CN102765090B - Magnetorheological intelligent anti-sliding skin - Google Patents
Magnetorheological intelligent anti-sliding skin Download PDFInfo
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- CN102765090B CN102765090B CN201210282924.6A CN201210282924A CN102765090B CN 102765090 B CN102765090 B CN 102765090B CN 201210282924 A CN201210282924 A CN 201210282924A CN 102765090 B CN102765090 B CN 102765090B
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- cylinder
- damping body
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Abstract
The invention discloses a magnetorheological intelligent anti-sliding skin which comprises working units and a flat pad. Each working unit is formed by a cylinder, a base plate, a hemisphere casing, a compensation air bag, a support rod and a damping body. The hemisphere casing is fixed at the upper end of the cylinder, the base plate is fixed at the lower end of the cylinder, the damping body is spherical, the diameter of the damping body is smaller than the inner diameter of the cylinder, and a gap for magnetorheological fluid to flow is reserved. A groove is arranged on the outer circumference of the damping body, an excitation coil is wound in the groove, the center of the support rod is provided with a through hole, the damping body is fixed on the base plate positioned inside the cylinder through the support rod, the compensation air bag is fixed on the base plate positioned inside the cylinder, and an outgoing line of the excitation coil on the damping body is led out of the base plate through the central through hole of the support rod. The magnetorheological fluid is filled in the cylinder, a plurality of flat bottom blind holes are distributed on one plane of the flat pad, the thickness of the flat pad is larger than the length of the cylinder, and a plurality of working units are fixed in the plurality of flat bottom blind holes of the flat pad.
Description
Technical field
The invention belongs to a kind of robot skin, be specifically related to the anti-skidding skin of a kind of magnetorheological intelligence.
Background technology
We know that the hand of robot is for capturing different objects, therefore, should there is adjustable frictional force to the hand skin of robot, the requirement that captures different objects to adapt to it, but existing robot skin adopts multiple material and sandwich construction to make conventionally, as: Chinese Patent Application No. is: 201010609734.1 " a kind of robot skin ", although this class robot skin is still more effective for the body part of robot, if for the hand of robot because its frictional force can not be adjusted the requirement that is difficult to adapt to capture different objects.
Summary of the invention
In order to overcome the deficiency of existing robot skin for the hand of robot, the present invention proposes the anti-skidding skin of a kind of magnetorheological intelligence.
Technical scheme of the present invention is as follows: the anti-skidding skin of a kind of magnetorheological intelligence, it comprises working cell and plain cushion, wherein: working cell is by cylinder, base plate, hemispherical Shell, compensation air bag, support bar and damping body form, hemispherical Shell is fixed on the upper end of cylinder, base plate is fixed on the lower end of cylinder, damping body be shaped as spheroid, the diameter of damping body is less than the internal diameter of cylinder and leaves the mobile gap of magnetic flow liquid, on the excircle of damping body, there is groove in groove, to be wound with magnet exciting coil, there is through hole at the center of support bar, damping body is fixed on the base plate in cylinder by support bar, compensation air bag is fixed on the base plate in cylinder, on damping body, the lead-out wire of magnet exciting coil is drawn from base plate by support bar central through hole, in cylinder, be full of magnetic flow liquid, in a plane of plain cushion, be distributed with multiple flat blind holes, the thickness of plain cushion is greater than the length of cylinder, multiple working cells are fixed in the multiple flat blind hole of plain cushion, and support bar is made up of non-magnet_conductible material, hemispherical Shell and plain cushion are made up of macromolecular material, cylinder and damping body are made up of permeability magnetic material.
Function of the present invention is achieved in that the existence at cylinder internal cause damping body, make the damped body of magnetic flow liquid in cylinder be separated into upper and lower two parts, in the time that the magnet exciting coil on damping body does not pass into electric current, in annular gap between damping body external diameter and barrel bore, electromagnetic field intensity is zero, now, magnetic flow liquid in cylinder is liquid, and liquid magnetic flow liquid can flow the upper and lower of damping body by the annular gap between damping body external diameter and barrel bore smoothly, when the magnet exciting coil on damping body passes into after electric current, make damping body become the ball electromagnetic iron that electromagnetic field intensity is stronger, because of electromagnet produce the magnetic line of force perpendicular to its surface, therefore, the magnetic line of force that ball electromagnetic iron produces: on the one hand by and barrel bore between annular gap, make the magnetic field intensity in this annular gap stronger, make the viscosity of the magnetic flow liquid in annular gap compared with being greatly semi-cured state, stop upper at damping body of magnetic flow liquid in cylinder, flow in lower two ends, on the other hand under the effect of the magnetic line of force, also make on damping body, the viscosity of the magnetic flow liquid at lower two ends improves and " solidifying ", thereby make the magnetic flow liquid after " solidifying " in cylinder current state in the each self-sustaining in the two ends of damping body.
In multiple working cells are fixed on the multiple flat blind hole of plain cushion and formed after the anti-skidding skin of magnetorheological intelligence, surface at the anti-skidding skin of magnetorheological intelligence has just formed multiple ball bumps, anti-skidding magnetorheological intelligence skin is fixed on behind the surface of robot hand, in the time that the magnet exciting coil of the damping body in the cylinder of each working cell of the anti-skidding skin of magnetorheological intelligence on mechanical hand does not also pass into electric current, magnetic flow liquid in the cylinder of each working cell is in a liquid state, now mechanical hand starts clawing thing body, the ball bumps of being grabbed on profile and the anti-skidding skin of magnetorheological intelligence of object will come in contact, and oppress the ball bumps on the anti-skidding skin of magnetorheological intelligence, liquid magnetic flow liquid in ball bumps is being subject to after the extruding of taken object profile, to make on the anti-skidding skin of magnetorheological intelligence magnetic flow liquid liquid in the cylinder of each working cell flow in cylinder from ball bumps, and by the annular gap between cylinder internal damping body diameter and barrel bore, flow to the lower end of damping body from the upper end of damping body, make compressed the diminishing of compensation air bag of bottom of cylinder, because mechanical hand is taken the difference of object profile, make the deformation extent difference after the lip-deep multiple ball bumps pressurizeds of the anti-skidding skin of magnetorheological intelligence, when mechanical hand is arrested after object, magnet exciting coil on damping body in the cylinder of the each working cell on the anti-skidding skin of magnetorheological intelligence is passed into after electric current, magnet exciting coil on each cylinder internal damping body is generated an electromagnetic field, magnetic flow liquid under the effect of this electromagnetic field in the cylinder of each working cell uprises " solidifying " because of viscosity, in cylinder the magnetic flow liquid of " being solidified " because of be subject in the annular gap between damping body external diameter and barrel bore can not be at damping body compared with the obstruct of strong-electromagnetic field upper, current downflow, state while making the interior magnetic flow liquid of cylinder keep being extruded at the two ends of damping body is constant, the ball bumps of the anti-skidding skin surface of magnetorheological intelligence is being kept and the profile of object that mechanical hand is grabbed (namely by object " card " between multiple ball bumps of mechanical hand) thus avoided the landing of object, enter into the size of current of the magnet exciting coil on the cylinder internal damping body of each working cell on the anti-skidding skin of magnetorheological intelligence by adjustment, it is the viscosity size of the magnetic flow liquid in the each cylinder of capable of regulating, the size of the frictional force of the anti-skidding skin of magnetorheological intelligence is adjusted, and while making mechanical hand grasp different objects, desired different frictional force is met.
When mechanical hand puts down after object, shutoff enters the electric current of magnet exciting coil on the cylinder internal damping body of the interior each working cell of the anti-skidding skin of magnetorheological intelligence, making by the electromagnetic field intensity of the magnetic flow liquid in each cylinder is zero, make the viscosity of the magnetic flow liquid of " being solidified " in each working cell of the anti-skidding skin of magnetorheological intelligence become rapidly liquid state from semisolid, now, under the extruding of expanding rapidly at the compensation air bag of the bottom of cylinder of each working cell, make the upper end of the damping body that magnetic flow liquid liquid in each cylinder flow back into from the lower end of damping body by the annular gap between damping body external diameter and barrel bore, make the ball bumps of the anti-skidding skin surface of magnetorheological intelligence return to reset condition, for the next clawing thing body of mechanical hand is got ready.
Compared with existing robot skin, the anti-skidding skin of magnetorheological intelligence of the present invention can free adjustment be more applicable for the hand of robot because of its frictional force.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the present invention.
Fig. 2 is a kind of structural representation of working cell.
Fig. 3 is the cutaway view of Fig. 2.
Fig. 4 is a kind of structural representation of plain cushion.
Fig. 5 is a kind of schematic diagram of working cell of the present invention in the time of work.
Fig. 6 is that the magnetorheological intelligent skin of the present invention is fixed on a kind of schematic diagram on machine finger.
Fig. 7 is that the machine of having fixed magnetorheological intelligent skin is pointed a kind of schematic diagram of preparing to catch an egg.
Fig. 8 is that the machine of having fixed magnetorheological intelligent skin is pointed a kind of schematic diagram while arresting egg.
Fig. 9 is the cutaway view of Fig. 8.
Detailed description of the invention
Describe structure of the present invention in detail below in conjunction with accompanying drawing:
Referring to Fig. 1 to Fig. 4, this is a kind of concrete structure of the present invention, the anti-skidding skin of a kind of magnetorheological intelligence, it comprises working cell 17 and plain cushion 20, wherein: working cell 17 is by cylinder 6, base plate 10, hemispherical Shell 1, annular compensation air bag 7, support bar 5 and damping body 16 form, the hemispherical Shell 1 being made up of macromolecular material is fixed on the upper end of the cylinder 6 being made up of permeability magnetic material, base plate 10 is fixed on the lower end of cylinder 6, the damping body 16 being formed by permeability magnetic material be shaped as spheroid, the diameter of damping body 16 is less than the internal diameter of cylinder 6 and leaves the mobile annular gap of magnetic flow liquid 4, on the excircle of damping body 16, there is groove in groove, to be wound with magnet exciting coil 13 and magnet exciting coil 15, protective layer 14 and protective layer 3 outside magnet exciting coil 13 and magnet exciting coil 15, are installed additional, protective layer 14 and protective layer 3 and damping body 16 flush, there is through hole 11 at the center of the support bar 5 being made up of non-magnet_conductible material, damping body 16 is fixed on the base plate 10 in cylinder 6 by support bar 5, annular compensation air bag 7 is fixed on the base plate 10 in cylinder 6, in annular compensation air bag 7, be filled with the gas 8 of certain pressure, on damping body 16, the lead-out wire 9 of magnet exciting coil 13 and magnet exciting coil 15 is drawn from base plate 10 by the central through hole 11 of the groove 12 on damping body 16 and support bar 5, in cylinder 6, be full of magnetic flow liquid 2, plain cushion 20 is made up of macromolecular material, in a plane of plain cushion 20, be distributed with multiple flat blind holes 22, the thickness of plain cushion 20 is greater than the length of cylinder 6, multiple working cells 17 are fixed in the multiple flat blind hole 22 of plain cushion 20, thereby form the anti-skidding skin 21 of magnetorheological intelligence.
Below in conjunction with accompanying drawing 5, the duty of the anti-skidding skin of a kind of magnetorheological intelligence of the present invention is described: the lead-out wire 9 of the magnet exciting coil 13 on the 17 cylinder 6 internal damping bodies 16 of working cell and magnet exciting coil 15 is connected with control power supply 18, in the existence of cylinder 6 internal cause damping bodies 16, the damped body 16 of magnetic flow liquid 2 in cylinder 6 is separated into, lower two parts, in the time that the magnet exciting coil 13 on damping body 16 and magnet exciting coil 15 do not pass into electric current, the interior electromagnetic field intensity in annular gap 4 between damping body 16 external diameters and cylinder 6 internal diameters is zero, now the magnetic flow liquid 2 in cylinder 6 is liquid, therefore, in the time that object 19 pushes the hemispherical Shell 1 of working cell 17, the magnetic flow liquid 2 of hemispherical Shell 1 interior liquid state can be smoothly by the annular gap 4 between cylinder 6 internal damping body 16 external diameters and cylinder 6 internal diameters, flow to the bottom of damping body 16 from the top of damping body 16 and make the annular compensation of cylinder 6 bottoms that air bag 7 is compressed diminishes, now, if control power supply 18 after magnet exciting coil 13 and magnet exciting coil 15 output currents on cylinder 6 internal damping bodies 16, when electromagnetic field intensity that damping body 16 is produced is larger, because damping body 16 is that the magnetic line of force of spheroid and generation is perpendicular to its surface, so, the magnetic line of force that damping body 16 produces: on the one hand by and cylinder 6 internal diameters between annular gap 4, make the magnetic field intensity in this annular gap 4 stronger, make the viscosity of the magnetic flow liquid 2 in annular gap 4 compared with being greatly semi-cured state, stop upper at damping body 16 of magnetic flow liquid 2 in cylinder 6, flow in lower two ends, on the other hand under the effect of damping body 16 magnetic lines of force, also make on damping body 16, the viscosity of the magnetic flow liquid 2 at lower two ends improves, thereby make the magnetic flow liquid 2 after " solidifying " in cylinder 6 current state in the each self-sustaining in the two ends of damping body 16.
Now in conjunction with Fig. 6, Fig. 7, Fig. 8 and Fig. 9, the application of a kind of magnetorheological intelligent skin of the present invention is further described: referring to Fig. 6, magnetorheological intelligent skin 21 is fixed on to each finger surface of mechanical hand 23, the magnet exciting coil of controlling on all working unit 17 of power supply 18 and the magnetorheological intelligent skin 21 of each finger surface of mechanical hand 23 is connected, referring to Fig. 7, an egg 25 is placed between each finger of mechanical hand 23, referring to Fig. 8 and Fig. 9, in the time that the each finger of mechanical hand 23 is closed, ball bumps and egg 25 on magnetorheological intelligent skin 21 on the each finger of mechanical hand 23 are come in contact, under the extruding of egg 25 profiles, make the ball bumps on the magnetorheological intelligent skin 21 on mechanical hand 23 fingers be subject to crimp in various degree, like this, the magnetic flow liquid 2 of the cylinder 6 interior liquid state of the each working cell 17 being squeezed flow in cylinder 6 and by the annular gap 4 between cylinder 6 internal damping body 16 external diameters and cylinder 6 internal diameters from ball bumps, flow to the lower end of damping body 16 from the upper end of damping body 16, make compressed the diminishing of compensation air bag 7 of cylinder 6 bottoms, now, open and control power supply 18 and send into electric current to the magnet exciting coil of all working unit 17 on magnetorheological intelligent skin 21, magnet exciting coil on the 17 cylinder 6 internal damping bodies of each working cell is generated an electromagnetic field, this electromagnetic field makes the magnetic field intensity in the annular gap 4 between damping body 16 external diameters and cylinder 6 internal diameters in each working cell stronger, make the viscosity of the magnetic flow liquid 2 in annular gap 4 compared with being greatly semi-cured state, stop upper at damping body 16 of magnetic flow liquid 2 in cylinder 6, flow in lower two ends, simultaneously, under the effect of damping body 16 magnetic lines of force, also make on damping body 16, the viscosity of the magnetic flow liquid 2 at lower two ends improves, thereby make in cylinder 6 state when magnetic flow liquid 2 after " solidifying " is keeping being extruded at the two ends of damping body 16 constant, the ball bumps on magnetorheological intelligent skin 21 surfaces is being kept and profile while grabbing egg 25 (namely egg 25 by " card " between multiple ball bumps of respectively pointing of mechanical hand 23) thus avoided the landing of egg 25 and crumbed, this just makes mechanical hand 23 catch egg 25.
Claims (5)
1. the anti-skidding skin of magnetorheological intelligence, it comprises working cell and plain cushion, it is characterized in that: described working cell is made up of cylinder, base plate, hemispherical Shell, compensation air bag, support bar and damping body, hemispherical Shell is fixed on the upper end of cylinder, base plate is fixed on the lower end of cylinder, and described hemispherical Shell is made up of macromolecular material; Described damping body be shaped as spheroid, the diameter of damping body is less than the internal diameter of cylinder and leaves the mobile gap of magnetic flow liquid, on the excircle of damping body, there is groove, in groove, be wound with magnet exciting coil, there is through hole at the center of support bar, and damping body is fixed on the base plate in cylinder by support bar, and compensation air bag is fixed on the base plate in cylinder, on damping body, the lead-out wire of magnet exciting coil is drawn from base plate by support bar central through hole, has been full of magnetic flow liquid in cylinder; In a plane of described plain cushion, be distributed with multiple flat blind holes, the thickness of plain cushion is greater than the length of cylinder, and multiple working cells are fixed in the multiple flat blind hole of plain cushion, makes the hemispherical Shell of working cell stretch out flat blind hole.
2. the anti-skidding skin of the magnetorheological intelligence of one as claimed in claim 1, is characterized in that: described support bar is made up of non-magnet_conductible material.
3. the anti-skidding skin of the magnetorheological intelligence of one as claimed in claim 1, is characterized in that: described plain cushion is made up of macromolecular material.
4. the anti-skidding skin of the magnetorheological intelligence of one as claimed in claim 1, is characterized in that: described cylinder is made up of permeability magnetic material.
5. the anti-skidding skin of the magnetorheological intelligence of one as claimed in claim 1, is characterized in that: described damping body is made up of permeability magnetic material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210282924.6A CN102765090B (en) | 2012-08-10 | 2012-08-10 | Magnetorheological intelligent anti-sliding skin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210282924.6A CN102765090B (en) | 2012-08-10 | 2012-08-10 | Magnetorheological intelligent anti-sliding skin |
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| Publication Number | Publication Date |
|---|---|
| CN102765090A CN102765090A (en) | 2012-11-07 |
| CN102765090B true CN102765090B (en) | 2014-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210282924.6A Expired - Fee Related CN102765090B (en) | 2012-08-10 | 2012-08-10 | Magnetorheological intelligent anti-sliding skin |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753593B (en) * | 2013-12-24 | 2016-03-16 | 中国矿业大学 | The bionic finger that a kind of compliance is controlled |
| CN107433535A (en) * | 2017-07-31 | 2017-12-05 | 无锡康柏斯机械科技有限公司 | One kind filtering detection formula electromagnetic induction control fixture |
| CN108121924B (en) * | 2018-01-02 | 2020-11-06 | 京东方科技集团股份有限公司 | Electronic display device protection shell and using method thereof |
| JP6811795B2 (en) * | 2019-02-22 | 2021-01-13 | 本田技研工業株式会社 | Artificial epidermis structure |
| CN110039562A (en) * | 2019-04-01 | 2019-07-23 | 清华大学 | A kind of magnetic fluid manipulator |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7204481B2 (en) * | 2004-06-04 | 2007-04-17 | Gm Global Technology Operations, Inc. | Magnetorheological reconfigurable clamp for a flexible manufacturing system |
| CN100369719C (en) * | 2004-12-31 | 2008-02-20 | 中国科学技术大学 | Clamping holder with rigidity changeable flexible surface |
| CN202203327U (en) * | 2011-09-01 | 2012-04-25 | 谭晓婧 | Single piston rod magnetorheologic grease damper |
| CN102550215B (en) * | 2012-01-13 | 2013-12-25 | 华南农业大学 | Magnetorheological conformable clamp holder and robot for picking multiple types of fruits and vegetables |
| CN202726924U (en) * | 2012-08-10 | 2013-02-13 | 谭晓婧 | Magneto-rheological intelligent anti-skid skin |
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- 2012-08-10 CN CN201210282924.6A patent/CN102765090B/en not_active Expired - Fee Related
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| CN102765090A (en) | 2012-11-07 |
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