A piezoelectric-driven flexible hinge clamping device and control method based on binocular distance measurement

A flexible hinge and binocular ranging technology, which is applied in the direction of measuring device, measuring distance, measuring fluid pressure, etc., can solve the problem of inability to feedback the positional relationship between the clamped object and the gripper, low measurement accuracy and damage of pasted strain gauges. Problems such as the object to be clamped, to achieve the effect of large clamping force, good control accuracy, and good position determination ability

Active Publication Date: 2021-09-07
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention solves the problem that the clamped object is damaged due to the rigidity of the clamper itself, and solves the problem that the measurement accuracy of the pasted strain gauge is not high, and the positional relationship between the clamped object and the clamper cannot be fed back. , proposed a piezo-driven flexible hinge clamping device and control method based on binocular distance measurement. Airbags are set in the fingers to achieve complete flexible contact. Using binocular distance measurement instead of pasting strain gauges has high precision and can last Feedback the positional relationship between the gripped object and the gripper

Method used

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  • A piezoelectric-driven flexible hinge clamping device and control method based on binocular distance measurement
  • A piezoelectric-driven flexible hinge clamping device and control method based on binocular distance measurement
  • A piezoelectric-driven flexible hinge clamping device and control method based on binocular distance measurement

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Embodiment 1

[0044] This embodiment proposes a piezoelectrically driven flexible hinge holder based on binocular distance measurement, refer to figure 1 and figure 2 , comprising a mechanical arm, the mechanical arm is fixed with a binocular camera 18 composed of 2 cameras and a left-right symmetrical flexible hinge holder 19, and the flexible hinge holder 19 is fixed on the front end of the mechanical arm, including a polygonal enlarged structure 15, setting The piezoelectric actuator 14 in the polygonal magnifying structure 15, the four-stage hinge magnifying structure connected with the polygonal magnifying structure 15, and the pincer finger connected with the four-stage hinge magnifying structure, the inner side of the pliers finger is provided with an airbag 17, and the two cameras are left and right symmetrical They are arranged on both sides of the flexible hinge gripper 19 and are used for measuring the relative distance between the pliers fingers and the gripped object. The air...

Embodiment 2

[0083] On the basis of implementation 1, this embodiment refers to image 3 , the first pliers finger 1 is set as a wide opening, the second pliers finger 2 is located in the middle, and the third pliers finger 3 is a narrow opening and is connected with a four-stage hinge enlargement structure. Since the direction of the clamping force generated by the rotation of the hinge is not in the same straight line, the clamping force is at a certain angle. When clamping an object, it tends to move inward. The role of the wide mouth is when clamping a large object. , even if the large object has a tendency to move inward under the action of the clamping force, it will be blocked by the step surface, thereby preventing the large object from sliding.

Embodiment 3

[0085] In this embodiment, on the basis of implementation 1, the length ratios of the rods of the four-stage hinge enlarged structure are limited, and the flexible hinge connected by the first-stage ejector rod 13 is used as a fulcrum to divide the second-stage lever 7 into left and right sections, and the length of the left section is the same as The ratio of the length of the right section is 5:1; the flexible hinge connected by the second-stage ejector rod 12 acts as a fulcrum to divide the third-stage lever 6 into left and right sections, and the ratio of the length of the left section to the length of the right section is 5:1; the third-stage ejector rod The flexible hinge connected with 11 acts as a fulcrum to divide the four-stage lever 5 into left and right sections, and the ratio of the length of the left section to the length of the right section is 1:1; Two sections, the ratio of the length of the left section to the length of the right section is 1:10. The above-me...

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Abstract

The present invention proposes a piezoelectric-driven flexible hinge clamping device based on binocular distance measurement, which includes a mechanical arm on which a binocular camera consisting of two cameras and a left-right symmetrical flexible hinge clamper are fixed. The flexible hinge holder is fixed at the front end of the mechanical arm, and includes a polygonal magnification structure, a piezoelectric actuator arranged in the polygonal magnification structure, a four-stage hinge magnification structure connected to the polygon magnification structure, and a four-stage hinge magnification structure connected to the polygonal magnification structure. The pincer finger is provided with an airbag inside the pincer finger, and the two cameras are symmetrically arranged on both sides of the flexible hinge holder for measuring the relative distance between the pincer finger and the clamped object; Thin film pressure sensor RFP. The present invention arranges airbags in the clamp fingers to realize complete flexible contact, uses binocular ranging instead of sticking strain gauges, has high precision, and can continuously feedback the positional relationship between the clamped object and the clamper.

Description

technical field [0001] The invention relates to the technical field of manipulators and micro-grippers, in particular to a piezoelectric-driven flexible hinge clamping device based on binocular distance measurement and a control method. Background technique [0002] Flexible manipulators are the research field of many experts and scholars. They all hope to realize the gripping and grasping of rigid objects and flexible objects by manipulators, so as to realize the functions similar to human hands, and have higher stability and precision. In terms of materials: the flexible gripper is a kind of flexible manipulator; the materials used by current researchers include: memory alloy materials, ionic polymer attachment materials, and piezoelectric materials. Among them, the disadvantage of the ionic polymer metal attachment material is that it cannot hold objects for a long time, and the defect of the shape memory alloy is that its service life is short and the response time is lo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/08B25J15/08B25J19/02G01B11/14G01C3/00G01L11/00
CPCB25J9/1602B25J9/1664B25J9/1697B25J13/087B25J15/08B25J19/023G01B11/14G01C3/00G01L11/00
Inventor 苏良才赵新龙赵祥陈圣鑫苏强许伟
Owner ZHEJIANG SCI-TECH UNIV
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