CN104802177A - Magnetorheological fluid indirect-adaptive underactuation robot finger device - Google Patents

Magnetorheological fluid indirect-adaptive underactuation robot finger device Download PDF

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Publication number
CN104802177A
CN104802177A CN201510234503.XA CN201510234503A CN104802177A CN 104802177 A CN104802177 A CN 104802177A CN 201510234503 A CN201510234503 A CN 201510234503A CN 104802177 A CN104802177 A CN 104802177A
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China
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segment
flow liquid
magnetic flow
finger
flexible piece
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CN201510234503.XA
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Chinese (zh)
Inventor
景甜甜
莫岸
张文增
刘庆运
徐向荣
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Tsinghua University
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Tsinghua University
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Priority to CN201510234503.XA priority Critical patent/CN104802177A/en
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Abstract

The invention relates to a magnetorheological fluid indirect-adaptive underactuation robot finger device, which belongs to the technical field of robot hands and comprises two finger sections, magnetorheological fluid, a coil, two spring parts, two flexible parts, a shifting block, a driving slider and a joint shaft. The device realizes the passive adaptive bending and grasping force locking keeping functions of the finger, and can grasp an object placed on a supporting surface. The device utilizes the reactive force of the object to drive the second finger section of the finger to turn around the joint shaft; moreover, by utilizing the solidification characteristic of the magnetorheological fluid in a magnetic field, after the reactive force of the object disappears, the device can still keep the object-holding curved structure of the finger; the device utilizes the spring parts to store and keep deformation elasticity which is generated when the object is squeezed in the beginning, consequently, grasping force which is continuously applied to the object by the second finger section is generated and kept, and a good object grasping effect is realized. The device is structurally simple, small and light, is easy to control, and is low in design, manufacturing, assembly and maintenance costs.

Description

Magnetic flow liquid indirect self-adaptive under-actuated robot finger device
Technical field
The invention belongs to robot technical field, particularly a kind of structural design of magnetic flow liquid indirect self-adaptive under-actuated robot finger device.
Background technology
Robot, as the outlet terminal of robot, obtains favor and the attention of more and more robot research person.In robot research field, robot is mainly divided into two large classes: anthropomorphic hand and non-anthropomorphic hand.
Anthropomorphic hand refers to the grasping device with finger, and the quantity of finger from 2 to multiple, finger can have one or more joint.Non-anthropomorphic hand, also referred to as extraordinary hand, refers to the grasping device not having to point, comprise sucker, magnet, hasp, hook or other have and interim connect the device capturing function.
Anthropomorphic hand points quantity from having, joint drive principle aspect can be divided three classes: industrial clamper, Dextrous Hand and drive lacking hand.
Industry clamper generally has two fingers and an active drive device (motor, cylinder or hydraulic cylinder), and the middle part of finger does not have joint.The industrial holder structures only with 2 fingers are simple, control easily, design, manufacture, I& M cost is low, practicality is high, is widely used in during industrial automation produces.Industry clamper has following deficiency: a small amount of grasp mode that only can realize staff, and cannot reach the various modes crawl of more profiles, size objects, versatility is not high.
Dextrous Hand refers to the multifingered robot hands with more than 3 fingers and more than 9 frees degree, and because initiatively controlled free degree quantity is more, action is dexterous, and the majority that can complete staff captures and operation task.But, the Dextrous Hand that develops at present exists a lot of not enough: all motors, sensor, controller, interface module and a large amount of wire are embedded in hand and cause that robot volume is large, quality large, system complex, many fingers, multi joint motion planning difficulty, real-time amount of calculation is large, end grasping force is little, design, manufacture, assembling, maintenance cost costliness, practicality is not high.Therefore directly Dextrous Hand cannot be used in real industrial production.
Under-actuated finger refers to that the number of drives of finger is less than joint freedom degrees quantity.Drive lacking hand refers to the robot with under-actuated finger, and drive lacking hand and Dextrous Hand are not completely independently classify, and owing to having under-actuated finger in part Dextrous Hand, therefore also belongs to drive lacking hand.
Under-actuated finger device adopts the multiple joint of a small amount of driver drives, the self-adapting grasping function automatically adapting to difformity, size objects can be realized, can obtain when unknown object profile and capture effect preferably, considerably reduce the demand of device to controlling planning, thus calculate in real time and electronic sensor closed-loop control without the need to too much complexity.This under-actuated finger mechanism belongs to the category of intelligent mechanism, namely without the need to sensor, only just achieves sense and control technique closed loop from the angle of mechanism.The general volume of drive lacking hand is little, quality is little, system is simple, and refer to more, multi joint motion controls easily, real-time amount of calculation is little, and end grasping force is large, design, manufacture, I& M cost is low, practicality is high.
Existing a kind of Pneumatic type underactuated robot finger device (patent of invention CN101733758B), comprises the first segment, unactuated joint and the second segment, and unactuated joint comprises active sliding block, joint shaft and two pneumatic flexible piece.When capturing object, active sliding block is extruded by object, active sliding block compresses the first pneumatic flexible piece, make gas by channel compressions second pneumatic flexible piece, again by the second pneumatic flexible piece promote the second segment realize the second segment around joint shaft center line rotate after touch object, to the object of difformity and size, there is adaptivity, first, second segment can be realized and all contact object, namely reach the result of finger shape envelope object.
But the deficiency of this finger apparatus is:
Due to this finger need bearing-surface (as desktop), other fingers when capturing object, palm or other hands coordinate and could realize digital flexion, therefore, this finger can not implement the crawl to the object put on the bearing surface.When this finger leaves object, because object no longer extrudes active sliding block, this finger can automatically restore to initial straight configuration and can not continue to keep digital flexion state, more cannot produce the grasping force to object, because this grasping force is from the extruding of object, once extruding disappears, grasping force will disappear automatically, as shown in Figure 27 to Figure 30, although this finger can reach the function of passive self adaptation envelope object, but after this finger leaves object, this finger recovers initial configuration, captures unsuccessfully.In addition, because gas fluidity is large, wayward, easily bounce back, and pneumatic flexible piece to the power locking in joint not, points and may occur causing because of joint mobilization capturing unstable phenomenon when crawl, mobile object.
Summary of the invention
The object of the invention is the weak point in order to overcome prior art, a kind of adaptive robot finger apparatus is proposed, this device can adapt to shape, the size of object passively automatically, and there is the function keeping grasping force, and the crawl can implemented putting object on the bearing surface, structure is simple simultaneously, cost is low.
The present invention adopts following technical scheme:
A kind of magnetic flow liquid indirect self-adaptive under-actuated robot finger device provided by the invention, comprises the first segment, the second segment, magnetic flow liquid, coil, the first spring part, the second spring part, the first flexible piece, the second flexible piece, shifting block, active sliding block and joint shaft; Described joint shaft is set in the first segment, described second segment is socketed on joint shaft, described active sliding block is slided and is embedded in the first segment, passage is provided with in described first segment, described passage includes an inlet and an outlet, described magnetic flow liquid is arranged in the first flexible piece, passage and the second flexible piece, and described coil is arranged near magnetic flow liquid; One end of described second spring part is connected with shifting block, and the other end is connected with the second segment; Described shifting block is socketed on joint shaft; The two ends of described first flexible piece connect the entrance of the passage of active sliding block and the first segment respectively; The two ends of described second flexible piece connect outlet and the shifting block of the passage of the first segment respectively; Described first flexible piece is connected with the passage of the second flexible piece by the first segment; Described first spring part adopts one of following three kinds of modes or combination to arrange:
A) one end of the first spring part is connected with active sliding block, and the other end is connected with the first segment;
B) one end of the first spring part is connected with shifting block, and the other end is connected with the first segment;
C) one end of the first spring part is connected with the second segment, and the other end is connected with the first segment.
Magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention, is characterized in that: described first spring part adopts one or several combinations in extension spring, stage clip, torsion spring.
Magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention, is characterized in that: described coil is arranged in the first segment, and described passage is through coil.
Magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention, is characterized in that: described first flexible piece, the second flexible piece adopt bellows.
The serial machine finger device of magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention, is characterized in that: serial machine finger device adopts the plural magnetic flow liquid indirect self-adaptive under-actuated robot finger device be together in series; The second segment being positioned at the first segment of a middle magnetic flow liquid indirect self-adaptive under-actuated robot finger device and previous magnetic flow liquid indirect self-adaptive under-actuated robot finger device is affixed.
The robot hand device of magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention, it is characterized in that: robot hand device comprises palm and at least two magnetic flow liquid indirect self-adaptive under-actuated robot finger devices, and the first segment of these two magnetic flow liquid indirect self-adaptive under-actuated robot finger devices is affixed with palm respectively.
The present invention compared with prior art, has the following advantages and high-lighting effect:
Apparatus of the present invention utilize magnetic flow liquid, coil, two spring parts, active sliding block and shifting blocks etc. comprehensively to achieve the function that the passive self adaptation of finger bends and grasping force maintenance locks, and can capture the enforcement of putting object on the bearing surface.This device utilizes the reaction force of object to rotate to drive finger second segment around joint shaft; Utilize the solidification feature of magnetic flow liquid in magnetic field simultaneously, after the reaction force of object disappears, still can keep the curved configuration pointing envelope object; The distortion elastic force that this device produces when utilizing spring part to store and remain initial extruding object, thus the grasping force producing and maintained that the second segment is continuously applied object, achieve the crawl effect good to object.This apparatus structure is simple, and volume is little, and quality is little, controls easily, design, manufacture, I& M cost is low.
Accompanying drawing explanation
Fig. 1 is the side sectional view (be the B-B profile in Fig. 2, finger is in straight configuration) of a kind of embodiment of magnetic flow liquid indirect self-adaptive under-actuated robot finger device provided by the invention.
Fig. 2 is front section view (the A-A sectional view for Fig. 1) embodiment illustrated in fig. 1.
Fig. 3 is front appearance figure embodiment illustrated in fig. 1.
Fig. 4 is side external view embodiment illustrated in fig. 1.
Fig. 5 is stereo appearance figure embodiment illustrated in fig. 1.
Fig. 6 is explosive view embodiment illustrated in fig. 1.
Fig. 7 is flexible piece sectional view embodiment illustrated in fig. 1.
Fig. 8 to Figure 11 is the schematic diagram that the first segment is fixed on the embodiment finger grip object on palm.
Figure 12 to Figure 15 is the schematic diagram of the embodiment finger grip object after the first segment is connected with active joint.
Figure 16 is the side view applying serial machine finger device embodiment (adopting the magnetic flow liquid indirect self-adaptive under-actuated robot finger device of two of series connection) embodiment illustrated in fig. 1.
Figure 17 is front view embodiment illustrated in fig. 16.
Figure 18 is the schematic diagram of grasping large sized object embodiment illustrated in fig. 16.
Figure 19 to Figure 22 is the schematic diagram that a kind of embodiment applying robot finger apparatus embodiment illustrated in fig. 1 grasps (comprising two magnetic flow liquid indirect self-adaptive under-actuated robot finger devices) object.
Figure 23 to Figure 26 is the schematic diagram that the another kind of embodiment applying robot hand device embodiment illustrated in fig. 1 grasps (comprising four magnetic flow liquid indirect self-adaptive under-actuated robot finger devices) object.
Figure 27 to Figure 30 is the schematic diagram not adopting the embodiment of a kind of passive self-adapting grasping of robot hand device embodiment illustrated in fig. 1 to grasp (comprising four indirect self-adaptive under-actuated robot finger devices) object.
In Fig. 1 to Figure 30:
1-first segment, 11-passage, 12-entrance, 13-exports,
2-second segment, 3-magnetic flow liquid, 4-coil,
51-first spring part, 52-second spring part,
61-first flexible piece, 62-second flexible piece,
7-shifting block,
8-active sliding block, 81-slider table face shield,
9-joint shaft,
Segment in the middle part of 21-, joint in 22-, 23-joint far away,
91-object, 92-bearing-surface (as desktop).
Detailed description of the invention
Concrete structure of the present invention, operation principle and the course of work is further described below in conjunction with drawings and Examples.
A kind of embodiment of the magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention's design, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, Fig. 6 is explosive view embodiment illustrated in fig. 1, comprises the first segment 1, second segment 2, magnetic flow liquid 3, coil 4, first spring part 51, second spring part 52, first flexible piece 61, second flexible piece 62, shifting block 7, active sliding block 8 and joint shaft 9; Described joint shaft 9 is set in the first segment 1, and described second segment 2 is socketed on joint shaft 9; Described active sliding block 8 is slided and is embedded in the first segment 1, is provided with passage 11 in described first segment 1, and described passage 11 comprises entrance 12 and outlet 13; Described magnetic flow liquid 3 is arranged in the first flexible piece 61, passage 11 and the second flexible piece 62, and described coil 4 is arranged near magnetic flow liquid 3; One end of described second spring part 52 is connected with shifting block 7, and the other end is connected with the second segment 2; Described shifting block 7 is socketed on joint shaft 9; The two ends of described first flexible piece 61 connect the entrance 12 of the passage 11 of active sliding block 8 and the first segment 1 respectively; The two ends of described second flexible piece 62 connect outlet 13 and the shifting block 7 of the passage 11 of the first segment 1 respectively; Described first flexible piece 61 is connected with the passage 11 of the second flexible piece 62 by the first segment 1; Described first spring part 51 adopts one of following three kinds of modes or combination to arrange:
A) one end of the first spring part 51 is connected with active sliding block 8, and the other end is connected with the first segment 1;
B) one end of the first spring part 51 is connected with shifting block 7, and the other end is connected with the first segment 1;
C) one end of the first spring part 51 is connected with the second segment 2, and the other end is connected with the first segment 1.
Magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention, is characterized in that: described first spring part 51 adopts one or several combinations in extension spring, stage clip, torsion spring.
Magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention, is characterized in that: described coil 4 is arranged in the first segment 1, and described passage 11 is through coil 4.
In the present embodiment, described first flexible piece, the second flexible piece adopt bellows, and this bellows can stretch.
The serial machine finger device of magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention, is characterized in that: serial machine finger device adopts the plural magnetic flow liquid indirect self-adaptive under-actuated robot finger device be together in series; The first segment 1 being positioned at a middle magnetic flow liquid indirect self-adaptive under-actuated robot finger device is affixed with the second segment 2 of previous magnetic flow liquid indirect self-adaptive under-actuated robot finger device.
The robot hand device of magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention, it is characterized in that: robot hand device comprises palm and at least two magnetic flow liquid indirect self-adaptive under-actuated robot finger devices, and the first segment 1 of these two magnetic flow liquid indirect self-adaptive under-actuated robot finger devices is affixed with palm respectively.
Introduce operation principle and the work process of magnetic flow liquid indirect self-adaptive under-actuated robot finger device embodiment below:
Magnetic flow liquid 3 in magnetic flow liquid indirect self-adaptive under-actuated robot finger device employing deformable confined space of the present invention is as transmission medium.Magnetic flow liquid 3 shows the general characteristic of Newtonian fluid when zero magnetic field; When adding magnetic field, liquid viscosity can increase in the order of magnitude in 1ms, presents Bingham bulk properties; Can become to be solidified into solid rapidly when adding high-intensity magnetic field, and this process be reversible.
A kind of embodiment of a kind of magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention's design, in order to realize this drive lacking function of rotation being caused the second segment 2 wide-angle by the slip of active sliding block 8 thin tail sheep better, the mean inside diameter of described first flexible piece 61 is more than or equal to the twice of the second flexible piece 62 mean inside diameter.
A kind of embodiment of the serial machine finger device adopting described magnetic flow liquid indirect self-adaptive under-actuated robot finger device to form, as shown in Figure 16, Figure 17, adopt two the magnetic flow liquid indirect self-adaptive under-actuated robot finger devices be together in series, the first segment 1 being positioned at a middle magnetic flow liquid indirect self-adaptive under-actuated robot finger device is affixed with the second segment 2 of previous magnetic flow liquid indirect self-adaptive under-actuated robot finger device.In the drawings, this embodiment has 1 middle part segment 21 and joint 22,2 middle parts, is middle joint 22 and joint far away 23 respectively.Figure 18 is the situation that this finger self adaptation envelope captures object.
Present invention also offers the embodiment that another adopts the robot hand device of described magnetic flow liquid indirect self-adaptive under-actuated robot finger device, it captures process as shown in Figure 19 to Figure 22.This robot hand device comprises palm and at least two magnetic flow liquid indirect self-adaptive under-actuated robot finger devices, and the first segment 1 of these two magnetic flow liquid indirect self-adaptive under-actuated robot finger devices is affixed with palm respectively.Figure 23 to Figure 26 is the process of the robot hand device crawl object with two magnetic flow liquid adaptive robot fingers.
In embodiment shown in Fig. 1 to Fig. 6, first segment 1 is containing uncovered cavity, and both sides inwall has translot, active sliding block 8 is provided with projection, this projection inserts in translot, this structure plays the glide direction of restriction active sliding block 8 and prevents active sliding block 8 from departing from the effect of the first segment 1, namely plays the effect of location and guiding, to ensure that the direction of motion of active sliding block 8 is the direction along the first segment 1 translot.
The function of the first spring part 51, second spring part 52 of the present invention is: under nature and when decontroling object, active sliding block 8 is pushed to finger outside by the first spring part 51, ensure that active sliding block 8 does not compress the first flexible piece 61, so the second flexible piece 62 deformation can not occur, namely keep finger straight configuration; When capturing object, object promotes active sliding block 8, active sliding block 8 promotes the first spring part 51 again and makes its compression, in first spring part 51, magnetic flow liquid 3 is flowed to the second spring part 52 by compression through passage 11 and the second spring part 52 is extended, the the second spring part 52 extended promotes shifting block 7 and rotates around joint shaft 9, the elastic force that shifting block 7 compresses the second spring part 52, second spring part 52 generation makes the second segment 2 bend, thus realizes self adaptation envelope crawl object.
In embodiment illustrated in fig. 1, the surface of described active sliding block 8 is also affixed slider table face shield 81, can cover one deck elastomeric material outside this face cap 81.When capturing object, soft finger face will be formed between finger surface with object and contact, and add the degree of restraint of finger to object on the one hand, also can increase frictional force on the other hand, increase grasp stability.
The specific embodiment of magnetic flow liquid indirect self-adaptive under-actuated robot finger device of the present invention has following three kinds:
If i first segment 1 of the present embodiment is fixed on the palm of robot by (), the operation principle of the present embodiment is as shown in Figs. 8 to 11, is described below:
When robot does not contact object, finger is in free state, and it is undeformed that active sliding block 8 does not compress the first flexible piece 61, second flexible piece 62, and finger keeps straight configuration.
When robot captures object, object is oppressed after other fingers rotate, object extruding active sliding block 8, active sliding block 8 is along the direction of vertical finger surface to the displacement d that the 1 li of translation of the first segment is certain, compress the first flexible piece 61, magnetic flow liquid 3 now in the first flexible piece 61 is flowed to the second flexible piece 62 by compression by passage 11, second flexible piece 62 of axial elongation promotes shifting block 7 and rotates around joint shaft 9, then shifting block 7 recompresses the second spring part 52 and makes the second segment 2 make large rotation angle angle [alpha] around the center line of joint shaft 9, until the second segment 2 contacts object.Capture along with the second segment 2 touches object, when grasp force is enough, be now energized to coil 4, coil 4 produces magnetic field, and magnetic flow liquid 3 under the influence of a magnetic field can rapid solidification.The magnetic flow liquid 3 of solidification can pin the deformation of the second spring part 52, thus pins spring force, provides for segment captures object and maintains grasp force; Now robot hand device mobile object, object can not drop, and realizes stable crawl.
When robot needs to decontrol object, coil 4 power-off, magnetic field dissipate, according to the reciprocal characteristics of magnetic flow liquid 3, it will become liquid rapidly, and joint unlocks.Other fingers leave object, object also just no longer oppresses active sliding block 8, magnetic flow liquid 3 is refluxed by passage 11, the second flexible piece 62 be stretched and bend shrinks and restores to the original state, pull the second spring part 52 by shifting block 7 simultaneously, the back stretch of the second spring part 52 will pull the second segment 2 to get back to initial straight position around joint shaft 9 center line, and now magnetic flow liquid 3 will promote active sliding block 8 to the initial position being close to finger outside by the first flexible piece 61.
(ii) if the first segment 1 root is fixed in one by the active joint shaft of driver drives, the operation principle of the present embodiment, as shown in Figure 12 to Figure 15, is described below:
When robot captures object, cover has the active joint of the first segment 1 to rotate under driving moment m effect, whole finger apparatus is rotated around the center line of active joint shaft 9 together with the active joint shaft 9 of root, until active sliding block 8 contacts object, when active joint shaft 9 is rotated further, active sliding block 8 translation in the first segment 1 along the direction of vertical finger surface under the stop extruding of object, captures thereafter process similar with (i).
(iii) if using on the robotic arm affixed as palm for the first segment 1, both sides affixed second segment 2 respectively of the first segment 1, the operation principle of the present embodiment, as shown in Figure 19 to Figure 22, is described below:
When robot hand device captures object, supporter is to treating that grabbing object applies a reaction force, this reaction force extrudes active sliding block 8 vertically to translation in the first segment 1 by object, thus compression the first flexible piece 61, capture thereafter process similar with (i).
Figure 23 to Figure 26 is that connect two magnetic flow liquid indirect self-adaptive under-actuated robot finger devices of this robot hand device capture the schematic diagram of objects.Method when adopting the robot of magnetic flow liquid indirect self-adaptive under-actuated robot finger device to capture the object on bearing-surface (such as desktop 92) is described as follows:
First segment 1 is close to object 91 to be grabbed, active sliding block 8 contacts and extrudes object 91 to be grabbed, object 91 to be grabbed promotes active sliding block 8 to the first segment 1 internal slide under extraneous bearing-surface 92 retrains, promote shifting block 7 by magnetic flow liquid 3 to rotate, first flexible piece 61 compresses simultaneously, second flexible piece 62 extends, shifting block 7 drives the second segment 2 to rotate relative to the first segment 1 around the center line of joint shaft 9 by the second spring part 52, until the second segment 2 contacts object 91 to be grabbed surface, continue said process, second spring part 52 deforms generation elastic force, the second segment 2 pairs of objects are made to produce certain grasping force, when grasping force increases to enough, coil 4 is passed to a certain size electric current, make the instantaneous solidification of magnetic flow liquid 3, then, robot leaves bearing-surface 92.Now, distortion due to the second spring part 52 is maintained in shifting block 7 and the second segment 2, so be kept from the grasping force of the second segment 2 pairs of objects of the distortion elastic force of the second spring part 52, object is still grasped in robot, thus robot achieves the crawl to the object be placed on bearing-surface 92.
This robot to start to be limited in desktop, metope or other similarly the object on the bearing-surface 92 of reaction force can be provided to capture, auxiliary without the need to other fingers, grasps process stabilization reliable.
Apparatus of the present invention utilize magnetic flow liquid, coil, two spring parts, active sliding block and shifting blocks etc. comprehensively to achieve the function that the passive self adaptation of finger bends and grasping force maintenance locks, and can capture the enforcement of putting object on the bearing surface.This device utilizes the reaction force of object to rotate to drive finger second segment around joint shaft; Utilize the solidification feature of magnetic flow liquid in magnetic field simultaneously, after the reaction force of object disappears, still can keep the curved configuration pointing envelope object; The distortion elastic force that this device produces when utilizing spring part to store and remain initial extruding object, thus the grasping force producing and maintained that the second segment is continuously applied object, achieve the crawl effect good to object.This apparatus structure is simple, and volume is little, and quality is little, controls easily, design, manufacture, I& M cost is low.

Claims (6)

1. a magnetic flow liquid indirect self-adaptive under-actuated robot finger device, comprises the first segment (1), the second segment (2), magnetic flow liquid (3), coil (4), the first spring part (51), the second spring part (52), the first flexible piece (61), the second flexible piece (62), shifting block (7), active sliding block (8) and joint shaft (9); Described joint shaft (9) is set in the first segment (1), and described second segment (2) is socketed on joint shaft (9); Described active sliding block (8) is slided and is embedded in the first segment (1), passage (11) is provided with in described first segment (1), described passage (11) comprises entrance (12) and outlet (13), described magnetic flow liquid (3) is arranged in the first flexible piece (61), passage (11) and the second flexible piece (62), and described coil (4) is arranged near magnetic flow liquid (3); One end of described second spring part (52) is connected with shifting block (7), and the other end is connected with the second segment (2); Described shifting block (7) is socketed on joint shaft (9); The two ends of described first flexible piece (61) connect the entrance (12) of the passage (11) of active sliding block (8) and the first segment (1) respectively; The two ends of described second flexible piece (62) connect outlet (13) and the shifting block (7) of the passage (11) of the first segment (1) respectively; Described first flexible piece (61) is connected with the passage (11) of the second flexible piece (62) by the first segment (1); Described first spring part (51) adopts one of following three kinds of modes or combination to arrange:
A) one end of the first spring part (51) is connected with active sliding block (8), and the other end is connected with the first segment (1);
B) one end of the first spring part (51) is connected with shifting block (7), and the other end is connected with the first segment (1);
C) one end of the first spring part (51) is connected with the second segment (2), and the other end is connected with the first segment (1).
2. magnetic flow liquid indirect self-adaptive under-actuated robot finger device as claimed in claim 1, is characterized in that: described first spring part (51) adopts one or several combinations in extension spring, stage clip, torsion spring.
3. magnetic flow liquid indirect self-adaptive under-actuated robot finger device as claimed in claim 1, it is characterized in that: described coil (4) is arranged in the first segment (1), and described passage (11) is through coil (4).
4. magnetic flow liquid indirect self-adaptive under-actuated robot finger device as claimed in claim 1, is characterized in that: described first flexible piece (61), the second flexible piece (62) adopt bellows.
5. one kind adopts the serial machine finger device of magnetic flow liquid indirect self-adaptive under-actuated robot finger device described in claim 1, it is characterized in that: serial machine finger device adopts the plural magnetic flow liquid indirect self-adaptive under-actuated robot finger device be together in series, the first segment (1) being positioned at a middle magnetic flow liquid indirect self-adaptive under-actuated robot finger device is affixed with second segment (2) of previous magnetic flow liquid indirect self-adaptive under-actuated robot finger device.
6. one kind adopts the robot hand device of magnetic flow liquid indirect self-adaptive under-actuated robot finger device described in claim 1, it is characterized in that: robot hand device comprises palm and at least two magnetic flow liquid indirect self-adaptive under-actuated robot finger devices, and first segment (1) of these two magnetic flow liquid indirect self-adaptive under-actuated robot finger devices is affixed with palm respectively.
CN201510234503.XA 2015-05-11 2015-05-11 Magnetorheological fluid indirect-adaptive underactuation robot finger device Pending CN104802177A (en)

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CN108290299A (en) * 2015-09-15 2018-07-17 伯克希尔格雷股份有限公司 Overturning End effector for articulated jib in robot system
CN105437253A (en) * 2015-12-01 2016-03-30 清华大学 Self-locking fluid linkage self-adaptive robot finger device
CN105773608A (en) * 2016-03-17 2016-07-20 清华大学 Gear fluid parallel clamping self-adaptive robot finger device
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CN105583847A (en) * 2016-03-17 2016-05-18 清华大学 Racing fluid type direct linkage self-adaptive robot finger device
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CN107234608B (en) * 2017-06-15 2023-04-07 华东理工大学 Under-actuated elastic restoring robot module
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CN108555946A (en) * 2018-06-26 2018-09-21 芜湖市越泽机器人科技有限公司 A kind of robot gripper
CN108555946B (en) * 2018-06-26 2020-06-05 温州通尔自动化有限公司 Robot gripper
CN109702676A (en) * 2019-03-08 2019-05-03 李忠 A kind of universality universal pipe tongs
CN110508992B (en) * 2019-09-06 2021-06-01 安徽省春谷3D打印智能装备产业技术研究院有限公司 Electrorheological steel pipeline welding fixture with adjustable welding angle
CN110508992A (en) * 2019-09-06 2019-11-29 温州知束贸易有限公司 A kind of electric current change steel pipeline welding jigs and fixtures of adjustable soldering angle
CN113146665A (en) * 2021-04-21 2021-07-23 余姚市浙江大学机器人研究中心 Dexterous hand with tactile feedback and variable rigidity and control method thereof
CN116533272A (en) * 2023-05-15 2023-08-04 盐城泽阳智控科技有限公司 Clamping mechanism for industrial robot
CN116533272B (en) * 2023-05-15 2024-02-09 盐城泽阳智控科技有限公司 Clamping mechanism for industrial robot
CN116787476A (en) * 2023-08-28 2023-09-22 清华大学深圳国际研究生院 Variable-rigidity soft gripper, control method thereof and mechanical arm
CN116787476B (en) * 2023-08-28 2023-10-20 清华大学深圳国际研究生院 Variable-rigidity soft gripper, control method thereof and mechanical arm

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