CN100369723C - Mechanical claw with rigidity controllable flexible surface - Google Patents
Mechanical claw with rigidity controllable flexible surface Download PDFInfo
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- CN100369723C CN100369723C CNB2004101032383A CN200410103238A CN100369723C CN 100369723 C CN100369723 C CN 100369723C CN B2004101032383 A CNB2004101032383 A CN B2004101032383A CN 200410103238 A CN200410103238 A CN 200410103238A CN 100369723 C CN100369723 C CN 100369723C
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- container
- elastic
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- flexible surface
- elastic electrode
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Abstract
The present invention relates to the manufacture of a robot, a mechanical hand or a mechanical clamping tool and also relates to the application technique of electrorheological fluid. The present invention comprises a finger body and a compliant surface formed from an elastic film, wherein the finger body comprises a container with an opening end, telescopic elastic electrodes which are ranged in line are arranged in a hollow cavity of the container. The compliant surface formed from the elastic film is fixedly connected to the opening end of the container and is fixedly connected with the upper surface of each electrode. The electrodes in each line have the same polarity and are connected in series, the polarities of the electrodes in the adjacent lines are opposite, and after the electrodes with the same polarity are connected in parallel, the electrodes are communicated with a circuit by being led out by a conductive wire. A gap exists between each line of the electrodes, and the gap is filled with electrorheological fluid. The change of the electrorheological fluid state and the flow performance of the electrorheological fluid can be realized through the adjustment of the electric field strength. Therefore, the purpose of the stepless regulation of soft and hard rigidity of the compliant surface is realized, the present invention can be suitable for clamped objects with different rigidity and different shapes, the clamped objects can not be damaged, and the firmness of the clamping can be ensured.
Description
Technical field:
The present invention relates to the manufacturing technology of robot, manipulator or mechanical clamp, also relate to the applied technical field of ER fluid.
Background technology
On robot industry and aerospace, usually need to use the flexible surface that to control rigidity.When needs clamp the object of an irregular contour, when the manipulator that uses as the anchor clamps of industrial use and robot need be located and be caught certain certain objects,, increase contact area in order to reduce contact stress, increase frictional force, need contact surface to possess certain flexibility.The stable degree that can prevent to crush gripped object like this and improve clamping.The method that adopts mainly contains the use elastomeric material at present, coats contact surface and uses special frame for movement as rubber, high molecular polymer, adds the flexible outer surface of spring reverse motion formation etc. as use needle-like contact.But existing method all has following shortcoming to overcome: no matter (1) is to use elastomeric material, also be to use common spring mechanical structure, its contact stiffness all can't be done arbitrarily according to the rigidity of actual instructions for use and gripped object and regulate, thereby has limited its scope of application; (2) existing technology all is to use strain to reach the purpose of match gripped object profile, because gripped object outer surface pressure and unbalanced, the stress of jut is still bigger, and negative area possibly can't affact chucking power.So the phenomenon of bad gripped object and clamping shakiness still may occur pressing from both sides; (3) distortion of the flexible surface that uses of the prior art power effect that all is squeezed produces, after arriving the distortion that adapts to clamping body surface profile, still can change shape if be subjected to the external force interference, so can not very firmly fix the position of gripped object.
Summary of the invention:
The objective of the invention is to, overcome deficiency of the prior art, a kind of robot hand that can change the rigidity of submissive clamping surface is provided, thereby strengthen the chucking power and the clamping stability of robot hand.
Purpose of the present invention is realized by following mode.
The present invention has the mechanical claw of the flexible surface of rigidity controllable, comprises finger body and the flexible surface that is made of elastic film, and described finger body comprises a container with openend, is provided with the telescopic elastic electrode that is arranged in rows in the container cavity; The flexible surface that elastic film constitutes is connected in container open end, and is connected with the upper surface of each elastic electrode; Identical and the series connection of the polarity of the elastic electrode in each row, the polarity of the elastic electrode of adjacent lines is opposite, draws the outer and circuit connection of container by lead after the elastic electrode parallel connection of multirow same polarity; Gapped between every capable elastic electrode, wherein be full of ER fluid; It is characterized in that, described each elastic electrode can constitute like this: two different metal sleeves of diameter are nested into integral body with sliding matching mode, be provided with a spring in the inner chamber, this both ends of the spring is connected with the internal face of two sleeves respectively, and the length of two sleeves overlapping parts is greater than the collapsing length of spring; Described each elastic electrode also can be made of the conductive material bellows; Also be provided with an adjusting device that can change the ER fluid capacity in the described container, for example, the high resiliency hollow ball that communicates with container chamber, or one elastic baffle is set at an end of container cavity.
The present invention has the mechanical claw of the flexible surface of rigidity controllable, adopts ER fluid can solidify, form the characteristics of class solid under electric field action, reaches the purpose that realizes changing flexible surface rigidity.Its operation principle is: grabbed the folder object when being squeezed power when the flexible surface that is made of elastic film of paw touches, self the rubber-like electrode that is attached thereto promptly deforms, to adapt to the profile of force application object.Just along with the increasing of grabbing folder power, spring in the elastic electrode sleeve constantly is compressed, upper bush is also constantly moved down, after adding electric field this moment, ER fluid solidifies rapidly, then the enveloping surface of the profile of object will be simulated out by the elastic electrode array, so just can keep the position and the stability of gripped object very reliably.The time spent of doing when removing external force promptly when paw unclamps the object that is held, removes electric field, spring reset, and the elastic electrode upper bush turns back to original position, and the flexible surface that is made of elastic film that is attached thereto also restores to the original state.
For the situation that makes the fluid volume adjusting device, when the finger body bulk be subjected to being grabbed the folder object extruding and when reducing, the elastic wall of ER fluid squeezed fluid quantity regulating device, under elastic reaction, the inner chamber of hollow ball increases, or elastic baffle is extruded, thereby for ER fluid is vacateed a part of space, and when external force remove, when removing electric field, because the elasticity restitution of liquid measure adjusting device is got back in the finger body cavity volume ER fluid.
The present invention has the mechanical claw of the flexible surface of rigidity controllable, its advantage is as follows: by electric-field intensity is regulated, can realize change to ER fluid state and rheological property thereof, thereby realize can step-less adjustment flexible surface soft or hard rigidity purpose, can adapt to various different-stiffness, difform gripped object; Because flexible surface rigidity is adjustable, thereby make the finger body can adapt to the object of different shape, can guarantee can not press from both sides bad gripped object, can guarantee the steadiness of clamping again; The rigidity of flexible surface is adjustable at any time, before object is clamped, can regulate rigidity for minimum, thus match object surface shape full out; After object is clamped, can change rigidity immediately to maximum, make the flexible surface after the distortion can't change shape again, thereby keep the position and the stability of gripped object very solid and reliablely.
Description of drawings
Be described further below by embodiment and accompanying drawing.
Fig. 1 is the structural representation of the mechanical claw of the flexible surface of the present invention with rigidity controllable.
Fig. 2 is the schematic top plan view of Fig. 1.
Fig. 3 is an electrode structure schematic diagram of the present invention.
The specific embodiment
Referring to Fig. 1 and Fig. 2,1 be upper end open rectangular tank (as 50mm * 30mm * 5mm), 2 high resiliency films (as rubber membrane) for the openend that is incumbent on.3 are provided in a side of ten elastic electrodes of aligning in the container, and spacing is 0.5mm; All elastic electrodes all are fixed on the insulation board 4, and this insulation board (as plastic plate) is fixed on the bottom of container cavity by bonding method.High resiliency film 2 is bonded on the upper surface of container 1 periphery and electrode by seccotine.The first row elastic electrode be anodal, the second behavior negative pole (otherwise or, promptly the first capable elastic electrode is negative pole, the second behavior positive pole), and by that analogy, both positive and negative polarity is alternate.After connecting mutually between each single electrode of each row, first and third, five, seven, nine row (odd number is capable) are connected with bus 5 respectively, back in parallel is drawn outside the container by lead 6, the second, four, six, eight, ten row (even numbers row) are connected with bus 5 respectively, and back in parallel is drawn outside the container by lead 6.7 is the elastic hollow ball that highly elastic material (as rubber) constitutes, and its intracavity space is communicated with container 1 inner chamber, to be used to regulate the liquid measure of container 1 inner chamber ER fluid.Be filled in being between positive and negative electrode ER fluid (can from Hong Kong University of Science and Thchnology buy obtain).Because ER fluid riddles between the positive and negative electrode, therefore if between positive and negative polarities, increase electric field, can realize control, thereby change the rigidity of flexible surface by the size that change applies the field intensity of electric field to the ER fluid state.
The structure of each elastic electrode is referring to Fig. 3,8 is the last metal sleeve (4mm * 4mm * 2mm) of electrode, 9 are following metal sleeve (3.8mm * 3.8mm * 2mm), the sleeve wall thickness is 0.2mm, the internal diameter of last metal sleeve is nested into integral body with the external diameter of following metal sleeve with sliding matching mode, be provided with a metal stage clip 10 (GB2089-80 in the inner chamber, material diameter 0.5mm, mean diameter of coil is 3mm, free height is 6mm), this both ends of the spring is connected with the internal face of two sleeves respectively, and the length of two sleeves overlapping parts is greater than the collapsing length of spring.When adopting being slidingly matched of contact between the upper and lower sleeve of electrode (for example while slotting, establish projection), in the spring established can also adopt non-conducting material.Described single elastic electrode also can constitute telescopic integral body by the conductive material bellows, automatically resets after removing when the elasticity of bellows material is enough to make its compression stress that is being subjected to, and just can omit the spring of establishing in the electrode; If can not automatically reset, the spring of establishing in also keeping.
Claims (2)
1. the mechanical claw with flexible surface of rigidity controllable comprises finger body and the flexible surface that is made of elastic film, and described finger body comprises a container with openend, is provided with the telescopic elastic electrode that is arranged in rows in the container cavity; The flexible surface that elastic film constitutes is connected in container open end, and is connected with the upper surface of each elastic electrode; Identical and the series connection of the polarity of the elastic electrode in each row, the polarity of the elastic electrode of adjacent lines is opposite, draws the outer and circuit connection of container by lead after the elastic electrode parallel connection of multirow same polarity; Gapped between every capable elastic electrode, wherein be full of ER fluid; Also be provided with an adjusting device that can change the ER fluid capacity in the described container; It is characterized in that, described each elastic electrode constitutes like this: two different metal sleeves of diameter are nested into integral body with sliding matching mode, be provided with a spring in the inner chamber, this both ends of the spring is connected with the internal face of two sleeves respectively, and the length of two sleeves overlapping parts is greater than the collapsing length of spring.
2. the mechanical claw with flexible surface of rigidity controllable as claimed in claim 1 is characterized in that, the adjusting device that can change the ER fluid capacity is the high resiliency hollow ball that communicates with container chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004101032383A CN100369723C (en) | 2004-12-31 | 2004-12-31 | Mechanical claw with rigidity controllable flexible surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004101032383A CN100369723C (en) | 2004-12-31 | 2004-12-31 | Mechanical claw with rigidity controllable flexible surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1799790A CN1799790A (en) | 2006-07-12 |
| CN100369723C true CN100369723C (en) | 2008-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004101032383A Expired - Fee Related CN100369723C (en) | 2004-12-31 | 2004-12-31 | Mechanical claw with rigidity controllable flexible surface |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103831837A (en) * | 2014-03-24 | 2014-06-04 | 中国科学院重庆绿色智能技术研究院 | Flexible clamping device and clamping method based on magnetorheological fluid |
| CN104290831B (en) * | 2014-09-05 | 2016-06-15 | 南京邮电大学 | Spring steel chip variation rigidity hook assembly and hook mechanism thereof |
| CN106843506A (en) * | 2017-03-21 | 2017-06-13 | 淮阴师范学院 | A kind of texture haptic display interface arrangement |
| CN108673460B (en) * | 2018-05-18 | 2020-08-04 | 大连交通大学 | Laminated flexible mechanical claw |
| CN108858263A (en) * | 2018-09-14 | 2018-11-23 | 山东商务职业学院 | A kind of six degree of freedom haul robot |
| CN110121985A (en) * | 2019-05-22 | 2019-08-16 | 夏启友 | A kind of energy saving and environment friendly agricultural seeder equipment |
| CN110936368B (en) * | 2019-12-17 | 2023-01-13 | 上海大学 | Robot flexible paw, device and control method |
| CN111390947B (en) * | 2020-05-14 | 2022-12-27 | 扬州工业职业技术学院 | Modularized magnetic force type auxiliary robot based on wireless communication and use method thereof |
| CN111705753A (en) * | 2020-06-23 | 2020-09-25 | 马卫富 | Hydraulic engineering gate opening and closing device based on capacitive sensing |
| CN113103275A (en) * | 2021-05-13 | 2021-07-13 | 江苏师范大学科文学院 | Multi-mechanical-arm flexible clamping device and using method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1982002872A1 (en) * | 1981-02-24 | 1982-09-02 | Huff Edward R | Clamp assembly |
| SU1229035A1 (en) * | 1983-06-03 | 1986-05-07 | Университет дружбы народов им.Патриса Лумумбы | Manipulator gripping device (versions) |
| SU1237427A1 (en) * | 1982-02-15 | 1986-06-15 | Bogoroditskij Nikolaj N | Gripper of industrial robot |
| GB2317157A (en) * | 1996-09-12 | 1998-03-18 | Univ Brunel | Gripper mechanism using electrorheological fluid |
| US5833291A (en) * | 1992-09-02 | 1998-11-10 | Haugs; Audun | Inflatable gripping or support device |
| CN2759722Y (en) * | 2004-12-31 | 2006-02-22 | 中国科学技术大学 | Manipulator paw with rigidity controllable flexible surface |
-
2004
- 2004-12-31 CN CNB2004101032383A patent/CN100369723C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1982002872A1 (en) * | 1981-02-24 | 1982-09-02 | Huff Edward R | Clamp assembly |
| SU1237427A1 (en) * | 1982-02-15 | 1986-06-15 | Bogoroditskij Nikolaj N | Gripper of industrial robot |
| SU1229035A1 (en) * | 1983-06-03 | 1986-05-07 | Университет дружбы народов им.Патриса Лумумбы | Manipulator gripping device (versions) |
| US5833291A (en) * | 1992-09-02 | 1998-11-10 | Haugs; Audun | Inflatable gripping or support device |
| GB2317157A (en) * | 1996-09-12 | 1998-03-18 | Univ Brunel | Gripper mechanism using electrorheological fluid |
| CN2759722Y (en) * | 2004-12-31 | 2006-02-22 | 中国科学技术大学 | Manipulator paw with rigidity controllable flexible surface |
Non-Patent Citations (1)
| Title |
|---|
| 电流变柔性微执行器的操纵机制研究. 苑伟政，马炳和，张春江.仪器仪表学报，第17卷第1期. 1996 * |
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| Publication number | Publication date |
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| CN1799790A (en) | 2006-07-12 |
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Granted publication date: 20080220 Termination date: 20101231 |