electromagnetic spring second permanent magnet (208), the electromagnetic spring third permanent magnet (209), the electromagnetic spring eighth permanent magnet (215), the electromagnetic spring ninth permanent magnet (216), and the electromagnetic spring tenth permanent magnet (217) six permanent magnets form a first magnetic loop; an electromagnetic spring third permanent magnet (209), an electromagnetic spring fourth permanent magnet (210), an electromagnetic spring fifth permanent magnet (211), an electromagnetic spring sixth permanent magnet (213), an electromagnetic spring seventh permanent magnet (214), and an electromagnetic spring eighth permanent magnet (215) form a second magnetic loop.
The sizes of the formed first magnetic loop and the formed second magnetic loop are equal and opposite; the magnitude of the magnetic field generated in the gap is related to the position, and the magnetic field can be obtained to be linearly related to the position through reasonable configuration.
In order to realize the connection of the modules and ensure that the actuator can naturally return to a displacement zero position in a natural state, a module connecting plate (302), a linear bearing (303), a movable guide rail polished rod (304), a first module connecting support (310), a travel anti-collision rod (311), a common spring (312) and a second module connecting support (313);
in order to isolate the magnetic fields of the lorentz motor module and the electromagnetic spring module from being influenced mutually, the connecting piece guide rail and the like are placed in the middle of the module so as to isolate the magnetic fields from being influenced mutually by a certain distance.
In order to be able to monitor the status of the actuator, the structure comprises a grating scale body (308), a grating scale reading head (309), a force sensor (307).
Further, precise force control and displacement control can be realized through feedback of the force sensor and the displacement sensor;
in order to be able to connect with a robot, to realize robot processing, the structure comprises: an actuator-robot connection flange (301), a spindle clamp (306), and an electric spindle (305).
Another object of the present invention is to provide a method for performing electromagnetic stiffness-variable compliant force-controlled end-effector of a robot end, comprising:
step one, generating direct driving force by utilizing a Lorentz linear motor module, and adjusting the current according to task requirements so as to provide direct driving force related to current intensity;
secondly, an electromagnetic spring module based on a Halbach array is applied, and the adjustable rigidity of the end effector is realized by adjusting the electromagnetic spring module, so that the end effector is suitable for different operating environments and task requirements;
step three, realizing accurate control through a sensor system, and monitoring and controlling force and displacement by using the sensor system;
step four, adopting a specific permanent magnet arrangement and a magnetic conduction structure, and ensuring high-efficiency electromagnetic performance and optimized magnetic field configuration through the specific permanent magnets and the optimized magnetic conduction structure;
step five, combining a coil heat conducting core made of a non-metal high heat conducting material and a coil bracket with a dampproof design, wherein the coil heat conducting core made of the non-metal high heat conducting material and the coil bracket with the dampproof design are used;
and step six, configuring a magnetic field loop and the magnetic pole direction, and forming a uniform gap region magnetic field according to the closed mouth shape design of the magnetic field loop and the magnetic pole direction of the permanent magnet.
In combination with the technical scheme and the technical problems to be solved, the technical scheme to be protected has the following advantages and positive effects:
firstly, the invention designs the robot electromagnetic variable stiffness flexible end effector, the stiffness of which can be configured in real time by controlling the current of the electromagnetic spring, the applicability of the effector is improved, and better processing performance can be provided when complex parts are processed;
the invention designs a robot electromagnetic variable stiffness compliant end effector, the variable stiffness characteristic of which is realized by an electromagnetic spring, and the electromagnetic spring has linear variable stiffness characteristic and provides a hardware foundation for easier stiffness control.
The invention designs the robot electromagnetic variable-rigidity flexible end effector, wherein the machining contact force is not indirectly transmitted through mechanical structures such as springs and the like, but is directly generated through the Lorentz motor, so that the robot electromagnetic variable-rigidity flexible end effector has high response and low-delay performance, and can provide higher force control precision.
The invention designs the electromagnetic variable-rigidity flexible end effector of the robot, which is used for decoupling force and rigidity by hardware, so that the problem of rigidity change during force control of the traditional electromagnetic variable-rigidity end effector is solved, and the control cost is reduced.
Secondly, the invention provides a robot electromagnetic variable stiffness compliant end effector, the variable stiffness characteristic of which is realized by an electromagnetic spring, the electromagnetic spring has linear variable stiffness characteristic, and a hardware foundation is provided for easier stiffness control; the machining contact force is not indirectly transmitted through mechanical structures such as springs and the like, but is directly generated through the Lorentz motor, so that the high-response low-delay actuator performance is realized, and higher force control precision can be provided; the force and the rigidity are subjected to hardware decoupling, so that the problem of rigidity change during force control of the traditional electromagnetic variable-rigidity actuator is solved, and the control cost is reduced.
Thirdly, the expected benefits and commercial value after the technical scheme of the invention is converted are as follows: the actuator realizes accurate rigidity adjustment and force control through electromagnetic force, and is suitable for robot application with high precision and flexible control. The high-precision control can improve the production efficiency and the product quality of the complex curved surface parts, and has wide application prospects in the fields of manufacturing industry and the like. Lorentz motors directly generate force, have high-response, low-delay actuator performance, and are attractive for application fields requiring fast response and high-precision control. The linear variable stiffness characteristic of the electromagnetic spring module and the high response and low delay performance of the lorentz motor enable the actuator to be excellent in processing tasks such as complex part processing and the like. The versatility of the technical scheme makes it suitable for a plurality of industries, and the adaptability makes it potentially applicable in a plurality of fields, such as automated production, aerospace parts processing, etc. The actuator solves the problem of rigidity change of the traditional electromagnetic variable-rigidity actuator during force control by decoupling the force and the rigidity through hardware, thereby reducing the control cost. This makes the technology more economical in commercial applications. Because of its adaptability and high degree of controllability, the actuator has an important market in the fields of robotics industry demand and research, creating additional commercial value.
The technical scheme of the invention fills the technical blank in the domestic and foreign industries: the invention introduces an electromagnetic spring module based on a Halbach array, and the electromagnetic spring module has linear variable stiffness characteristic after optimization. This feature is rare in conventional robotic end effectors, filling the technical gap of linear response to stiffness changes in force control.
By means of hardware decoupling of force and rigidity, the invention solves the problem of rigidity change of the electromagnetic rigidity-changing actuator during force control. The technical problem to be solved is that the solution of the invention provides a new idea for the field, and fills the technical blank in the aspect. The Lorentz linear motor module is adopted to realize electromagnetic direct driving force, and the electromagnetic direct driving force has the performance of high response and low delay. In some robot applications, the direct application of the motor belongs to a relatively new field in the domestic and foreign industries, so that the blank of the application of the related technology is filled.
The technical scheme of the invention solves the technical problems that people are always desirous of solving but are not successful all the time: the following problems are solved for the complex curved surface high-precision and flexible processing technology of the robot: accurate stiffness adjustment and force control, hardware Jie Ouli and stiffness, high response, low latency actuator performance.
Drawings
FIG. 1 is a schematic diagram of a Lorentz motor module structure provided by the invention;
FIG. 2 is a schematic view of an electromagnetic spring module structure provided by the present invention;
FIG. 3 is a schematic view of the overall structure of a robotic electromagnetic variable stiffness compliant end effector provided by the present invention;
FIG. 4 is a schematic diagram of a magnetic circuit of a robot electromagnetic variable stiffness compliant end effector provided by the present invention;
FIG. 5 is a schematic illustration of the performance of an electromagnetic spring provided by the present invention;
fig. 6 is a schematic diagram of the lorentz motor performance provided by the present invention.
Fig. 7 shows that the actuator has an excellent force tracking effect after applying the force control method such as ADRC.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Two specific application embodiments of the embodiment of the invention are as follows:
example 1: precision assembly industrial robot
On a high-precision electronic product assembly line, the robot tail end electromagnetic type rigidity-variable flexible force control tail end actuator is used for assembling a fine assembly. The robot can finish the assembly work of the electronic product with higher precision and stability, and the production efficiency and the product quality are improved.
Lorentz linear motor module: the current is regulated according to the requirements of the assembly task, providing the required direct drive force to precisely control the force during movement and placement.
Electromagnetic spring module: the electromagnetic spring is adjusted to provide a suitable stiffness to accommodate different assembly operations, such as insertion, rotation, etc.
Sensor system: and the force and displacement are monitored and regulated in real time, so that the accurate assembly of the assembly is ensured, and the assembly error is reduced.
High-efficiency electromagnetic performance and thermal management: the magnetic field efficiency is improved by utilizing the optimized permanent magnet arrangement and the magnetic conduction structure, and meanwhile, the long-time stable work of the actuator is ensured by the coil heat conduction core made of high heat conduction materials.
Example 2: medical auxiliary operation robot
In minimally invasive surgery, the actuator of the present invention is utilized as a tip of a surgical robot for performing a delicate surgical operation. The accuracy and the safety of the operation process are improved, the operation risk is reduced, and the application capability of the operation robot in complex medical operation is enhanced.
Accurate force control: the current is regulated through the Lorentz linear motor module, so that the accurate control of the force applied to the surgical tool is realized, and the safety of the operation is ensured.
Adjustable stiffness: according to the requirements of the operation process, the rigidity of the electromagnetic spring is adjusted to adapt to different operation links, such as cutting, suturing and the like.
High sensitivity sensing: the sensor system is used for real-time monitoring and feedback, so that the accuracy and the flexibility of the operation are ensured.
Optimized electromagnetic performance and thermal management: the optimized permanent magnet arrangement and magnetic conduction structure improve electromagnetic efficiency, and meanwhile, the high heat conduction material ensures stable operation in long-time operation.
The invention is mainly aimed at improving the problems and defects of the following prior art, and realizes remarkable technical progress:
limited force control flexibility: conventional robotic end effectors often lack flexibility in force control and displacement control, limiting their application in complex operating environments.
The stiffness adjustment capability is limited: the prior art is generally inflexible in terms of actuator stiffness adjustment, which is an important limitation where fine manipulation is required.
Efficiency and thermal management issues: conventional motors and actuators face inefficiency and thermal management problems during long-term operation, which can affect their performance and reliability.
Magnetic field configuration and utilization efficiency: conventional actuators tend to be less efficient in the configuration and utilization of the magnetic field, which limits their performance and range of applications.
Aiming at the problems existing in the prior art, the invention adopts the following technical scheme:
lorentz linear motor module: providing a direct drive force directly related to the magnitude of the current increases the flexibility and accuracy of the force control.
Electromagnetic spring module based on Halbach array: an adjustable stiffness is achieved, providing a more flexible response and control, especially for fine manipulation.
Efficient permanent magnet arrangement and magnetic conduction structure: by optimizing the arrangement of the permanent magnets and the magnetic conduction structure, the electromagnetic performance and the effective utilization of the magnetic field are improved.
Coil heat conduction core of high heat conduction material and dampproofing coil support of design: the thermal management problem is solved, and the efficiency and the reliability of the actuator are improved.
The invention solves the technical effects and remarkable technical progress brought by the prior art problems:
the operation flexibility and the accuracy are improved: through the innovative force control and rigidity adjustment mechanism, the invention remarkably improves the operation flexibility and precision of the end effector of the robot.
Enhanced thermal management and efficiency: through high heat conduction material and optimized design, the problem of heat management in long-time operation is solved, and the overall efficiency and stability are improved.
Optimizing magnetic field configuration and utilization: the performance of the actuator is enhanced by efficient magnetic field designs, such as Halbach arrays and specific permanent magnet arrangements.
Is suitable for complex operation environment: the comprehensive application of these techniques makes the actuator particularly suitable for complex application scenarios requiring fine operation and highly compliant force control.
The embodiment of the invention provides a robot tail end electromagnetic type rigidity-variable flexible force control tail end actuator, which comprises: lorentz linear motor modules, electromagnetic spring modules based on halbach arrays, sensors and other constituent elements.
The invention provides a detailed structure and a working principle of an electromagnetic type rigidity-variable flexible force control end effector of a robot end.
1) Core concept: such actuators include lorentz linear motor modules, halbach array based electromagnetic spring modules, sensors and other components. The design aims to realize variable stiffness and flexible force control through electromagnetic force.
2) Lorentz motor module: the module provides electromagnetic direct drive force, and the force is only related to the current magnitude and not related to displacement. The motor comprises a plurality of components, such as a magnetic iron yoke, a permanent magnet, a coil bracket, a coil, a support and the like, which jointly form a main body structure of the motor.
3-5) magnetic structure of the motor: these claims describe in detail the placement and pole orientation of the individual permanent magnets in the motor and how they together form a specific magnetic field structure. This structural design serves to enhance the magnetic field and ensure efficient operation of the motor.
6) Coil heat conduction core: in order to ensure efficient heat dissipation of the motor, a coil heat conducting core made of a non-metallic high heat conducting material is embedded in the lorentz motor coil.
7) Coil support design: in order to prevent the moist environment from affecting the motor performance, the coil carrier is designed with mating embedded slots.
8) Electromagnetic spring module: this module provides a variable stiffness, the magnitude of which is linearly related to the current. The electromagnetic structure of the spring comprises a plurality of permanent magnets, coils, a bracket and the like, and the functions of the spring are jointly formed.
9) Module connection and status monitoring: the connection between the electromagnetic spring module and the lorentz motor module, the anti-collision measures, the spring configuration and how to monitor the state of the actuator by using the grating ruler and the force sensor are detailed.
10 Precision force control and displacement control: emphasis is placed on achieving precise control through force sensor and displacement sensor feedback. In addition, the robot further comprises a part for connecting the actuator with the robot, such as a connecting flange, a main shaft holding clamp and an electric main shaft.
The invention provides a highly complex and precise robot end effector, which is designed to realize precise rigidity adjustment and force control through electromagnetic force and is suitable for the application scene of a robot requiring high precision and flexible strain.
As shown in fig. 1, the lorentz motor module provides an electromagnetic direct drive force which is independent of displacement and is dependent only on the magnitude of the current, and the electromagnetic structure thereof comprises a lorentz motor first magnetically conductive iron yoke 101, a lorentz motor first permanent magnet 102, a lorentz motor first coil support 103, a lorentz motor coil 104, a lorentz motor first support 105, a lorentz motor second coil support 106, a lorentz motor second permanent magnet 107, a lorentz motor second magnetically conductive iron yoke 108, a lorentz motor third permanent magnet 109, a lorentz motor coil thermally conductive core 110, a lorentz motor second support 111, and a lorentz motor fourth permanent magnet 112.
As shown in fig. 4, the first magnetic conductive yoke 101 of the lorentz motor is provided with an embedded slot for enhancing a magnetic field, and the material yoke material is embedded into the first permanent magnet 102 of the lorentz motor and the third permanent magnet 109 of the lorentz motor, and the magnetic poles of the permanent magnets are opposite in direction; the second magnetic conductive iron yoke 108 of the Lorentz motor is embedded with the second permanent magnet 107 of the Lorentz motor and the fourth permanent magnet 112 of the Lorentz motor, and the magnetic poles of the permanent magnets are opposite in direction; the magnetic pole directions of the Lorentz first permanent magnet 102 and the Lorentz second permanent magnet 107 are the same, and the magnetic pole directions of the Lorentz third permanent magnet 109 and the Lorentz fourth permanent magnet 112 are the same; and the four permanent magnets form a closed square-shaped magnetic field loop, and the formed magnetic field is a uniform magnetic field in a gap area.
As shown in fig. 2, the electromagnetic spring module provides a stiffness, the stiffness is related to the current linearity, and the electromagnetic structure comprises an electromagnetic spring permanent magnet backboard 201, an electromagnetic spring first coil bracket 202, an electromagnetic spring first permanent magnet support 203, an electromagnetic spring coil 204, an electromagnetic spring coil heat conducting core 205, an electromagnetic spring second coil bracket 206, an electromagnetic spring first permanent magnet 207, an electromagnetic spring second permanent magnet 208, an electromagnetic spring third permanent magnet 209, an electromagnetic spring fourth permanent magnet 210, an electromagnetic spring fifth permanent magnet 211, an electromagnetic spring second permanent magnet support 212, an electromagnetic spring sixth permanent magnet 213, an electromagnetic spring seventh permanent magnet 214, an electromagnetic spring eighth permanent magnet 215, an electromagnetic spring ninth permanent magnet 216 and an electromagnetic spring tenth permanent magnet 217; in order to facilitate the fixed installation of the permanent magnet, the electromagnetic spring permanent magnet backboard 201 is provided with an embedded groove, and the depth of the embedded groove is greater than 1/3 of the thickness of the permanent magnet;
as shown in fig. 4, the magnetic pole directions of the electromagnetic spring first permanent magnet 207, the electromagnetic spring fifth permanent magnet 211, the electromagnetic spring sixth permanent magnet 213 and the electromagnetic spring tenth permanent magnet 217 are the same, and are opposite to the magnetic pole directions of the electromagnetic spring third permanent magnet 209 and the electromagnetic spring eighth permanent magnet 215; the magnetic pole directions of the electromagnetic spring second permanent magnet 208 and the electromagnetic spring fourth permanent magnet 210 are the same, and the magnetic pole directions of the electromagnetic spring seventh permanent magnet 214 and the electromagnetic spring ninth permanent magnet 216 are opposite; an electromagnetic spring first permanent magnet 207, an electromagnetic spring second permanent magnet 208, an electromagnetic spring third permanent magnet 209, an electromagnetic spring eighth permanent magnet 215, an electromagnetic spring ninth permanent magnet 216, and an electromagnetic spring tenth permanent magnet 217 six permanent magnets form a first magnetic loop; an electromagnetic spring third permanent magnet 209, an electromagnetic spring fourth permanent magnet 210, an electromagnetic spring fifth permanent magnet 211, an electromagnetic spring sixth permanent magnet 213, an electromagnetic spring seventh permanent magnet 214, and an electromagnetic spring eighth permanent magnet 215 form a second magnetic circuit; the sizes of the formed first magnetic loop and the formed second magnetic loop are equal and opposite; the magnitude of the magnetic field generated in the gap is related to the position, and the magnetic field can be obtained to be linearly related to the position through reasonable configuration.
As shown in fig. 3, in order to realize the connection of the modules and ensure that the actuator can naturally return to the displacement zero position in a natural state, a module connecting plate 302, a linear bearing 303, a movable guide polished rod 304, a first module connecting support 310, a travel anti-collision rod 311, a common spring 312 and a second module connecting support 313; in order to isolate the magnetic fields of the Lorentz motor module and the electromagnetic spring module from being influenced mutually, the guide rail of the connecting piece and the like are arranged in the middle of the module so as to isolate the magnetic fields from being influenced mutually at a certain distance; in order to be able to monitor the status of the actuator, the structure comprises a grating scale body 308, a grating scale reading head 309, a force sensor 307; in order to be able to connect with a robot, to realize robot processing, the structure comprises: actuator-robot attachment flange 301, spindle clamp 306, motorized spindle 305.
As shown in fig. 5 and 6, the structure can realize the characteristics of constant stiffness of the lorentz motor and linear stiffness coefficient constant of the electromagnetic spring under a certain structural parameter configuration, has the characteristics of force-stiffness decoupling and linear control, is easier to realize high-precision force position control, simultaneously, the direct force action of the lorentz motor does not need to be transmitted through a spring, has faster force response capability, and provides a hardware foundation for providing easier control and better performance for high-precision machining.
Lorentz motor module and electromagnetic spring module. The working principle thereof will be explained separately.
The lorentz motor module is designed to provide an electromagnetic direct drive force which is independent of displacement and only dependent on the magnitude of the current. The working principle can be understood from the structure and the components:
1) Magnetic circuit design:
the lorentz motor comprises two pairs of magnetically conductive yokes and corresponding permanent magnets.
Two permanent magnets (a first permanent magnet 102 and a third permanent magnet 109, a second permanent magnet 107 and a fourth permanent magnet 112) are respectively embedded in the first magnetic conductive iron yoke (101) and the second magnetic conductive iron yoke (108).
The magnetic pole directions of the permanent magnets are set so that the polarities of the adjacent permanent magnets are opposite.
The four permanent magnets form a closed magnetic field loop in a shape like a Chinese character 'kou', and a uniform magnetic field is generated.
2) Electromagnetic action:
the coil (104) is placed in this uniform magnetic field.
When a current is passed through the coil, the coil is subjected to a force perpendicular to the direction of the current and to the direction of the magnetic field, according to the lorentz force principle.
The magnitude of this force is proportional to the strength of the current and the strength of the magnetic field.
3) And (3) structural support:
coil supports (103 and 106) are used to support the coils to ensure their correct position in the magnetic field.
The support structures (105 and 111) are used to maintain stability of the overall device.
The design purpose of the electromagnetic spring module is to provide a stiffness, the magnitude of which is linearly related to the current. The working principle is as follows:
1) Magnetic circuit design:
the electromagnetic spring module comprises a plurality of permanent magnets (207-217) arranged in a specific manner to form two magnetic loops.
The first magnetic circuit comprises permanent magnets 207, 208, 209, 215, 216, 217; the second magnetic circuit comprises permanent magnets 209, 210, 211, 213, 214, 215.
The two magnetic loops are equal in size and opposite in direction.
2) Electromagnetic action:
the coils (204) are placed in the magnetic field generated by these magnetic loops.
When a current is passed through the coil, the coil is subjected to a force that is linearly related to the current strength.
The stiffness of such forces (i.e. the force versus displacement ratio) depends on the distribution of the magnetic field and the strength of the current in the coil.
3) Thermal management and structural support:
the coil heat conducting core (205) is used for managing the heat effect of the coil and ensuring the stability of long-time operation.
Coil supports (202 and 206) and permanent magnet supports (203 and 212) are used to maintain structural stability and proper magnetic field configuration.
The lorentz motor module generates direct drive force by utilizing the lorentz force principle, and the electromagnetic spring module generates adjustable rigidity by reasonably configuring the interaction of a magnetic field and current. This design allows for precise control of force and stiffness, suitable for high precision applications where precise motion control is required.
As shown in fig. 3, 5 and 6, the following is a detailed explanation of the working principle of the structure:
1) Module connection and natural return mechanism:
module connection board (302): the connecting device is used for connecting the modules, and ensures the integrity and stability of the structure.
Linear bearing (303): the actuator is allowed to move along a straight line, friction is reduced, and movement precision is improved.
Moving a guide rail polish rod (304): providing a stable moving support, ensuring smooth movement of the actuator along a predetermined path.
The first module connection support (310) and the second module connection support (313): the support structure of the actuator is formed, and the rigidity is enhanced.
Travel bumper bar (311): limiting the movement range of the actuator and preventing damage caused by excessive displacement.
Normal spring (312): under the action of no external force, the actuator is returned to the initial position, namely the zero position is shifted by the elastic force.
2) Magnetic field isolation:
to reduce the interaction of the magnetic fields between the lorentz motor module and the electromagnetic spring module, a connector rail or the like is placed in the middle of the module to form an isolation distance.
3) And (3) state monitoring:
a grating scale body (308) and a grating scale reading head (309): the accurate position of the actuator is monitored and the grating scale provides highly accurate displacement readings.
Force sensor (307): the force on the actuator is monitored in real time, the operation is fed back, and the accuracy of the machining force is ensured.
4) Connection and processing functions:
actuator-robot connection flange (301): allowing the actuator to be mounted on the robot for automated operation.
Spindle clamp (306): a fixture or a workpiece.
Motorized spindle (305): and driving the tool or the workpiece to rotate to finish the processing task.
5) Force-stiffness decoupling and linear control characteristics:
the structural design enables the lorentz motor to provide a constant stiffness characteristic, while the electromagnetic spring provides a linear stiffness coefficient, and such combination helps to achieve decoupling of force and stiffness.
The Lorentz motor provides a direct force output without spring transmission, so that the response speed is high, the control accuracy and the control rapidity are improved, and the Lorentz motor is particularly important for high-precision machining.
In the field of high-precision flexible processing of robots, the technical scheme of the invention can be applied to improving the overall performance of the end flexible actuator, thereby improving the processing quality and efficiency.
The end effector is applied to a robot polishing system. The end effector of the present invention: the sensor comprises a Lorentz linear motor module, an electromagnetic spring module based on a Halbach array, a sensor and other constituent elements. By means of the actuator, accurate control of force and real-time adjustment of rigidity are achieved. And a robot polishing system: including robotic arms, grinding tools, workpiece clamping systems, and the like. The task of the robotic polishing system is to perform high precision surface grinding and polishing operations. The control technique applies Active Disturbance Rejection Control (ADRC) for feedback control.
According to the characteristics of the workpiece, the rigidity of the end effector is configured in real time by adjusting the current of the electromagnetic spring module in the end effector so as to adapt to different surface characteristics and shapes. The sensor inside the end effector monitors the force variations, ensuring that the force applied to the workpiece during the polishing process is always within a precise control range to avoid excessive wear or excessive machining. The surface state of the workpiece is monitored in real time by using a sensor of the end effector. Through a feedback mechanism, the system can adjust parameters of the end effector in real time according to actual machining conditions so as to maintain high-precision machining. When the flexible material or the irregular area of the surface of the workpiece is processed, the workpiece is ensured not to be damaged or deformed in the processing process by adjusting the flexibility and deformation control of the actuator.
The present actuator has excellent stiffness control and control performance, which are shown in fig. 5 and 6, respectively.
In high precision part machining tasks, it enables more precise force control and stiffness adjustment. Compared with the traditional executor, the processing quality in the processing process is obviously improved, and meanwhile, higher processing efficiency is realized. The actuator of the present invention exhibits better compliance and deformation control. Compared with the traditional actuator, the flexible actuator can be more flexibly adapted to the deformation of the material, thereby being excellent in the processing of the flexible material. The hardware decoupling method employed in embodiments of the present invention successfully reduces the interaction between force and stiffness. This makes it possible to improve the accuracy of the control without being disturbed by the variation of the stiffness during the force control of the actuator. After the ADRC and other force control methods are applied, the result shows that the actuator has excellent force tracking effect. As shown in fig. 7.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.
Claims (10)
1. A robot end electromagnetic type variable stiffness compliant force control end effector, comprising:
the Lorentz linear motor module is used for providing direct driving force related to current magnitude;
an electromagnetic spring module based on a Halbach array, responsible for providing an adjustable stiffness;
a sensor system for achieving accurate force and displacement control;
the arrangement of the permanent magnets and the magnetic conduction structure ensure the efficient electromagnetic performance and the optimal configuration of the magnetic field;
and a coil heat conducting core combined with a non-metallic high heat conducting material and a coil support of moisture-proof design.
2. The robot end-effector of claim 1, wherein the lorentz motor module provides an electromagnetic direct drive force that is independent of displacement and is dependent only on current magnitude, and wherein the electromagnetic structure comprises a lorentz motor first magnetically permeable yoke (101), a lorentz motor first permanent magnet (102), a lorentz motor first coil support (103), a lorentz motor coil (104), a lorentz motor first support (105), a lorentz motor second coil support (106), a lorentz motor second permanent magnet (107), a lorentz motor second magnetically permeable yoke (108), a lorentz motor third permanent magnet (109), a lorentz motor coil thermally conductive core (110), a lorentz motor second support (111), and a lorentz motor fourth permanent magnet (112).
3. The robot end electromagnetic type rigidity-variable flexible force control end effector according to claim 2, wherein the first magnetic conductive iron yoke (101) of the Lorentz motor is provided with an embedded groove for enhancing a magnetic field, a material magnetic yoke material of the magnetic field is embedded into the magnetic yoke material, a first permanent magnet (102) of the Lorentz motor is embedded into the magnetic yoke material, a third permanent magnet (109) of the Lorentz motor is embedded into the magnetic yoke material, and the magnetic poles of the permanent magnets are opposite in direction.
4. The robot end electromagnetic type rigidity-variable flexible force control end effector according to claim 2, wherein the second magnetic conductive iron yoke (108) of the Lorentz motor is embedded with the second permanent magnet (107) of the Lorentz motor, the fourth permanent magnet (112) of the Lorentz motor, and the magnetic poles of the permanent magnets are opposite.
5. The robot end electromagnetic type rigidity-variable flexible force control end effector according to claim 2, wherein the magnetic pole directions of the lorentz first permanent magnet (102) and the lorentz second permanent magnet (107) are the same, and the magnetic pole directions of the lorentz third permanent magnet (109) and the lorentz fourth permanent magnet (112) are the same; and the four permanent magnets form a closed square-shaped magnetic field loop, and the formed magnetic field is a uniform magnetic field in a gap area.
6. The robot end electromagnetic type rigidity-variable flexible force control end effector according to claim 2, wherein the heat conducting core (110) of the lorentz motor coil is made of nonmetal high heat conducting materials, and is embedded into the 1 lorentz motor coil for common encapsulation so as to ensure efficient heat dissipation of the inner ring of the coil;
the lorentz motor first coil support (103) and the lorentz motor second coil support (106) have mating embedded grooves to prevent the influence of a humid environment.
7. The robot end-effector of claim 1, wherein the electromagnetic spring module provides a stiffness, the stiffness being linearly related to current, the electromagnetic structure comprising an electromagnetic spring permanent magnet backplate (201), an electromagnetic spring first coil support (202), an electromagnetic spring first permanent magnet support (203), an electromagnetic spring coil (204), an electromagnetic spring coil thermally conductive core (205), an electromagnetic spring second coil support (206), an electromagnetic spring first permanent magnet (207), an electromagnetic spring second permanent magnet (208), an electromagnetic spring third permanent magnet (209), an electromagnetic spring fourth permanent magnet (210), an electromagnetic spring fifth permanent magnet (211), an electromagnetic spring second permanent magnet support (212), an electromagnetic spring sixth permanent magnet (213), an electromagnetic spring seventh permanent magnet (214), an electromagnetic spring eighth permanent magnet (215), an electromagnetic spring ninth permanent magnet (216), and an electromagnetic spring tenth permanent magnet (217).
8. The end effector of claim 7, wherein, to facilitate the fixed installation of the permanent magnet, the electromagnetic spring permanent magnet backplate (201) is provided with an embedded slot with a depth greater than 1/3 of the thickness of the permanent magnet;
the magnetic pole directions of the electromagnetic spring first permanent magnet (207), the electromagnetic spring fifth permanent magnet (211), the electromagnetic spring sixth permanent magnet (213) and the electromagnetic spring tenth permanent magnet (217) are the same, and are opposite to the magnetic pole directions of the electromagnetic spring third permanent magnet (209) and the electromagnetic spring eighth permanent magnet (215); the magnetic pole direction of the electromagnetic spring second permanent magnet (208) is the same as that of the electromagnetic spring fourth permanent magnet (210), and is opposite to that of the electromagnetic spring seventh permanent magnet (214) and the electromagnetic spring ninth permanent magnet (216);
the electromagnetic spring first permanent magnet (207), the electromagnetic spring second permanent magnet (208), the electromagnetic spring third permanent magnet (209), the electromagnetic spring eighth permanent magnet (215), the electromagnetic spring ninth permanent magnet (216), and the electromagnetic spring tenth permanent magnet (217) six permanent magnets form a first magnetic loop; an electromagnetic spring third permanent magnet (209), an electromagnetic spring fourth permanent magnet (210), an electromagnetic spring fifth permanent magnet (211), an electromagnetic spring sixth permanent magnet (213), an electromagnetic spring seventh permanent magnet (214), and an electromagnetic spring eighth permanent magnet (215) form a second magnetic loop;
the sizes of the formed first magnetic loop and the formed second magnetic loop are equal and opposite; the size of the magnetic field generated in the gap is related to the position, and the magnetic field can be obtained to be linearly related to the position through reasonable configuration;
in order to realize the connection of the modules and ensure that the actuator can naturally return to a displacement zero position in a natural state, a module connecting plate (302), a linear bearing (303), a movable guide rail polished rod (304), a first module connecting support (310), a travel anti-collision rod (311), a common spring (312) and a second module connecting support (313);
in order to isolate the magnetic fields of the Lorentz motor module and the electromagnetic spring module from being influenced mutually, the guide rail of the connecting piece and the like are arranged in the middle of the module so as to isolate the magnetic fields from being influenced mutually at a certain distance;
the structure comprises a grating ruler main body (308), a grating ruler reading head (309), a force sensor (307) and a state monitoring device of the actuator.
9. The robot end electromagnetic stiffness-changing compliant force-controlled end effector of claim 8, wherein precise force control and displacement control are enabled by the force sensor and displacement sensor feedback;
in order to be able to connect with a robot, to realize robot processing, the structure comprises: an actuator-robot connection flange (301), a spindle clamp (306), and an electric spindle (305).
10. A method of end-effector electromagnetic variable stiffness compliant force control of a robotic end of an effector as set forth in claim 1 comprising:
step one, generating direct driving force by utilizing a Lorentz linear motor module, and adjusting the current according to task requirements so as to provide direct driving force related to current intensity;
secondly, an electromagnetic spring module based on a Halbach array is applied, and the adjustable rigidity of the end effector is realized by adjusting the electromagnetic spring module, so that the end effector is suitable for different operating environments and task requirements;
step three, realizing accurate control through a sensor system, and monitoring and controlling force and displacement by using the sensor system;
step four, adopting a specific permanent magnet arrangement and a magnetic conduction structure, and ensuring high-efficiency electromagnetic performance and optimized magnetic field configuration through the specific permanent magnets and the optimized magnetic conduction structure;
step five, combining a coil heat conducting core made of a non-metal high heat conducting material and a coil bracket with a dampproof design, wherein the coil heat conducting core made of the non-metal high heat conducting material and the coil bracket with the dampproof design are used;
and step six, configuring a magnetic field loop and the magnetic pole direction, and forming a uniform gap region magnetic field according to the closed mouth shape design of the magnetic field loop and the magnetic pole direction of the permanent magnet.
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