CN102825593A - Magnetorheological fluid continuum robot manipulator - Google Patents
Magnetorheological fluid continuum robot manipulator Download PDFInfo
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- CN102825593A CN102825593A CN2012101791824A CN201210179182A CN102825593A CN 102825593 A CN102825593 A CN 102825593A CN 2012101791824 A CN2012101791824 A CN 2012101791824A CN 201210179182 A CN201210179182 A CN 201210179182A CN 102825593 A CN102825593 A CN 102825593A
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Abstract
The invention discloses a magnetorheological fluid continuum robot manipulator and relates to a robot manipulator, aiming at solving the problem that the traditional joint-rod robot grabs an object with an irregular shape difficultly. The robot manipulator is similar to a trunk to grab the object through a curve winding mode. The manipulator body disclosed by the invention is of an imitated trunk long tube structure; an outer layer is formed by a plurality of column springs connected in series; springs are connected through a spine disc which is provided with a round hole in the center; a hose filled with magnetorheological fluid passes through all spine discs through the round hole; a choked flow spacer is arranged inside the hose and a coil is wound outside the hose; the magnetic field strength in the hose is changed by changing the current of the coil, so that the magnetorheological fluid achieves liquid-solid conversion, and the rigidity and damping of the manipulator are adjusted; a pressure adjusting and liquid supply device is also arranged at the initial end of the hose; the outer layer is divided into four sections; each section of four springs are independently driven by a cotton rope 2; and each cotton rope is led to each pulley in a drive device at the initial end of the manipulator, and a the pulley is driven by a motor to drive the cotton rope to stretch, so as to achieve bending. The magnetorheological fluid continuum robot manipulator is supplement of the traditional robot manipulator.
Description
Technical field
The present invention relates to a kind of magnetorheological non-individual body robotic manipulator.
Traditional serial machine human simulation people's joint bone kinematic system is made up of the joint of limited quantity and connecting rod series connection.Whether this robotlike is according to existing redundant degree of freedom can be divided into nonredundancy degree of freedom robot and redundant degree of freedom robot two major types.The joint space dimension of nonredundancy degree of freedom robot equals its task space dimension; Exist the relatively poor shortcoming of flexibility; Promptly behind the terminal pose track of regulation, the singular point that can not avoid existing in the joint space or the zone of kinematic dexterity difference, dynamic performance is poor in some cases.Redundant degree of freedom robot proposes for the solution flexibility problem just, and it makes the joint space dimension greater than the task space dimension through increasing redundant joint, makes robot in the terminal pose of realizing expectation, have higher flexibility.Yet redundancy robots does not break through traditional joint-link rod structure, and improvement effect is limited.The present invention is based on the bionic principle of trunk, propose a kind of magnetorheological non-individual body robotic manipulator.
The object of the invention provides a kind of magnetorheological non-individual body robotic manipulator, and this robotic manipulator can continuous bend be out of shape, and motion is suitable for grasping irregular-shaped objects flexibly, is that the useful of traditional prosthetic robot replenished.The present invention is by end cap 1, driving cotton rope 2, I type spinal disc 3, flexible pipe 4, magnetic flow liquid 5, coil 6, spring 7, II type spinal disc 8, cotton rope conduit 9, operand 10, flexible pipe cuff 11, bonded adhesives 12, wire socket 13, and terminal pad 14, magnetic flow liquid pressure regulation and liquid supply device 15, drive unit casing 16, cotton rope catheter holder 17, pulley 18, stepper motor 19, cover plate 20 constitute.Its integral body is the long pipe type structure of similar trunk, and skin is in series for more piece cylindrical spring 7, adopts spinal disc 3 or 8 to link between any two adjacent springs 6.Each spinal disc 3 or 8 center have manhole; In the magnetize flexible pipe 4 of rheology liquid 5 from the through hole of all spinal disc 3 or 8, pass, the head end of flexible pipe 4 and magnetic flow liquid pressure regulation and liquid supply device 15 are connected through screw thread, magnetic flow liquid pressure regulation and liquid supply device 15 are made up of housing 21, piston 22, sealing 23, pressure spring 24, platen 25, loam cake 26, screw press 27; Be thread connection between loam cake 26 and the housing 21; Also for being threaded, screw press 27 is connected with platen 25 between screw press 27 and the loam cake 26, moves up and down the pretightning force of regulating pressure spring 24 vertically thereby can make it drive platen 25 through rotation screw press 27; Thereby regulate the pressure of magnetic flow liquid; Open loam cake 26 in addition, take out piston 22 after, can be directly in housing, replenish magnetic flow liquid.The end of flexible pipe 4 connects firmly on end cap 1.Hose outside diameter is slightly less than the internal diameter of spinal disc central through hole; Flexible pipe 4 all is with flexible pipe cuff 11 with spinal disc 3 or 8 junctions; There is radial clearance between flexible pipe cuff 11 outer surfaces and spinal disc 3 or 8 bore areas, injects adhesive glue 12 in this gap flexible pipe cuff 11 and spinal disc 3 and 8 are bonded together.The outside of flexible pipe 4 is wound with coil 6 in addition; Flexible pipe 4 set inside choked flows are at a distance from 28; Electric current through changing coil 6 can the magnetic flow liquid of regulating action in flexible pipe magnetic field intensity, thereby the rheological behavior of control magnetic flow liquid plays the effect of regulating whole operation device rigidity and damping.
The spinal disc of the head end of the concatermer (totally being elongated tubular) of outer cylindrical spring connects firmly on the drive case bottom surface through terminal pad 14.It is 4 sections that the concatermer of cylindrical spring is divided into, and every section comprises four springs, is connected by I type spinal disc 3 between the spring, and every section head, terminal spinal disc then are II type spinal disc 8.Every section respectively by four cotton rope 2 drive.The cotton rope 2 of each section all pulleys 18 in the drive case 16 is drawn, pass successively each spinal disc 3 or 8 central through holes up to this section end I type spinal disc (but the 4th section end is end cap).The cotton rope segmentation drives and specifically is embodied as: the adjacent cylindrical spring of per four joints constitutes one section, and every section is adopted independently line driving.Be provided with 4 through holes circumferentially being uniformly distributed with (below be called the main traverse line hole) on the middle circle of each spinal disc 8 (radius is the half the circle of spinal disc external diameter); Drive cotton rope 2 and draw drive unit 18, pass each spinal disc main traverse line hole successively and be connected on the spinal disc of each section end from the operator head end.Drive pulley rotating by the stepper motor in the drive unit and drive cotton rope contraction realization flexural deformation.Driving the cotton rope overcoat has cotton rope conduit 9, on the circumference near outer rim on each spinal disc, has 4 small through hole that are uniformly distributed with (being called the offset hole), is used for fixing cotton rope conduit 9.Cotton rope conduit 9 was told the branch joint 9 that is used for this section before the first spinal disc of every section section; The place, offset hole of the first spinal disc of branch joint 9 sections of guiding to, and this place, offset hole has a fixedly small embossment platform of branch joint, the end of branch joint has the iron cover; On screw thread is arranged; And on the raised platforms by screwed hole, can connect above-mentioned two screw threads with nut, the branch joint end is fixed on the raised platforms.Drive and be connected on the spinal disc of this section end cotton rope is drawn the offset Kongzui through this section center spine basin from branch joint after.The relative displacement that utilizes sleeve pipe during driving and drive between the cotton rope drives all spinal disc in the section, can avoid passing through each section generation additional bending moment to driving cotton rope.
This robotic manipulator adopts segmented line type of drive, can be as required to any one section bending operation that carries out different curvature wherein, can realize the coiling action of similar trunk.And cooperate cotton rope to drive, and it is liquid or solid-state that magnetic flow liquid in the flexible pipe is in, and control whole operation device rigidity cooperates cotton rope to drive and accomplishes coiling action.
The present invention is to the replenishing of traditional joint rod-type robot, but is different from general redundant or ultra redundant prosthetic robot, its continuous flexible distortion arbitrarily, and the realization flexible motion, and can be to the realization grasping manipulation of irregular-shaped objects.
Description of drawings
Fig. 1 is an overall structure sketch map of the present invention.
Fig. 2 is the structural representation of I type spinal disc.
Fig. 3 is the structural representation of II type spinal disc.
Fig. 4 is a flexible pipe internal structure sketch map.
Fig. 5 is the structural representation of magnetic flow liquid pressure regulation and liquid supply device.
The specific embodiment
The specific embodiment one: (referring to Fig. 1 ~ Fig. 3) the present invention is by end cap 1, driving cotton rope 2, I type spinal disc 3, flexible pipe 4, magnetic flow liquid 5, coil 6, spring 7, II type spinal disc 8, cotton rope conduit 9, operand 10, flexible pipe cuff 11, bonded adhesives 12, wire socket 13, terminal pad 14, magnetic flow liquid pressure regulation and liquid supply device 15, drive unit casing 16, cotton rope catheter holder 17, pulley 18, stepper motor 19, cover plate 20 constitute.Its integral body is the long pipe type structure of similar trunk, and skin is in series for more piece cylindrical spring 7, adopts spinal disc 3 or 8 to link between any two adjacent springs 6.Each spinal disc 3 or 8 center have manhole; In the magnetize flexible pipe 4 of rheology liquid 5 from the through hole of all spinal disc 3 or 8, pass, the head end of flexible pipe 4 and magnetic flow liquid pressure regulation and liquid supply device 15 are connected through screw thread, magnetic flow liquid pressure regulation and liquid supply device 15 are made up of housing 21, piston 22, sealing 23, pressure spring 24, platen 25, loam cake 26, screw press 27; Be thread connection between loam cake 26 and the housing 21; Also for being threaded, screw press 27 is connected with platen 25 between screw press 27 and the loam cake 26, moves up and down the pretightning force of regulating pressure spring 24 vertically thereby can make it drive platen 25 through rotation screw press 27; Thereby regulate the pressure of magnetic flow liquid; Open loam cake 26 in addition, take out piston 22 after, can be directly in housing, replenish magnetic flow liquid.The end of flexible pipe 4 connects firmly on end cap 1.Hose outside diameter is slightly less than the internal diameter of spinal disc central through hole; Flexible pipe 4 all is with flexible pipe cuff 11 with spinal disc 3 or 8 junctions; There is radial clearance between flexible pipe cuff 11 outer surfaces and spinal disc 3 or 8 bore areas, injects adhesive glue 12 in this gap flexible pipe cuff 11 and spinal disc 3 and 8 are bonded together.The outside of flexible pipe 4 is wound with coil 6 in addition; Flexible pipe 4 set inside choked flows are at a distance from 28; Electric current through changing coil 6 can the magnetic flow liquid of regulating action in flexible pipe magnetic field intensity, thereby the rheological behavior of control magnetic flow liquid plays the effect of regulating whole operation device rigidity and damping.
The spinal disc of the head end of the concatermer (totally being elongated tubular) of outer cylindrical spring connects firmly on the drive case bottom surface through terminal pad 14.It is 4 sections that the concatermer of cylindrical spring is divided into, and every section comprises four springs, is connected by I type spinal disc 3 between the spring, and every section head, terminal spinal disc then are II type spinal disc 8.Every section respectively by four cotton rope 2 drive.The cotton rope 2 of each section all pulleys 18 in the drive case 16 is drawn, pass successively each spinal disc 3 or 8 central through holes up to this section end I type spinal disc (but the 4th section end is end cap).The cotton rope segmentation drives and specifically is embodied as: the adjacent cylindrical spring of per four joints constitutes one section, and every section is adopted independently line driving.Be provided with 4 through holes circumferentially being uniformly distributed with (below be called the main traverse line hole) on the middle circle of each spinal disc 8 (radius is the half the circle of spinal disc external diameter); Drive cotton rope 2 and draw drive unit 18, pass each spinal disc main traverse line hole successively and be connected on the spinal disc of each section end from the operator head end.Drive pulley rotating by the stepper motor in the drive unit and drive cotton rope contraction realization flexural deformation.Driving the cotton rope overcoat has cotton rope conduit 9, on the circumference near outer rim on each spinal disc, has 4 small through hole that are uniformly distributed with (being called the offset hole), is used for fixing cotton rope conduit 9.Cotton rope conduit 9 was told the branch joint 9 that is used for this section before the first spinal disc of every section section; The place, offset hole of the first spinal disc of branch joint 9 sections of guiding to, and this place, offset hole has a fixedly small embossment platform of branch joint, the end of branch joint has the iron cover; On screw thread is arranged; And on the raised platforms by screwed hole, can connect above-mentioned two screw threads with nut, the branch joint end is fixed on the raised platforms.Drive and be connected on the spinal disc of this section end cotton rope is drawn the offset Kongzui through this section center spine basin from branch joint after.The relative displacement that utilizes sleeve pipe during driving and drive between the cotton rope drives all spinal disc in the section, can avoid passing through each section generation additional bending moment to driving cotton rope.
The specific embodiment two: drive motors is a servomotor in this embodiment, and other is identical with the specific embodiment one.
Claims (7)
1. magnetorheological non-individual body robotic manipulator; By end cap 1, driving cotton rope 2, I type spinal disc 3, flexible pipe 4, magnetic flow liquid 5, coil 6, spring 7, II type spinal disc 8, cotton rope conduit 9, operand 10, flexible pipe cuff 11, bonded adhesives 12, wire socket 13, terminal pad 14, magnetic flow liquid pressure regulation and liquid supply device 15, drive unit casing 16, cotton rope catheter holder 17, pulley 18, stepper motor 19, cover plate 20 constitute; Its integral body is the long pipe type structure of similar trunk, and skin is in series for more piece cylindrical spring 7, adopts spinal disc 3 or 8 to link between any two adjacent springs 6; Each spinal disc 3 or 8 center have manhole; In the magnetize flexible pipe 4 of rheology liquid 5 from the through hole of all spinal disc 3 or 8, pass, the head end of flexible pipe 4 and magnetic flow liquid pressure regulation and liquid supply device 15 are connected through screw thread, magnetic flow liquid pressure regulation and liquid supply device 15 are made up of housing 21, piston 22, sealing 23, pressure spring 24, platen 25, loam cake 26, screw press 27; Be thread connection between loam cake 26 and the housing 21; Also for being threaded, screw press 27 is connected with platen 25 between screw press 27 and the loam cake 26, moves up and down the pretightning force of regulating pressure spring 24 vertically thereby can make it drive platen 25 through rotation screw press 27; Thereby regulate the pressure of magnetic flow liquid; Open loam cake 26 in addition, take out piston 22 after, can be directly in housing, replenish magnetic flow liquid; The end of flexible pipe 4 connects firmly on end cap 1; Hose outside diameter is slightly less than the internal diameter of spinal disc central through hole; Flexible pipe 4 all is with flexible pipe cuff 11 with spinal disc 3 or 8 junctions; There is radial clearance between flexible pipe cuff 11 outer surfaces and spinal disc 3 or 8 bore areas, injects adhesive glue 12 in this gap flexible pipe cuff 11 and spinal disc 3 and 8 are bonded together; The outside of flexible pipe 4 is with coil 6 in addition; Electric current through changing coil 6 can the magnetic flow liquid of regulating action in flexible pipe magnetic field intensity, thereby the rheological behavior of control magnetic flow liquid plays the effect of regulating whole operation device rigidity and damping; The spinal disc of the head end of the concatermer (totally being elongated tubular) of outer cylindrical spring connects firmly on the drive case bottom surface through terminal pad 14; It is 4 sections that the concatermer of cylindrical spring is divided into, and every section comprises four springs, is connected by I type spinal disc 3 between the spring, and every section head, terminal spinal disc then are II type spinal disc 8; Every section respectively by four cotton rope 2 drive; The cotton rope 2 of each section all pulleys 18 in the drive case 16 is drawn, pass successively each spinal disc 3 or 8 central through holes up to this section end I type spinal disc (but the 4th section end is end cap); The cotton rope segmentation drives and specifically is embodied as: the adjacent cylindrical spring of per four joints constitutes one section, and every section is adopted independently line driving; Be provided with 4 through holes circumferentially being uniformly distributed with (below be called the main traverse line hole) on the middle circle of each spinal disc 8 (radius is the half the circle of spinal disc external diameter); Drive cotton rope 2 and draw drive unit 18, pass each spinal disc main traverse line hole successively and be connected on the spinal disc of each section end from the operator head end; Drive pulley rotating by the stepper motor in the drive unit and drive cotton rope contraction realization flexural deformation; Driving the cotton rope overcoat has cotton rope conduit 9, on the circumference near outer rim on each spinal disc, has 4 small through hole that are uniformly distributed with (being called the offset hole), is used for fixing cotton rope conduit 9; Cotton rope conduit 9 was told the branch joint 9 that is used for this section before the first spinal disc of every section section; The place, offset hole of the first spinal disc of branch joint 9 sections of guiding to, and this place, offset hole has a fixedly small embossment platform of branch joint, the end of branch joint has the iron cover; On screw thread is arranged; And on the raised platforms by screwed hole, can connect above-mentioned two screw threads with nut, the branch joint end is fixed on the raised platforms; Drive and be connected on the spinal disc of this section end cotton rope is drawn the offset Kongzui through this section center spine basin from branch joint after; The relative displacement that utilizes sleeve pipe during driving and drive between the cotton rope drives all spinal disc in the section, can avoid passing through each section generation additional bending moment to driving cotton rope.
2. non-individual body robotic manipulator according to claim 1 mechanism is characterized in that the structure of outer more piece cylindrical spring concatermer is: a plurality of spinal disc and cylindrical spring constitute by the rule series connection of spinal disc-cylinder-spinal disc-cylinder.Spring between two other adjacent ridge basin is single cylindrical spring, rather than many cylindrical spring parallel connections.Adopt affixed mode between cylindrical spring and the spinal disc.
3. non-individual body robotic manipulator according to claim 1 mechanism; It is characterized in that its inner flexible pipe that adopts is as its center crestal line; When the robotic manipulator flexure operation; Coil 8 feeds suitable current, makes the inner magnetic current and liquid flow variation characteristic generation of flexible pipe respective change, for the motion of operator provides damping.When operator kept static, coil fed saturation current, makes magnetic flow liquid present solid state, increased the rigidity of robotic manipulator.
4. non-individual body robotic manipulator according to claim 1 mechanism is characterized in that the mode that adopts segmentation independently to control, and every section in robot is corresponding to an absolute coil, controls every section rigidity and damping through the electric current of controlling every section coil.
5. non-individual body robotic manipulator according to claim 1 mechanism is characterized in that the mode that adopts the segmentation cotton rope to drive, and promptly per four pitch cylinder springs constitute one section.Every section is adopted independently cotton rope type of drive.On the middle circle (radius is the half the circle of spinal disc external diameter) of each spinal disc, be provided with 4 through holes that circumferentially are uniformly distributed with; Drive cotton rope and draw assembly pulley from the operator head end; Passing each spinal disc through hole successively is connected on the spinal disc of each section end; Drive assembly pulley by stepper motor and rotate, drive cotton rope and shrink the realization coiling action.
6. non-individual body robotic manipulator according to claim 1 mechanism, it is characterized in that driving the cotton rope overcoat has sleeve pipe, utilizes the relative displacement between sleeve pipe and the drive wire to drive spinal disc during driving, can avoid drive wire is passed through each section generation additional bending moment.
7. non-individual body robotic manipulator according to claim 1 mechanism; Can expand this robot length, promptly increase new section, one section of every increase on the basis of existing total hop count; Increase by four pitch cylinder springs, correspondingly increase spinal disc simultaneously, drive cotton rope, flexible pipe and coil.The hop count that increases in addition can be confirmed as required.
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| CN201210179182.4A CN102825593B (en) | 2012-06-04 | 2012-06-04 | Magnetorheological fluid continuum robot manipulator |
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| CN103317505A (en) * | 2013-07-14 | 2013-09-25 | 林佳杰 | Shape-shifting soft robot |
| CN103386686A (en) * | 2013-08-03 | 2013-11-13 | 林佳杰 | Spherical transformable soft robot |
| CN103434582A (en) * | 2013-08-11 | 2013-12-11 | 林佳杰 | Deformable and multi-purpose software robot |
| CN104002306A (en) * | 2014-05-13 | 2014-08-27 | 中国科学院深圳先进技术研究院 | Telescopic mechanical arm |
| CN104552331A (en) * | 2015-01-14 | 2015-04-29 | 浙江工业大学 | Robot joint magnetic ultra-flexible driver |
| CN104802177A (en) * | 2015-05-11 | 2015-07-29 | 清华大学 | Magnetorheological fluid indirect-adaptive underactuation robot finger device |
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| CN111015720A (en) * | 2019-11-29 | 2020-04-17 | 中国空间技术研究院 | Super-large flexible capturing device for capturing and clearing space debris |
| CN111618892A (en) * | 2020-06-08 | 2020-09-04 | 鹏城实验室 | Reverse bending arm and S-shaped hook |
| CN111618893A (en) * | 2020-06-08 | 2020-09-04 | 鹏城实验室 | Variable curvature winding type bionic arm and capture device |
| CN111618893B (en) * | 2020-06-08 | 2021-09-28 | 鹏城实验室 | Variable curvature winding type bionic arm and capture device |
| WO2021248685A1 (en) * | 2020-06-08 | 2021-12-16 | 鹏城实验室 | Backwards curving arm and s-shaped hook |
| CN112692811A (en) * | 2020-12-22 | 2021-04-23 | 马建勇 | Manipulator capable of setting materials for wall-climbing robot |
| CN113246160A (en) * | 2021-05-25 | 2021-08-13 | 重庆邮电大学 | Magnetic control flexible grabber with paper folding structure |
| CN116803638A (en) * | 2023-08-28 | 2023-09-26 | 清华大学深圳国际研究生院 | Variable-rigidity soft finger unit and variable-rigidity soft finger |
| CN116803638B (en) * | 2023-08-28 | 2023-11-03 | 清华大学深圳国际研究生院 | Variable-rigidity soft finger unit and variable-rigidity soft finger |
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| CN102825593B (en) | 2014-10-15 |
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