CN104924315B - Magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device - Google Patents
Magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device Download PDFInfo
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- CN104924315B CN104924315B CN201510234504.4A CN201510234504A CN104924315B CN 104924315 B CN104924315 B CN 104924315B CN 201510234504 A CN201510234504 A CN 201510234504A CN 104924315 B CN104924315 B CN 104924315B
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Abstract
Magnetorheological fluid-assisted flexible palm-surface self-adaptive under-actuated robot hand device, belonging to the technical field of robots. The device comprises a flexible member, a tendon rope, a finger, a channel, a coil, magnetorheological fluid, a driver and a base. The flexible part is of a thin-wall structure of cloth, net or film, and magnetorheological fluid is sealed inside the flexible part; the channel and the coil are arranged on the flexible piece; one end of the tendon rope is fixedly connected with the output shaft of the driver, and the other end of the tendon rope penetrates through the channel and is fixedly connected with the tail end of the channel. The device utilizes the tendon rope to pull the channel, so that the flexible piece is folded and sealed, and the self-adaptive grabbing function of objects with different shapes and sizes is realized; the device utilizes the elasticity of fingers to ensure that the flexible piece keeps the most suitable grabbing posture and realizes the resetting of the flexible piece; the device also adopts the characteristic that the magnetorheological fluid is solidified in a magnetic field, assists in fixing the grabbing form and realizes reliable grabbing; the device uses a small number of drivers to drive a plurality of fingers, and has simple structure and low manufacturing and maintenance cost.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a structural design of a magnetorheological fluid-assisted flexible palm-surface self-adaptive under-actuated robot hand device
Background
The robot hand is used as an execution terminal of the robot and needs to realize two actions of grabbing and releasing. According to different use occasions, the robot hand can be mainly divided into an anthropomorphic manipulator and a universal gripper. The anthropomorphic manipulator is similar to a human hand and is mainly used as an artificial limb for the disabled. Universal grippers are widely used in industry for robotic gripping of objects on automated manufacturing lines.
Christian Ciprini et al describe in the literature a tendon-cord driven anthropomorphic manipulator SmartHandd (Ciprini C, et al, Objectives, criterion and methods for the design of the SmartHandradradradradial prosthesis [ J ]. Robotica,2010,28(06): 919-927.). The anthropomorphic manipulator is driven by 4 drivers, and the fingers are driven to move by the tendon ropes. Furthermore, the tendon-rope-driven anthropomorphic manipulator has been commercially produced by the company Shadow in the uk (US patent 2013313844a 1). The structure of the anthropomorphic manipulator can be simplified by the tendon rope driving mode, and a dexterous hand with light weight and multiple degrees of freedom is easy to design. However, the device has more driving elements and high degree of freedom, so that the whole structure is complex and the manufacturing and processing cost is high.
John Amend et al describe in the literature a flexible universal gripper based on the principle of particulate material plugging (amine J R, et al. A positive pressure non-volatile grip on the ramming of granular material [ J ]. Robotics, IEEE Transactions on 2012,28(2):341 + 350.). The gripper is flexible, contacts and extrudes an object to be gripped, the rubber ball at the tail end of the gripper deforms, a large number of coffee particles exist in the rubber ball, at the moment, the rubber ball is vacuumized, the coffee particles are constrained by the filter membrane in the closed space of the rubber ball and are wedged tightly, and therefore the deformed rubber ball is fixed in shape, and gripping is achieved. The device is suitable for grasping objects of various shapes, and has strong self-adaptive capacity. The device has the following defects: the device adopts pneumatic mode to realize, and entire system is bulky, and the energy consumption is big, and the noise is big, is difficult to miniaturize, and the cost is expensive.
The magnetorheological fluid is a suspension formed by mixing tiny soft magnetic particles with high magnetic conductivity and low magnetic hysteresis and non-magnetic conductive liquid. The suspension has the characteristics of low viscosity Newtonian fluid under the condition of zero magnetic field; and under the action of a strong magnetic field, the Bingham body has the characteristics of high viscosity and low fluidity. The magnetorheological fluid has the characteristics of high response speed, continuous and reversible damping change, low voltage, low power consumption, simple mechanism, long service life and the like, so that the magnetorheological fluid becomes an intelligent material with wide application and excellent performance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a magnetorheological fluid auxiliary flexible palm face self-adaptive under-actuated robot hand device, which can realize the effect of combining tendon rope driving and flexible universal grasping, only needs one driver, has the self-adaptive under-actuated grasping function of different objects, adopts the magnetorheological fluid auxiliary grasping process, and ensures more reliable grasping, and has simple and reliable driving mode, compact structure and low manufacturing and maintenance cost.
The invention adopts the following technical scheme:
the invention relates to a magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device, which is characterized in that: the magnetorheological fluid assisted flexible palm-surface self-adaptive under-actuated robot hand device comprises a flexible piece, at least one tendon rope, at least two fingers, at least one channel, a coil, at least one magnetorheological fluid driver and a base; the middle part of the flexible part is fixedly connected with the base, and magnetorheological fluid is sealed inside the flexible part; the fingers are arranged on the flexible piece; the channel is arranged on the flexible part; the driver is arranged in the base; one end of the tendon rope is fixedly connected with an output shaft of the driver, and the other end of the tendon rope penetrates through the channel and is fixedly connected with the tail end of the channel; the coil is arranged around the flexible member.
The invention relates to a magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device, which is characterized in that: the flexible part is of a thin-wall double-layer structure; the flexible part adopts cloth, net or film; the tendon rope is made of textile rope, plastic rope, rubber rope or metal wire.
The invention relates to a magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device, which is characterized in that: the included angle between the longitudinal direction of the fingers and the tangential direction of the channel is 45-135 degrees; the fingers are arranged radially.
The invention relates to a magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device, which is characterized in that: one end of the finger is connected with the base; the finger adopts one or a combination of a plurality of leaf springs, tension springs, pressure springs or spiral springs.
The invention relates to a magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device, which is characterized in that: the fingers are connected with the base through spring pieces and joint shafts; the number of the spring elements and the joint shafts connected with one finger is at least 1; the finger adopts a rigid structure in a rod shape, a tubular shape or a sheet shape.
The invention relates to a magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device, which is characterized in that: the channel can axially extend and retract; the channel adopts a flexible annular cavity, an ear ring structure or a corrugated pipe.
The invention relates to a magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device, which is characterized in that: also includes a catheter; a through hole is formed in the base; the two ends of the conduit are respectively connected with the through hole and the channel; the tendon rope passes through the through hole and the conduit.
The invention relates to a magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device, which is characterized in that: also includes a large coil; the large coil is arranged at the bottom end of the base close to the flexible part; the coils are distributed on the surface of the flexible piece or embedded in the flexible piece.
The invention relates to a magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device, which is characterized in that: the device also comprises a transmission mechanism; the transmission mechanism comprises a speed reducer, a rotating shaft and a winding drum; the output shaft of the driver is connected with the input shaft of the speed reducer; one end of the rotating shaft is connected with an output shaft of the speed reducer, and the other end of the rotating shaft is connected with the supporting piece; the supporting piece is arranged in the base; the winding drum is fixedly sleeved on the rotating shaft; the tendon rope is connected with the winding drum.
Compared with the prior art, the invention has the following outstanding characteristics:
the device utilizes the tendon rope to pull the channel, so that the flexible piece is folded and sealed, and the self-adaptive grabbing function of objects with different shapes and sizes is realized; the device utilizes the elasticity of fingers to ensure that the flexible piece keeps the most suitable grabbing posture and realizes the resetting of the flexible piece; the device uses one driver to control the movement of two or more fingers, thus realizing under-actuation; the device utilizes the characteristic that magnetorheological fluid is solidified under a magnetic field, so that the grabbing reliability is enhanced; the device has compact structure and low manufacturing and maintenance cost.
Drawings
Fig. 1 is a three-dimensional appearance diagram of an embodiment of a magnetorheological fluid-assisted flexible palm-surface adaptive under-actuated robot hand device provided by the invention.
Fig. 2 is a three-dimensional cross-sectional view of the embodiment shown in fig. 1.
Fig. 3 is a partial enlarged view of the embodiment shown in fig. 2.
Fig. 4 is a schematic structural diagram of an embodiment using a resilient finger.
Fig. 5 is a partial enlarged view of the embodiment shown in fig. 4.
Fig. 6 is a schematic diagram of a structure employing two channels.
Fig. 7 is a schematic structural diagram of an embodiment using rigid fingers and elastic joints.
Fig. 8 is a partial enlarged view of the embodiment of fig. 7.
Fig. 9 is a schematic diagram of a structure employing two joints.
Fig. 10, 11 and 12 are three-dimensional appearance diagrams of the process of grabbing the object according to the embodiment shown in fig. 1.
Fig. 13, 14 and 15 are front sectional views illustrating a process of grasping an object in the embodiment of fig. 1.
In fig. 1 to 15:
11-base, 12-upper base, 13-support,
14-a rotating shaft, wherein the rotating shaft is provided with a rotating shaft,
21-drive, 22-reducer, 23-drum,
31-catheter, 32-tendon rope, 33-flexible element,
34-channel, 35-finger, 351-joint axis,
352-the spring member is provided with a spring element,
41-bolt, 42-sleeve, 43-nut,
51-coil, 52-magnetorheological fluid and 53-large coil.
Detailed Description
The following describes the specific structure, operation principle and operation process of the present invention in detail with reference to the accompanying drawings and embodiments.
An embodiment of a magnetorheological fluid-assisted flexible palm-surface adaptive under-actuated robot hand device designed by the invention is shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13, fig. 14 and fig. 15. The present embodiment comprises a flexible member 33, at least one tendon rope 32, at least two fingers 35, at least one channel 34, a coil 51, a magnetorheological fluid 52, at least one driver 21, a base 11; the middle part of the flexible part 33 is fixedly connected with the base 11, and magnetorheological fluid 52 is sealed inside the flexible part 33; the finger 35 is arranged on the flexible part 33; the channel 34 is arranged on the flexible part 33; the driver 21 is arranged in the base 11; one end of the tendon rope 32 is fixedly connected with the output shaft of the driver 21, and the other end of the tendon rope passes through the channel 34 and is fixedly connected with the tail end of the channel 34; the coil 51 is arranged around the flexible member 33.
In this embodiment, the flexible member 33 has a thin-wall double-layer structure; the flexible member 33 is cloth, net or film; the tendon rope 32 is made of textile rope, plastic rope, rubber rope or metal wire.
In this embodiment, the included angle between the longitudinal direction of the finger 35 and the tangential direction of the channel 34 is 45-135 degrees; the fingers 35 are arranged radially.
In this embodiment, one end of the finger 35 is connected to the base 11; the finger 35 is one or a combination of several of a leaf spring, a tension spring, a compression spring or a spiral spring.
In this embodiment, the finger 35 is connected to the base 11 through the spring 352 and the joint shaft 351; the number of the spring member 352 and the joint shaft 351 connected to one finger 35 is at least 1; the finger 35 is a rigid structure in the form of a rod, tube, or sheet.
In this embodiment, the channel 34 is axially retractable; the passage 34 may be a flexible annular chamber, an earring structure, or a bellows.
In this embodiment, a conduit 31 is further included; a through hole is arranged in the base 11; the two ends of the conduit 31 are respectively connected with the through hole and the channel 34; the tendon rope 32 passes through the through hole and the guide tube 31.
In this embodiment, a large coil 53 is further included; the large coil 53 is arranged at the bottom end of the base 11 close to the flexible part 33; the coil 51 is distributed on the surface of the flexible element 33 or embedded in the flexible element 33.
In the embodiment, the device also comprises a transmission mechanism; the transmission mechanism comprises a speed reducer 22, a rotating shaft 14 and a winding drum 23; the output shaft of the driver 21 is connected with the input shaft of the speed reducer 22; one end of the rotating shaft 14 is connected with an output shaft of the speed reducer 22, and the other end of the rotating shaft is connected with the supporting piece 13; the support 13 is arranged in the base 11; the winding drum 23 is fixedly sleeved on the rotating shaft 14; the tendon rope 32 is connected to the reel 23.
In the embodiment, the device further comprises a connecting mechanism; comprises an upper base 12, a bolt 41, a sleeve 42 and a nut 43; the sleeve 42 is erected between the base 11 and the upper base 12; the bolt 41 penetrates through the upper base 12, the sleeve 42 and the base 11 and is fastened by a nut 43; the robotic hand unit is connected to peripheral robotic arms through an upper base 12.
In a preferred embodiment of the present invention, the finger 35 is a leaf spring; six fingers 35 are used, radially spaced about the center of the flexible member 33, as shown in figure 4. The channel 34 is a bellows which surrounds and is attached to the outer edge of the flexible member 33, as shown in fig. 5. If two channels 34 are used, this is shown in fig. 6.
In another preferred embodiment of the invention, the finger 35 is a rigid sheet-like structure; the base 11 is sleeved with a joint shaft 351, and the fingers 35 are fixedly sleeved on the joint shaft 351; a torsion spring 352 is sleeved on the joint shaft 351; two ends of the torsion spring 352 are fixedly connected with the base 11 and the fingers 35 respectively; as shown in fig. 7 and 8. If the finger 35 adopts two joints, it is shown in fig. 9.
The working principle of the embodiment of the magnetorheological fluid assisted flexible palm-side adaptive under-actuated robot hand device shown in fig. 1 is described below with reference to the accompanying drawings.
The initial state of this embodiment is shown in fig. 10, in which the actuator 21 is not operated, and the flexible member 33 is stretched to a shape close to a plane or a canopy by the restoring action of the finger 35.
When the driver 21 is operated in the forward direction, the tendon rope 32 is lifted up by the reel 23, so that the length of the tendon rope 23 in the channel 34 is shortened. Since the ends of tendon rope 23 are fixedly attached to channel 34, channel 34 is shortened by the tension of tendon rope 32. The fingers 35 provided on the flexible member 33 have a certain rigidity such that the outer edge of the flexible member 33 is contracted downward and inward. The form of the flexible member 33 then transitions from a near-planar to a bowl-like form as shown in fig. 11.
If the driver 2 continues to rotate forward, the flexible members 33 will continue to contract downward and inward, and the form transitions from the bowl shape to the lantern shape, and a gripping posture is achieved, as shown in fig. 12. At this time, the coil 51 and the large coil 53 are energized to generate a magnetic field. The magnetorheological fluid 52 inside the flexible part 33 is changed from a liquid state to a solid state under the action of the magnetic field, so that the grabbing posture is stable and stable, and the grabbed object cannot move freely in the flexible part 33, thereby realizing reliable grabbing.
When the coil 51 and the large coil 53 are powered off and the driver 21 is reversed, the magnetorheological fluid 52 is restored from a solid state to a liquid state, and under the restoring action of the finger 35, the flexible member 33 is finally restored from the lantern-shaped form to the initial form close to the plane through the bowl-shaped form, so that the restoration is realized.
Specifically, when the flexible palm-face self-adaptive under-actuated robot hand grips an object, the mechanical arm moves, and the magnetorheological fluid assists the flexible palm-face self-adaptive under-actuated robot hand to lean against the object to be gripped. After approaching the object, the flexible part 33 starts to deform under the driving action of the driver 2, and surrounds the object to be grabbed downwards until the flexible part 33 is limited by the object to be grabbed and can not deform further. At this time, the coil 51 and the large coil 53 are electrified, and the magnetorheological fluid 52 is solidified, so that the object to be grabbed in the flexible part 33 is fixed, and reliable grabbing is realized. The gripping movement is shown in fig. 13, 14 and 15.
The device utilizes the tendon rope to pull the channel, so that the flexible piece is folded and sealed, and the self-adaptive grabbing function of objects with different shapes and sizes is realized; the device utilizes the elasticity of fingers to ensure that the flexible piece keeps the most suitable grabbing posture and realizes the resetting of the flexible piece; the device uses one driver to control the movement of two or more fingers, thus realizing under-actuation; the device utilizes the characteristic that magnetorheological fluid is solidified under a magnetic field, so that the grabbing reliability is enhanced; the device has compact structure and low manufacturing and maintenance cost.
Claims (9)
1. A magnetorheological fluid assisted flexible palm-surface self-adaptive under-actuated robot hand device is characterized in that: the magnetorheological fluid assisted flexible palm-surface self-adaptive under-actuated robot hand device comprises a flexible piece (33), at least one tendon rope (32), at least two fingers (35), at least one channel (34), a coil (51), magnetorheological fluid (52), at least one driver (21) and a base (11); the middle part of the flexible part (33) is fixedly connected with the base (11), and magnetorheological fluid (52) is sealed inside the flexible part (33); the finger (35) is arranged on the flexible part (33); the channel (34) is arranged on the flexible part (33); the driver (21) is arranged in the base (11); one end of the tendon rope (32) is fixedly connected with an output shaft of the driver (21), and the other end of the tendon rope penetrates through the channel (34) and is fixedly connected with the tail end of the channel (34); the coil (51) is arranged around the flexible part (33).
2. The magnetorheological fluid assisted flexible palm-side adaptive under-actuated robot hand device according to claim 1, wherein: the flexible part (33) is of a thin-wall double-layer structure; the flexible part (33) adopts cloth, net or film; the tendon rope (32) is made of textile rope, plastic rope, rubber rope or metal wire.
3. The magnetorheological fluid assisted flexible palm-side adaptive under-actuated robot hand device according to claim 1, wherein: the included angle between the longitudinal direction of the finger (35) and the tangential direction of the channel (34) is 45-135 degrees; the fingers (35) are arranged radially.
4. The magnetorheological fluid assisted flexible palm-side adaptive under-actuated robot hand device according to claim 1, wherein: one end of the finger (35) is connected with the base (11); the finger (35) adopts one or a combination of a plurality of leaf springs, plate springs, tension springs, compression springs or spiral springs.
5. The magnetorheological fluid assisted flexible palm-side adaptive under-actuated robot hand device according to claim 1, wherein: the finger (35) is connected with the base (11) through a spring element (352) and a joint shaft (351); the number of the spring elements (352) connected with one finger (35) and the joint shafts (351) is at least 1; the finger (35) adopts a rigid structure in a rod shape, a tubular shape or a sheet shape.
6. The magnetorheological fluid assisted flexible palm-side adaptive under-actuated robot hand device according to claim 1, wherein: the channel (34) can axially extend and retract; the channel (34) adopts a flexible annular cavity, an ear ring structure or a corrugated pipe.
7. The magnetorheological fluid assisted flexible palm-side adaptive under-actuated robot hand device according to claim 1, wherein: further comprising a conduit (31); a through hole is formed in the base (11); two ends of the conduit (31) are respectively connected with the through hole and the channel (34); the tendon rope (32) passes through the through hole and the conduit (31).
8. The magnetorheological fluid assisted flexible palm-side adaptive under-actuated robot hand device according to claim 1, wherein: also includes a large coil (53); the large coil (53) is arranged at the bottom end of the base (11) close to the flexible part (33); the coils (51) are distributed on the surface of the flexible piece (33) or embedded in the flexible piece (33).
9. The magnetorheological fluid assisted flexible palm-side adaptive under-actuated robot hand device according to claim 1, wherein: the device also comprises a transmission mechanism; the transmission mechanism comprises a speed reducer (22), a rotating shaft (14) and a winding drum (23); the output shaft of the driver (21) is connected with the input shaft of the speed reducer (22); one end of the rotating shaft (14) is connected with an output shaft of the speed reducer (22), and the other end of the rotating shaft is connected with the supporting piece (13); the support (13) is arranged in the base (11); the winding drum (23) is fixedly sleeved on the rotating shaft (14); the tendon rope (32) is connected with the winding drum (23).
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| CN201510234504.4A CN104924315B (en) | 2015-05-11 | 2015-05-11 | Magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device |
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| CN201510234504.4A CN104924315B (en) | 2015-05-11 | 2015-05-11 | Magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device |
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| CN112720428A (en) * | 2021-01-19 | 2021-04-30 | 杨慧 | New-generation industrial robot based on high-end equipment manufacturing industry |
| CN114310983B (en) * | 2021-12-29 | 2023-05-09 | 南京信息工程大学 | Grabbing device and method based on magnetorheological fluid and with controllable surface adhesion force |
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