CN102825593B - Magnetorheological fluid continuum robot manipulator - Google Patents
Magnetorheological fluid continuum robot manipulator Download PDFInfo
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- CN102825593B CN102825593B CN201210179182.4A CN201210179182A CN102825593B CN 102825593 B CN102825593 B CN 102825593B CN 201210179182 A CN201210179182 A CN 201210179182A CN 102825593 B CN102825593 B CN 102825593B
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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, in series by joint and the connecting rod of limited quantity.Whether this type of robot is according to existing redundant degree of freedom can be divided into nonredundancy degree of freedom robot and the large type of redundant degree of freedom robot two.The joint space dimension of nonredundancy degree of freedom robot equals its task space dimension, exist the poor shortcoming of flexibility, after regulation end pose track, can not avoid the poor region of the singular point that exists in joint space or kinematic dexterity, dynamic performance is poor in some cases.Redundant degree of freedom robot proposes for solution flexibility problem just, and it makes joint space dimension be greater than task space dimension by increasing redundancy joint, makes robot have higher flexibility in realizing the end pose of expecting.But redundancy robots does not break through traditional joint-link rod structure, 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 is to provide a kind of magnetorheological non-individual body robotic manipulator, and this robotic manipulator can continuous bend be out of shape, and motion flexibly, is suitable for capturing irregular-shaped objects, is that the useful of traditional prosthetic robot supplemented.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 form.Its entirety is the long tube type structure of similar trunk, and skin is in series for more piece cylindrical spring 7, between any two adjacent springs 6, adopts spinal disc 3 or 8 to be connected.The center of each spinal disc 3 or 8 has manhole, the flexible pipe 4 that inside fills magnetic flow liquid 5 passes from the through hole of all spinal disc 3 or 8, the head end of flexible pipe 4 is connected by screw thread with magnetic flow liquid pressure regulation and liquid supply device 15, magnetic flow liquid pressure regulation and liquid supply device 15 are by housing 21, piston 22, sealing 23, pressure spring 24, platen 25, upper cover 26, screw press 27 forms, between upper cover 26 and housing 21, it is thread connection, between screw press 27 and upper cover 26 also for being threaded, screw press 27 and platen 25 are connected, thereby can make it drive platen 25 to move up and down vertically the pretightning force that regulates pressure spring 24 by rotation screw press 27, thereby regulate the pressure of magnetic flow liquid, open in addition upper cover 26, take out after piston 22, can directly in housing, supplement 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 and spinal disc 3 or 8 junctions are all overlapped and are had flexible pipe cuff 11, between flexible pipe cuff 11 outer surfaces and spinal disc 3 or 8 bore areas, there is radial clearance, in this gap, inject adhesive glue 12 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 inside arrange choked flow every 28, by changing the magnetic field intensity that the electric current of coil 6 can the magnetic flow liquid of regulating action in flexible pipe, thereby control the rheological behavior of magnetic flow liquid, play the effect that regulates whole operator rigidity and damping.
The spinal disc of the head end of the concatermer (being totally elongated tubular) of outer cylindrical spring connects firmly on drive case bottom surface by terminal pad 14.The concatermer of cylindrical spring is divided into 4 sections, and every section comprises four springs, between spring, is connected by I type spinal disc 3, and the spinal disc of the first and end of every section is II type spinal disc 8.Every section respectively by four cotton rope 2 drive.The cotton rope 2 of each section is all drawn from the pulley 18 in drive case 16, successively through each spinal disc 3 or 8 central through holes until this section of end I type spinal disc (but the 4th section of end is end cap).Cotton rope drive part by part specific implementation is: the adjacent cylindrical spring of every four joints forms one section, and every section adopts independently line to drive.On the middle circle (radius is the circle of spinal disc external diameter half) of each spinal disc 8, be provided with circumferentially uniform 4 through holes (hereinafter referred to as main traverse line hole), drive cotton rope 2 to draw the drive unit 18 from operator head end, be connected in the spinal disc of each section of end through each spinal disc main traverse line hole successively.Rotate to drive cotton rope to shrink by the stepper motor band movable pulley in drive unit and realize flexural deformation.Drive cotton rope overcoat to have cotton rope conduit 9, in each spinal disc, approach on the circumference of outer rim and have 4 uniform small through hole (being called offset hole), be used for fixing cotton rope conduit 9.Cotton rope conduit 9 separated the branch joint 9 for this section before the spinal disc of every section of section head, the offset hole place of the first spinal disc of branch joint 9 section of guiding to, and this offset hole place is with the small embossment platform of a fixing branch joint, the end of branch joint is with iron cover, on have screw thread, and in raised platforms by screwed hole, can connect above-mentioned two screw threads with nut, branch joint end is fixed in raised platforms.Drive cotton rope to be connected in the spinal disc of this section of end from drawing branch joint after the offset Kongzui of this section of center spine basin.When driving, utilize sleeve pipe and drive the relative displacement between cotton rope to drive all spinal disc in section, can avoid producing additional bending moment to driving cotton rope to pass through each section.
This robotic manipulator adopts segmented line type of drive, can be as required to any one section of bending operation that carries out different curvature wherein, can realize the coiling action of similar trunk.And coordinate cotton rope to drive, and can make magnetic flow liquid in flexible pipe in liquid or solid-state according to the electric current that needs regulating winding 6 of coiling action, control whole operator rigidity, coordinate cotton rope to drive coiling action.
The present invention is to the supplementing of traditional joint rod-type robot, but is different from general redundancy or super redundancy prosthetic robot, and it can arbitrary continuation plastic deformation, realizes flexible motion, and can be to the grasping manipulation of realizing of irregular-shaped objects.
Brief description of the drawings
Fig. 1 is overall structure schematic diagram 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 flexible pipe internal structure schematic diagram.
Fig. 5 is the structural representation of magnetic flow liquid pressure regulation and liquid supply device.
Detailed description of the invention
Detailed description of the invention 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, 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 form.Its entirety is the long tube type structure of similar trunk, and skin is in series for more piece cylindrical spring 7, between any two adjacent springs 6, adopts spinal disc 3 or 8 to be connected.The center of each spinal disc 3 or 8 has manhole, the flexible pipe 4 that inside fills magnetic flow liquid 5 passes from the through hole of all spinal disc 3 or 8, the head end of flexible pipe 4 is connected by screw thread with magnetic flow liquid pressure regulation and liquid supply device 15, magnetic flow liquid pressure regulation and liquid supply device 15 are by housing 21, piston 22, sealing 23, pressure spring 24, platen 25, upper cover 26, screw press 27 forms, between upper cover 26 and housing 21, it is thread connection, between screw press 27 and upper cover 26 also for being threaded, screw press 27 and platen 25 are connected, thereby can make it drive platen 25 to move up and down vertically the pretightning force that regulates pressure spring 24 by rotation screw press 27, thereby regulate the pressure of magnetic flow liquid, open in addition upper cover 26, take out after piston 22, can directly in housing, supplement 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 and spinal disc 3 or 8 junctions are all overlapped and are had flexible pipe cuff 11, between flexible pipe cuff 11 outer surfaces and spinal disc 3 or 8 bore areas, there is radial clearance, in this gap, inject adhesive glue 12 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 inside arrange choked flow every 28, by changing the magnetic field intensity that the electric current of coil 6 can the magnetic flow liquid of regulating action in flexible pipe, thereby control the rheological behavior of magnetic flow liquid, play the effect that regulates whole operator rigidity and damping.
The spinal disc of the head end of the concatermer (being totally elongated tubular) of outer cylindrical spring connects firmly on drive case bottom surface by terminal pad 14.The concatermer of cylindrical spring is divided into 4 sections, and every section comprises four springs, between spring, is connected by I type spinal disc 3, and the spinal disc of the first and end of every section is II type spinal disc 8.Every section respectively by four cotton rope 2 drive.The cotton rope 2 of each section is all drawn from the pulley 18 in drive case 16, successively through each spinal disc 3 or 8 central through holes until this section of end I type spinal disc (but the 4th section of end is end cap).Cotton rope drive part by part specific implementation is: the adjacent cylindrical spring of every four joints forms one section, and every section adopts independently line to drive.On the middle circle (radius is the circle of spinal disc external diameter half) of each spinal disc 8, be provided with circumferentially uniform 4 through holes (hereinafter referred to as main traverse line hole), drive cotton rope 2 to draw the drive unit 18 from operator head end, be connected in the spinal disc of each section of end through each spinal disc main traverse line hole successively.Rotate to drive cotton rope to shrink by the stepper motor band movable pulley in drive unit and realize flexural deformation.Drive cotton rope overcoat to have cotton rope conduit 9, in each spinal disc, approach on the circumference of outer rim and have 4 uniform small through hole (being called offset hole), be used for fixing cotton rope conduit 9.Cotton rope conduit 9 separated the branch joint 9 for this section before the spinal disc of every section of section head, the offset hole place of the first spinal disc of branch joint 9 section of guiding to, and this offset hole place is with the small embossment platform of a fixing branch joint, the end of branch joint is with iron cover, on have screw thread, and in raised platforms by screwed hole, can connect above-mentioned two screw threads with nut, branch joint end is fixed in raised platforms.Drive cotton rope to be connected in the spinal disc of this section of end from drawing branch joint after the offset Kongzui of this section of center spine basin.When driving, utilize sleeve pipe and drive the relative displacement between cotton rope to drive all spinal disc in section, can avoid producing additional bending moment to driving cotton rope to pass through each section.
Detailed description of the invention two: in present embodiment, drive motors is servomotor, and other is identical with detailed description of the invention one.
Claims (7)
1. a magnetorheological non-individual body robotic manipulator, by end cap (1), drive cotton rope (2), I type spinal disc (3), flexible pipe (4), magnetic flow liquid (5), coil (6), cylindrical 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) forms, its entirety is the long tube type structure of similar trunk, skin is in series for more piece cylindrical spring (7), adopts I type spinal disc (3) or II type spinal disc (8) to be connected between any two adjacent column springs (7), the center of each I type spinal disc (3) or II type spinal disc (8) has manhole, the flexible pipe (4) that inside fills magnetic flow liquid (5) passes from the through hole of all I type spinal disc (3) or II type spinal disc (8), the head end of flexible pipe (4) is connected by screw thread with magnetic flow liquid pressure regulation and liquid supply device (15), magnetic flow liquid pressure regulation and liquid supply device (15) are by housing (21), piston (22), sealing (23), pressure spring (24), platen (25), upper cover (26), screw press (27) composition, between upper cover (26) and housing (21), it is thread connection, between screw press (27) and upper cover (26) also for being threaded, screw press (27) and platen (25) are connected, can make it drive platen (25) to move up and down vertically to regulate the pretightning force of pressure spring (24) by rotation screw press (27), thereby regulate the pressure of magnetic flow liquid, open in addition upper cover (26), take out after piston (22), can directly in housing (21), supplement 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) and I type spinal disc (3) or II type spinal disc (8) junction are all overlapped and are had flexible pipe cuff (11), between flexible pipe cuff (11) outer surface and I type spinal disc (3) or II type spinal disc (8) bore area, there is radial clearance, inject adhesive glue (12) in this gap flexible pipe cuff (11) and I type spinal disc (3) or II type spinal disc (8) are bonded together, the outside of flexible pipe (4) is tied with coil (6) in addition, by changing the magnetic field intensity that the electric current of coil (6) can the magnetic flow liquid (5) of regulating action in flexible pipe (4), thereby control the rheological behavior of magnetic flow liquid (5), play the effect that regulates whole operator rigidity and damping, the concatermer of cylindrical spring (7) is totally elongated tubular, and the spinal disc that is positioned at its head end connects firmly on drive unit casing (16) bottom surface by terminal pad (14), the concatermer of cylindrical spring (7) is divided into four sections, and every section comprises four springs, between spring, is connected by I type spinal disc (3), and the spinal disc of the first and end of every section is II type spinal disc (8), every section drives cotton rope (2) drive by four respectively, the driving cotton rope (2) of each section is all drawn from the interior pulley (18) of drive unit casing (16), pass successively each I type spinal disc (3) or II type spinal disc (8) main traverse line hole until the end of each section, wherein the end of first, second and third section is II type spinal disc (8), and the 4th section of end is end cap, the specific implementation of cotton rope drive part by part is: the adjacent cylindrical spring (7) of every four joints forms one section, and every section of employing independently drives cotton rope (2) to drive, at the middle circle of each spinal disc, namely taking spinal disc center as the center of circle, radius is provided with circumferentially four uniform main traverse line holes on the circle of spinal disc radius half, drive cotton rope (2) to draw the drive unit casing (16) from operator head end, be connected in the spinal disc of each section of end through each spinal disc main traverse line hole successively, being rotated to drive by stepper motor (19) the band movable pulley (18) in drive unit casing (16) drives cotton rope (2) contraction to realize flexural deformation, drive cotton rope (2) overcoat to have cotton rope conduit (9), in each spinal disc, approach on the circumference of outer rim and have four uniform offset holes, be used for fixing cotton rope conduit (9), cotton rope conduit (9) separated the branch joint for this section before the spinal disc of every section of section head, the offset hole place of the II type spinal disc (8) of the branch joint section of guiding to head, and this offset hole place is with the small embossment platform of a fixing branch joint, the end of branch joint is with iron cover, on have screw thread, and in raised platforms, have screwed hole, and can connect above-mentioned two screw threads with nut, branch joint end is fixed in raised platforms, drive cotton rope (2) to draw in the II type spinal disc (8) that is connected to this section of end after the offset Kongzui of this section of each spinal disc in centre from branch joint, when driving, utilize sleeve pipe and drive the relative displacement between cotton rope (2) to drive all I type spinal disc (3) or the II type spinal disc (8) in section, can avoid producing additional bending moment to driving cotton rope (2) to pass through each section.
2. non-individual body robotic manipulator according to claim 1, the structure that it is characterized in that the concatermer of outer more piece cylindrical spring (7) is: multiple I type spinal disc (3) or II type spinal disc (8) and cylindrical spring (7) are in series by the rule of spinal disc-cylindrical spring-spinal disc-cylindrical spring, spring between two other adjacent ridge basin is single cylindrical spring, instead of many cylindrical spring parallel connections, between cylindrical spring (7) and I type spinal disc (3) or II type spinal disc (8), adopt affixed mode.
3. non-individual body robotic manipulator according to claim 1, it is characterized in that its inner flexible pipe (4) that adopts is as its center crestal line, in the time of robotic manipulator flexure operation, coil (6) passes into suitable electric current, make the inner magnetic flow liquid of flexible pipe (4) (5) rheological behavior generation respective change, for the motion of operator provides damping, in the time that operator keeps static, coil (6) passes into saturation current, make magnetic flow liquid (5) present solid state, increase the rigidity of robotic manipulator.
4. non-individual body robotic manipulator according to claim 1, it is characterized in that the mode that adopts segmentation independently to control, every section, robot, corresponding to an absolute coil (6), controls rigidity and the damping of every section by controlling the electric current of every section of coil (6).
5. non-individual body robotic manipulator according to claim 1, it is characterized in that the mode that adopts segmentation cotton rope to drive, be that every four pitch cylinder springs (7) form one section, every section adopts independently cotton rope type of drive, at the middle circle of I type spinal disc (3) or II type spinal disc (8), namely taking spinal disc center as the center of circle, radius is that the circle of spinal disc radius half is provided with circumferentially four uniform through holes, drive cotton rope (2) to draw the assembly pulley from operator head end, be connected in the spinal disc of each section of end through each spinal disc through hole successively, rotated by stepper motor (19) band running block, drive and drive cotton rope (2) contraction to realize coiling action.
6. non-individual body robotic manipulator according to claim 1, it is characterized in that driving cotton rope (2) overcoat to have sleeve pipe, when driving, utilize sleeve pipe and drive the relative displacement between cotton rope (2) to drive I type spinal disc (3) or II type spinal disc (8), can avoid producing additional bending moment to driving cotton rope (2) to pass through each section.
7. non-individual body robotic manipulator according to claim 1, can expand this robot length, on the basis of existing total hop count, increase new section, one section of every increase, increase by four pitch cylinder springs (7), correspondingly increase I type spinal disc (3) or II type spinal disc (8), drive cotton rope (2), flexible pipe (4) and coil (6), the hop count increasing in addition can be determined as required simultaneously.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210179182.4A CN102825593B (en) | 2012-06-04 | 2012-06-04 | Magnetorheological fluid continuum robot manipulator |
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| CN201210179182.4A CN102825593B (en) | 2012-06-04 | 2012-06-04 | Magnetorheological fluid continuum robot manipulator |
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| CN102825593A CN102825593A (en) | 2012-12-19 |
| CN102825593B true CN102825593B (en) | 2014-10-15 |
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| CN113246160A (en) * | 2021-05-25 | 2021-08-13 | 重庆邮电大学 | Magnetic control flexible grabber with paper folding structure |
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