CN105397824A - Mechanical arm based on electromagnetic driving - Google Patents
Mechanical arm based on electromagnetic driving Download PDFInfo
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- CN105397824A CN105397824A CN201510980180.9A CN201510980180A CN105397824A CN 105397824 A CN105397824 A CN 105397824A CN 201510980180 A CN201510980180 A CN 201510980180A CN 105397824 A CN105397824 A CN 105397824A
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- 239000007788 liquid Substances 0.000 claims abstract description 49
- 230000000694 effects Effects 0.000 claims description 28
- 239000004020 conductor Substances 0.000 claims description 14
- 230000008676 import Effects 0.000 claims description 7
- 230000035807 sensation Effects 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 11
- 238000009434 installation Methods 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 4
- 230000006872 improvement Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 208000010138 Diastema Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000000475 diastema Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention belongs to the technical field of simulative mechanical arm driving, and particularly relates to a mechanical arm based on electromagnetic driving. The mechanical arm comprises three auxiliary fingers, a main finger, power units, execution units, liquid medium guide pipes, mechanical finger reset springs and the like, wherein the power units are connected with the execution units at the joints of the mechanical fingers through the liquid medium guide pipes. As the electromagnetic structures in the power units and power-unit magnetic bottom covers are attracted and repelled, pressure and suction on liquid media are generated, and the aims of controlling the length of the execution units and driving moving variation of the mechanical arm are achieved; and in addition, each mechanical finger is provided with three execution units driven by one power unit, pressures of the liquid media in the execution units are same, and it can be guaranteed that the mechanical arm can better adapt to appearances of grabbed objects. According to the mechanical arm, pressure is transmitted through the guide pipes, arrangement of the execution units is convenient, the structure of the mechanical arm can be greatly simplified, and the mechanical arm has good practical prospects.
Description
Art
The invention belongs to simulation manipulator actuation techniques field, particularly relate to a kind of manipulator based on Electromagnetic Drive.
Background technology
Type of drive many uses driven by servomotor, steel wire driving, hydraulic-driven etc. of current manipulator, small part uses artificial muscle to drive; Wherein artificial muscle drives, although the mode driven is advanced, manufacturing cost is very high at present, and hydraulic-driven needs powerful power to come to drive hydraulic oil supercharging, will increase the weight of equipment and require technology maturity higher, so cost is also higher; So on simulation manipulator drives, driven by servomotor and steel wire drive comparatively common, driven by servomotor is install a servomotor on each joint, this will cause mechanism on manipulator very unsightly, and the form factor of servomotor will determine the shape and function of manipulator; Current use maximum, cost is minimum is adopt steel wire to drive, servomotor is installed concentratedly at arm place, manipulator and finger mechanism are comparatively simple, it is comparatively easy to control, but easily there is the situations such as mechanical finger location is inaccurate, the swing of finger diastema in steel wire, so it is necessary for designing lower, the convenient type of drive of arranging of a kind of cost in driving.
The present invention designs a kind of manipulator based on Electromagnetic Drive and solves as above problem.
Summary of the invention
For solving above-mentioned defect of the prior art, the present invention discloses a kind of manipulator based on Electromagnetic Drive, and it realizes by the following technical solutions.
Based on a manipulator for Electromagnetic Drive, it is characterized in that: it comprises the 3rd pair and refers to, second pair refers to, first pair refers to, palm plate, main finger, power unit combination fixed head, power unit combines, arm sleeve, power unit combination protecgulum, power unit combination shell, power unit liptinite, power unit combination bonnet, first pair refers to swinging block, main finger swinging block supports, main finger performance element supports, main finger swinging block, performance element journal stirrup, performance element, power unit, power unit exports, wherein the second pair refers to refer to be fixedly mounted on palm plate side successively with the 3rd pair, first pair refers to that swinging block is fixedly mounted on the first pair and refers to, first pair refers to that swinging block is arranged on palm plate by straight pin, main finger swinging block is fixedly mounted on main finger, main finger swinging block supports and is arranged on palm plate, main finger swinging block is arranged on main finger swinging block by straight pin and supports, main finger performance element supports and is arranged on palm plate, main finger performance element supports and main finger side is all provided with performance element journal stirrup, and the first pair refers to that side and the second pair refer to that side is all installed by performance element journal stirrup, power unit combination fixed head is arranged on palm plate, power unit combination shell is arranged on power unit combination fixed head, power unit combination bonnet is arranged on power unit combination outer casing back face, power unit liptinite is arranged on power unit combination bonnet center position, 6 power units circumferentially distribution mode are arranged in the torus space between power unit combination shell and power unit liptinite, and power unit combination protecgulum is arranged on power unit combination case nose face, arm sleeve is arranged on power unit combination bonnet.
In the present invention, the 3rd pair refers to, the second pair refers to directly be fixed on palm plate, there is no oscillating motion, bending motion can only be done independently of one another, first pair refers to namely can swing also can independently bend, namely main finger can bend and also can swing, whole manipulator has six-freedom degree, employs 6 power units and drives, substantially can imitate all behavior campaigns of staff.Manipulator can be fixed on human arm by arm sleeve in addition.
Above-mentioned first pair refers to, second pair refers to, the structure that 3rd pair refers to is identical, wherein any one pair is referred to, it comprises mechanical finger the 4th support, mechanical finger the 3rd support, mechanical finger second support, mechanical finger first support, performance element supports, mechanical finger support limiting plate, mechanical finger the 3rd back-moving spring, mechanical finger second back-moving spring, mechanical finger first back-moving spring, mechanical finger back-moving spring supports, performance element journal stirrup, power unit, performance element, liquid medium conduit, wherein mechanical finger second support is arranged on mechanical finger first support by straight pin, mechanical finger the 3rd support is arranged on mechanical finger second support by straight pin, mechanical finger the 4th support is arranged on mechanical finger the 3rd support by straight pin, mechanical finger second support two ends and mechanical finger the 3rd support two ends are respectively provided with two performance elements respectively and support, mechanical finger first support and mechanical finger the 4th support are respectively provided with a performance element support, and six roots of sensation performance element supports the mechanical finger being installed in support and bends side, two performance elements between adjacent mechanical finger support support and are provided with a performance element, three mechanical finger support limiting plates are arranged on mechanical finger first stent ends, mechanical finger second stent ends, mechanical finger the 3rd stent ends respectively, and three mechanical finger back-moving springs support and are arranged on respectively on mechanical finger the 4th support, on mechanical finger the 3rd support and close mechanical finger second support place, mechanical finger second support and close mechanical finger first support place, mechanical finger first back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger first support, and the other end mechanical finger back-moving spring be arranged on mechanical finger second support supports, mechanical finger second back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger second support, and the other end mechanical finger back-moving spring be arranged on mechanical finger the 3rd support supports, mechanical finger the 3rd back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger the 3rd support, and the other end mechanical finger back-moving spring be arranged on mechanical finger the 4th support supports, liquid medium tube at one end connects power unit, and liquid medium conduit connects three performance elements along in journey, above-mentioned mechanical finger second back-moving spring coefficient of elasticity, mechanical finger the 3rd back-moving spring coefficient of elasticity, mechanical finger first back-moving spring coefficient of elasticity increase 2 times successively, when imitating staff substantially completely and not capturing object, the motion of finger natural torsion, the design of back-moving spring coefficient of elasticity as above.Six roots of sensation performance element is all provided with performance element journal stirrup on supporting.
Above-mentioned second pair refers to, the 3rd pair refers to all be fixed on palm plate by respective mechanical finger first support, and the first pair refers to that swinging block is arranged on mechanical finger first support that the first pair refers to.
In the present invention, single mechanical finger three performance elements use same power unit to drive, the pressure of the liquid medium so in performance element is identical, can ensure that each joint of mechanical finger should be identical for the pressure in captured object contact face like this, so just better can adapt to the profile of captured object, there is stronger Grasping skill.
Above-mentioned power unit comprises power unit shell, power unit top cover, power unit magnetic bottom, guide rail card tooth, electromagnetic structure guide rail, latching structure, latching structure cone tooth, kayser magnetic conduction sheet cone tooth, kayser magnetic conduction sheet rotating shaft support, the rotating shaft of kayser magnetic conduction sheet, kayser magnetic conduction sheet spring, kayser magnetic conduction sheet, liquid medium elastic container, magnetic conductive board at the bottom of electromagnetic structure, hot-wire coil, electromagnetic structure top magnetic conductive board, latching structure support chip, latching structure rotating shaft, power unit exports, electromagnetic structure draw-in groove, electromagnetic structure Effects of Central Magnetic Conductor, kayser magnetic conduction sheet spring retainer body, wherein liquid medium elastic container is arranged on power unit magnetic bottom, power unit shell is arranged on power unit magnetic bottom, two electromagnetic structure guide rail symmetries are arranged on power unit shell, each electromagnetic structure guide rail is provided with guide rail card tooth, electromagnetic structure Effects of Central Magnetic Conductor one end is fixed on the magnetic conductive board of electromagnetic structure top, and the other end is fixed on magnetic conductive board at the bottom of electromagnetic structure, and hot-wire coil is wrapped on electromagnetic structure Effects of Central Magnetic Conductor, magnetic conductive board at the bottom of electromagnetic structure top magnetic conductive board and electromagnetic structure is corresponding up and down respectively has two electromagnetic structure draw-in grooves, and electromagnetic structure draw-in groove coordinates with electromagnetic structure guide rail, latching structure rotating shaft is arranged on the upside of the magnetic conductive board of electromagnetic structure top by latching structure support chip, and latching structure is arranged in latching structure rotating shaft, and latching structure two ends coordinate with guide rail card tooth, latching structure cone tooth is arranged in latching structure rotating shaft, the rotating shaft of kayser magnetic conduction sheet is arranged on the magnetic conductive board of electromagnetic structure top by kayser magnetic conduction sheet rotating shaft support, kayser magnetic conduction sheet cone tooth is arranged in the rotating shaft of kayser magnetic conduction sheet, kayser magnetic conduction sheet one end is arranged in the rotating shaft of kayser magnetic conduction sheet, kayser magnetic conduction sheet spring one end is arranged on the downside of kayser magnetic conduction sheet, and the other end is arranged on the magnetic conductive board of electromagnetic structure top, power unit top cover is arranged on power unit shell upper end, power unit magnetic bottom has power unit outlet, with side bonds on liquid medium elastic container on the downside of magnetic conductive board at the bottom of electromagnetic structure, liquid medium elastic container has very large flexible, can increase in certain volume range or reduce.
Power unit purpose of design in the present invention is that the liquid towards dielectric resilient container that moves up and down utilizing electromagnetic structure carries out compressing and stretching, and then changes the effective volume of the liquid medium in performance element, reaches the object controlling performance element length variations.In power unit, electromagnetic structure is in non-energising situation, magnetic conductive board at the bottom of electromagnetic structure and top magnetic conductive board do not have magnetic, kayser magnetic conduction sheet is under the spring action of kayser magnetic conduction sheet, do not contact with electromagnetic structure top magnetic conductive board, now latching structure two ends are stuck on guide rail card tooth, by locked for the position of electromagnetic structure on electromagnetic structure guide rail; When being energized to electromagnetic structure, electromagnetic structure top magnetic conductive board and end magnetic conductive board will produce magnetic, kayser magnetic conduction sheet one end will be drawn onto on magnetic conductive board at the bottom of electromagnetic structure, by boring the transmission of tooth, latching structure is around latching structure axis of rotation angle, and latching structure two ends and guide rail card tooth are thrown off, and now the magnetic of magnetic conductive board at the bottom of electromagnetic structure and the magnetic of power unit magnetic bottom are had an effect, or attract or repel, reach compression and the stretching of liquid towards dielectric resilient container.
Above-mentioned performance element comprises performance element import, rotatable engagement mechanism, pressure-bearing elastic container, interior nested structure, bears spring, jacket structure, inner sleeve structure roof, inner sleeve structure of guide-rail groove, jacket structure base plate, jacket structure guide rail, and wherein performance element import is arranged on the downside of pressure-bearing elastic container; Inner sleeve structure installment is inner at jacket structure, and interior nested structure has inner sleeve structure of guide-rail groove, jacket structure inside has jacket structure guide rail, and inner sleeve structure of guide-rail groove and jacket structure guide rail coordinate; Inner sleeve structure roof is arranged on interior nested structure upper end, and jacket structure base plate is arranged on jacket structure lower end; Bearing spring one end is arranged on the downside of inner sleeve structure roof, and the other end is arranged on the upside of jacket structure base plate, and is coated on interior nested structure and jacket structure; Pressure-bearing elastic container is arranged on the upside of inner sleeve structure roof and jacket structure baseplate underside; Performance element two ends are all provided with rotatable engagement structure, and are connected by straight pin with corresponding performance element journal stirrup.For being fixed on mechanical joint, and performance element can be allowed to have certain rotation relative to joint.
Liquid medium in the present invention in performance element is in the space outside pressure-bearing elastic container and inner-outer sleeve structure, and under the effect of power unit, the liquid medium effective volume in performance element increases or reduces, and will increase or shorten performance element.Pressure-bearing elastic housing has the character of variable volume, changes volume, laterally have the ability bearing transverse pressure by increasing length or reducing length.The nested designs effect of interior nested structure and jacket structure is to play an effect of stablizing and leading to performance element, there will not be teeter when ensureing that performance element length increases.Bear spring and be in extended state all the time, play and the effect suppressed is increased to the length of performance element, and liquid medium can only play the effect increasing performance element length substantially when volume increases, so pressure-bearing spring and liquid medium interact, and reach the object to performance element cut to lengthen.
As the further improvement of this technology, above-mentioned electromagnetic structure top magnetic conductive board is also provided with kayser magnetic conduction sheet spring retainer body, kayser magnetic conduction sheet spring one end is arranged on the downside of kayser magnetic conduction sheet, and the other end can be arranged on kayser magnetic conduction sheet spring retainer body.Kayser magnetic conduction sheet spring retainer body plays the object preventing the teeter of kayser magnetic conduction sheet spring.
As the further improvement of this technology, above-mentioned kayser magnetic conduction sheet spring retainer body is cylinder, and limit body diameter is less than kayser magnetic conduction sheet spring diameter.Ensure that kayser magnetic conduction sheet spring can be placed on the external side of kayser magnetic conduction sheet spring retainer.
As the further improvement of this technology, above-mentioned power unit magnetic bottom is permanent magnet.
As the further improvement of this technology, at the bottom of above-mentioned electromagnetic structure top magnetic conductive board, electromagnetic structure, magnetic conductive board, electromagnetic structure Effects of Central Magnetic Conductor, kayser magnetic conduction sheet are soft magnetic bodies.Soft magnetic bodies has energizing magnetic, the feature that power-off magnetic disappears, and meets the requirement to electromagnetic structure effect in the present invention.
Relative to traditional simulation manipulator actuation techniques, medium power unit of the present invention is connected by the performance element of liquid medium conduit and mechanical finger three joints, occur to attract and repel by the magnetic of the electromagnetic structure in power unit and the magnetic of power unit magnetic bottom, produce pressure and the suction of liquid towards medium, reach the object controlling performance element length and play the change of driving device hands movement; Each mechanical finger has three performance elements and uses same power unit to drive in addition, and the pressure of the liquid medium so in performance element is identical, can ensure that manipulator better can adapt to the profile of captured object like this; The present invention utilizes conduit to transmit pressure, facilitates the layout of performance element, greatly will simplify the structure of manipulator, have good practical prospect.
Accompanying drawing explanation
Fig. 1 is power unit and single performance element connection diagram.
Fig. 2 is power unit upper structure distribution schematic diagram.
Fig. 3 is power unit internal structure distribution schematic diagram.
Fig. 4 is power unit internal structure distribution side view.
Fig. 5 is electromagnetic structure guide rails assembling schematic diagram.
Fig. 6 is liquid medium elastic container scheme of installation.
Fig. 7 is hot-wire coil scheme of installation.
Fig. 8 is electromagnetic structure Effects of Central Magnetic Conductor scheme of installation.
Fig. 9 is that latching structure installs front view and top view.
Figure 10 is kayser magnetic conduction sheet scheme of installation.
Figure 11 is performance element sectional view.
Figure 12 bears spring fitting schematic diagram.
Figure 13 is inner sleeve structural representation.
Figure 14 is jacket structure schematic diagram.
Figure 15 is mechanical finger overall structure distribution schematic diagram.
Figure 16 is mechanical finger back-moving spring scheme of installation.
Figure 17 is that three performance elements are at supravasal distribution schematic diagram.
Figure 18 is that performance element and performance element support scheme of installation.
Figure 19 is manipulator overall structure distribution schematic diagram.
Figure 20 is power unit combination schematic diagram.
Figure 21 is power unit scheme of installation.
Figure 22 is power unit liptinite scheme of installation.
Figure 23 is that the first pair refers to scheme of installation.
Figure 24 is main finger scheme of installation.
Figure 25 is main finger swinging structure schematic diagram.
Figure 26 is main finger swinging block scheme of installation.
Number in the figure title: 1, power unit shell, 2, power unit top cover, 3, power unit magnetic bottom, 4, liquid medium conduit, 5, performance element import, 6, rotatable engagement structure, 7, performance element, 8, guide rail card tooth, 9, electromagnetic structure guide rail, 10, latching structure, 11, latching structure cone tooth, 12, kayser magnetic conduction sheet cone tooth, 13, kayser magnetic conduction sheet rotating shaft support, 14, the rotating shaft of kayser magnetic conduction sheet, 15, kayser magnetic conduction sheet spring, 16, kayser magnetic conduction sheet, 17, liquid medium elastic container, 18, magnetic conductive board at the bottom of electromagnetic structure, 19, hot-wire coil, 20, electromagnetic structure top magnetic conductive board, 21, latching structure support chip, 22, latching structure rotating shaft, 23, power unit exports, and 24, electromagnetic structure draw-in groove, 25, electromagnetic structure Effects of Central Magnetic Conductor, 26, kayser magnetic conduction sheet spring retainer body, 27, pressure-bearing elastic container, 28, interior nested structure, 29, bear spring, 30, jacket structure, 31, inner sleeve structure roof, 32, inner sleeve structure of guide-rail groove, 33, jacket structure base plate, 34, jacket structure guide rail, 35, power unit, 40, mechanical finger the 4th support, 41, mechanical finger the 3rd support, 42, mechanical finger second support, 44, mechanical finger first support, 46, performance element supports, and 47, mechanical finger support limiting plate, 48, mechanical finger the 3rd back-moving spring, 49, mechanical finger second back-moving spring, 50, mechanical finger first back-moving spring, 51, mechanical finger back-moving spring supports, and 52, performance element journal stirrup, 56, 3rd pair refers to, 57, second pair refers to, 58, first pair refers to, 59, palm plate, 60, main finger, 61, power unit combination fixed head, 62, power unit combines, and 63, arm sleeve, 64, power unit combination protecgulum, 66, power unit combination shell, 68, power unit liptinite, 69, power unit combination bonnet, 71, first pair refers to swinging block, 72, main finger swinging block supports, and 74, main finger performance element supports, and 76, main finger swinging block.
Detailed description of the invention
As shown in figure 19, it comprises the 3rd pair and refers to, second pair refers to, first pair refers to, palm plate, main finger, power unit combination fixed head, power unit combines, arm sleeve, power unit combination protecgulum, power unit combination shell, power unit liptinite, power unit combination bonnet, first pair refers to swinging block, main finger swinging block supports, main finger performance element supports, main finger swinging block, performance element journal stirrup, performance element, power unit, power unit exports, and wherein as shown in figure 19, the second pair refers to refer to be fixedly mounted on palm plate side successively with the 3rd pair, as shown in figure 23, first pair refers to that swinging block is fixedly mounted on the first pair and refers to, the first pair refers to that swinging block is arranged on palm plate, as Figure 24 by straight pin, 25, shown in 26, main finger swinging block is fixedly mounted on main finger, main finger swinging block supports and is arranged on palm plate, main finger swinging block is arranged on main finger swinging block by straight pin and supports, main finger performance element supports and is arranged on palm plate, main finger performance element supports and main finger side is all provided with performance element journal stirrup, and the first pair refers to that side and the second pair refer to that side is all installed by performance element journal stirrup, as shown in figure 19, power unit combination fixed head is arranged on palm plate, as shown in figure 20, power unit combination shell is arranged on power unit combination fixed head, as shown in figure 22, power unit combination bonnet is arranged on power unit combination outer casing back face, power unit liptinite is arranged on power unit combination bonnet center position, as shown in figure 21, 6 power units circumferentially distribution mode are arranged in the torus space between power unit combination shell and power unit liptinite, power unit combination protecgulum is arranged on power unit combination case nose face, arm sleeve is arranged on power unit combination bonnet.
In the present invention, the 3rd pair refers to, the second pair refers to directly be fixed on palm plate, there is no oscillating motion, bending motion can only be done independently of one another, first pair refers to namely can swing also can independently bend, namely main finger can bend and also can swing, whole manipulator has six-freedom degree, employs 6 power units and drives, substantially can imitate all behavior campaigns of staff.Manipulator can be fixed on human arm by arm sleeve in addition.
The structure that above-mentioned first pair refers to, the second pair refers to, the 3rd pair refers to is identical, refers to for wherein any one pair,
As shown in figure 15, it comprises mechanical finger the 4th support, mechanical finger the 3rd support, mechanical finger second support, mechanical finger first support, performance element supports, mechanical finger support limiting plate, mechanical finger the 3rd back-moving spring, mechanical finger second back-moving spring, mechanical finger first back-moving spring, mechanical finger back-moving spring supports, performance element journal stirrup, power unit, performance element, liquid medium conduit, wherein as shown in figure 16, mechanical finger second support is arranged on mechanical finger first support by straight pin, mechanical finger the 3rd support is arranged on mechanical finger second support by straight pin, mechanical finger the 4th support is arranged on mechanical finger the 3rd support by straight pin, mechanical finger second support two ends and mechanical finger the 3rd support two ends are respectively provided with two performance elements respectively and support, mechanical finger first support and mechanical finger the 4th support are respectively provided with a performance element support, and six roots of sensation performance element supports the mechanical finger being installed in support and bends side, two performance elements between adjacent mechanical finger support support and are provided with a performance element, as shown in figure 16, three mechanical finger support limiting plates are arranged on mechanical finger first stent ends, mechanical finger second stent ends, mechanical finger the 3rd stent ends respectively, and three mechanical finger back-moving springs support and are arranged on respectively on mechanical finger the 4th support, on mechanical finger the 3rd support and close mechanical finger second support place, mechanical finger second support and close mechanical finger first support place, mechanical finger first back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger first support, and the other end mechanical finger back-moving spring be arranged on mechanical finger second support supports, mechanical finger second back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger second support, and the other end mechanical finger back-moving spring be arranged on mechanical finger the 3rd support supports, mechanical finger the 3rd back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger the 3rd support, and the other end mechanical finger back-moving spring be arranged on mechanical finger the 4th support supports, as shown in Figure 17,15, liquid medium tube at one end connects power unit, and liquid medium conduit connects three performance elements along in journey, above-mentioned mechanical finger second back-moving spring coefficient of elasticity, mechanical finger the 3rd back-moving spring coefficient of elasticity, mechanical finger first back-moving spring coefficient of elasticity increase 2 times successively, when imitating staff substantially completely and not capturing object, the motion of finger natural torsion, the design of back-moving spring coefficient of elasticity as above.As shown in figure 18, six roots of sensation performance element is all provided with performance element journal stirrup on supporting.
Above-mentioned second pair refers to, the 3rd pair refers to all be fixed on palm plate by respective mechanical finger first support, and the first pair refers to that swinging block is arranged on mechanical finger first support that the first pair refers to.
In the present invention, three performance elements of single mechanical finger use same power unit to drive, the pressure of the liquid medium so in performance element is identical, can ensure that each joint of mechanical finger should be identical for the pressure in captured object contact face like this, so just better can adapt to the profile of captured object, there is stronger Grasping skill.
As Fig. 2, 3, shown in 4, above-mentioned power unit comprises power unit shell, power unit top cover, power unit magnetic bottom, guide rail card tooth, electromagnetic structure guide rail, latching structure, latching structure cone tooth, kayser magnetic conduction sheet cone tooth, kayser magnetic conduction sheet rotating shaft support, the rotating shaft of kayser magnetic conduction sheet, kayser magnetic conduction sheet spring, kayser magnetic conduction sheet, liquid medium elastic container, magnetic conductive board at the bottom of electromagnetic structure, hot-wire coil, electromagnetic structure top magnetic conductive board, latching structure support chip, latching structure rotating shaft, power unit exports, electromagnetic structure draw-in groove, electromagnetic structure Effects of Central Magnetic Conductor, kayser magnetic conduction sheet spring retainer body, wherein, as shown in Figure 6, liquid medium elastic container is arranged on power unit magnetic bottom, as shown in Figure 5, power unit shell is arranged on power unit magnetic bottom, two electromagnetic structure guide rail symmetries are arranged on power unit shell, each electromagnetic structure guide rail is provided with guide rail card tooth, as shown in Figure 8, electromagnetic structure Effects of Central Magnetic Conductor one end is fixed on the magnetic conductive board of electromagnetic structure top, and the other end is fixed on magnetic conductive board at the bottom of electromagnetic structure, and as shown in Figure 7, hot-wire coil is wrapped on electromagnetic structure Effects of Central Magnetic Conductor, magnetic conductive board at the bottom of electromagnetic structure top magnetic conductive board and electromagnetic structure is corresponding up and down respectively has two electromagnetic structure draw-in grooves, and electromagnetic structure draw-in groove coordinates with electromagnetic structure guide rail, as shown in Figure 9, latching structure rotating shaft is arranged on the upside of the magnetic conductive board of electromagnetic structure top by latching structure support chip, and latching structure is arranged in latching structure rotating shaft, and latching structure two ends coordinate with guide rail card tooth, latching structure cone tooth is arranged in latching structure rotating shaft, as shown in Fig. 3,10, the rotating shaft of kayser magnetic conduction sheet is arranged on the magnetic conductive board of electromagnetic structure top by kayser magnetic conduction sheet rotating shaft support, kayser magnetic conduction sheet cone tooth is arranged in the rotating shaft of kayser magnetic conduction sheet, kayser magnetic conduction sheet one end is arranged in the rotating shaft of kayser magnetic conduction sheet, kayser magnetic conduction sheet spring one end is arranged on the downside of kayser magnetic conduction sheet, and the other end is arranged on the magnetic conductive board of electromagnetic structure top, power unit top cover is arranged on power unit shell upper end, power unit magnetic bottom has power unit outlet, with side bonds on liquid medium elastic container on the downside of magnetic conductive board at the bottom of electromagnetic structure, liquid medium elastic container has very large flexible, can increase in certain volume range or reduce.
Power unit purpose of design in the present invention is that the liquid towards dielectric resilient container that moves up and down utilizing electromagnetic structure carries out compressing and stretching, and then changes the effective volume of the liquid medium in performance element, reaches the object controlling performance element length variations.In power unit, electromagnetic structure is in non-energising situation, magnetic conductive board at the bottom of electromagnetic structure and top magnetic conductive board do not have magnetic, kayser magnetic conduction sheet is under the spring action of kayser magnetic conduction sheet, do not contact with electromagnetic structure top magnetic conductive board, now latching structure two ends are stuck on guide rail card tooth, by locked for the position of electromagnetic structure on electromagnetic structure guide rail; When being energized to electromagnetic structure, electromagnetic structure top magnetic conductive board and end magnetic conductive board will produce magnetic, kayser magnetic conduction sheet one end will be drawn onto on magnetic conductive board at the bottom of electromagnetic structure, by boring the transmission of tooth, latching structure is around latching structure axis of rotation angle, and latching structure two ends and guide rail card tooth are thrown off, and now the magnetic of magnetic conductive board at the bottom of electromagnetic structure and the magnetic of power unit magnetic bottom are had an effect, or attract or repel, reach compression and the stretching of liquid towards dielectric resilient container.
Performance element shown in Figure 15-18 is the easy technique of painting, represents performance element.The full graphics of performance element represents as shown in Figure 1, shown in Figure 11, above-mentioned performance element comprises performance element import, rotatable engagement mechanism, pressure-bearing elastic container, interior nested structure, bears spring, jacket structure, inner sleeve structure roof, inner sleeve structure of guide-rail groove, jacket structure base plate, jacket structure guide rail, and wherein performance element import is arranged on the downside of pressure-bearing elastic container; Inner sleeve structure installment is inner at jacket structure, and as shown in figure 13, interior nested structure has inner sleeve structure of guide-rail groove, as shown in figure 14, jacket structure inside has jacket structure guide rail, and inner sleeve structure of guide-rail groove and jacket structure guide rail coordinate; Inner sleeve structure roof is arranged on interior nested structure upper end, and jacket structure base plate is arranged on jacket structure lower end; As shown in figure 12, bear spring one end and be arranged on the downside of inner sleeve structure roof, the other end is arranged on the upside of jacket structure base plate, and is coated on interior nested structure and jacket structure; Pressure-bearing elastic container is arranged on the upside of inner sleeve structure roof and jacket structure baseplate underside; As shown in figure 18, performance element two ends are all provided with rotatable engagement structure, and are connected by straight pin with corresponding performance element journal stirrup.
Liquid medium in the present invention in performance element is in the space outside pressure-bearing elastic container and inner-outer sleeve structure, and under the effect of power unit, the liquid medium effective volume in performance element increases or reduces, and will increase or shorten performance element.Pressure-bearing elastic housing has the character of variable volume, changes volume, laterally have the ability bearing transverse pressure by increasing length or reducing length.The nested designs effect of interior nested structure and jacket structure is to play an effect of stablizing and leading to performance element, there will not be teeter when ensureing that performance element length increases.Bear spring and be in extended state all the time, play and the effect suppressed is increased to the length of performance element, and liquid medium can only play the effect increasing performance element length substantially when volume increases, so pressure-bearing spring and liquid medium interact, and reach the object to performance element cut to lengthen.
As shown in Figure 10, above-mentioned electromagnetic structure top magnetic conductive board is also provided with kayser magnetic conduction sheet spring retainer body, kayser magnetic conduction sheet spring one end is arranged on the downside of kayser magnetic conduction sheet, and the other end can be arranged on kayser magnetic conduction sheet spring retainer body.Kayser magnetic conduction sheet spring retainer body plays the object preventing the teeter of kayser magnetic conduction sheet spring.
As shown in Figure 10, above-mentioned kayser magnetic conduction sheet spring retainer body is cylinder, and limit body diameter is less than kayser magnetic conduction sheet spring diameter.Ensure that kayser magnetic conduction sheet spring can be placed on the external side of kayser magnetic conduction sheet spring retainer.
Above-mentioned power unit magnetic bottom is permanent magnet.
At the bottom of above-mentioned electromagnetic structure top magnetic conductive board, electromagnetic structure, magnetic conductive board, electromagnetic structure Effects of Central Magnetic Conductor, kayser magnetic conduction sheet are soft magnetic bodies.Soft magnetic bodies has energizing magnetic, the feature that power-off magnetic disappears, and meets the requirement to electromagnetic structure effect in the present invention.
In sum, power unit is connected by the performance element of liquid medium conduit and mechanical finger three joints, occur to attract and repel by the magnetic of the electromagnetic structure in power unit and the magnetic of power unit magnetic bottom, produce pressure and the suction of liquid towards medium, reach the object controlling performance element length and play the change of driving device hands movement; Each mechanical finger has three performance elements and uses same power unit to drive in addition, and the pressure of the liquid medium so in performance element is identical, can ensure that manipulator better can adapt to the profile of captured object like this; The present invention utilizes conduit to transmit pressure, facilitates the layout of performance element, greatly will simplify the structure of manipulator, have good practical prospect.
Claims (5)
1. based on a manipulator for Electromagnetic Drive, it is characterized in that: it comprises the 3rd pair and refers to, second pair refers to, first pair refers to, palm plate, main finger, power unit combination fixed head, power unit combines, arm sleeve, power unit combination protecgulum, power unit combination shell, power unit liptinite, power unit combination bonnet, first pair refers to swinging block, main finger swinging block supports, main finger performance element supports, main finger swinging block, performance element journal stirrup, performance element, power unit, power unit exports, wherein the second pair refers to refer to be fixedly mounted on palm plate side successively with the 3rd pair, first pair refers to that swinging block is fixedly mounted on the first pair and refers to, first pair refers to that swinging block is arranged on palm plate by straight pin, main finger swinging block is fixedly mounted on main finger, main finger swinging block supports and is arranged on palm plate, main finger swinging block is arranged on main finger swinging block by straight pin and supports, main finger performance element supports and is arranged on palm plate, main finger performance element supports and main finger side is all provided with performance element journal stirrup, and the first pair refers to that side and the second pair refer to that side is all installed by performance element journal stirrup, power unit combination fixed head is arranged on palm plate, power unit combination shell is arranged on power unit combination fixed head, power unit combination bonnet is arranged on power unit combination outer casing back face, power unit liptinite is arranged on power unit combination bonnet center position, 6 power units circumferentially distribution mode are arranged in the torus space between power unit combination shell and power unit liptinite, and power unit combination protecgulum is arranged on power unit combination case nose face, arm sleeve is arranged on power unit combination bonnet,
Above-mentioned first pair refers to, second pair refers to, the structure that 3rd pair refers to is identical, wherein any one pair is referred to, it comprises mechanical finger the 4th support, mechanical finger the 3rd support, mechanical finger second support, mechanical finger first support, performance element supports, mechanical finger support limiting plate, mechanical finger the 3rd back-moving spring, mechanical finger second back-moving spring, mechanical finger first back-moving spring, mechanical finger back-moving spring supports, performance element journal stirrup, power unit, performance element, liquid medium conduit, wherein mechanical finger second support is arranged on mechanical finger first support by straight pin, mechanical finger the 3rd support is arranged on mechanical finger second support by straight pin, mechanical finger the 4th support is arranged on mechanical finger the 3rd support by straight pin, mechanical finger second support two ends and mechanical finger the 3rd support two ends are respectively provided with two performance elements respectively and support, mechanical finger first support and mechanical finger the 4th support are respectively provided with a performance element support, and six roots of sensation performance element supports the mechanical finger being installed in support and bends side, two performance elements between adjacent mechanical finger support support and are provided with a performance element, three mechanical finger support limiting plates are arranged on mechanical finger first stent ends, mechanical finger second stent ends, mechanical finger the 3rd stent ends respectively, and three mechanical finger back-moving springs support and are arranged on respectively on mechanical finger the 4th support, on mechanical finger the 3rd support and close mechanical finger second support place, mechanical finger second support and close mechanical finger first support place, mechanical finger first back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger first support, and the other end mechanical finger back-moving spring be arranged on mechanical finger second support supports, mechanical finger second back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger second support, and the other end mechanical finger back-moving spring be arranged on mechanical finger the 3rd support supports, mechanical finger the 3rd back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger the 3rd support, and the other end mechanical finger back-moving spring be arranged on mechanical finger the 4th support supports, liquid medium tube at one end connects power unit, and liquid medium conduit connects three performance elements along in journey, above-mentioned mechanical finger second back-moving spring coefficient of elasticity, mechanical finger the 3rd back-moving spring coefficient of elasticity, mechanical finger first back-moving spring coefficient of elasticity increase 2 times successively, six roots of sensation performance element is all provided with performance element journal stirrup on supporting,
Above-mentioned second pair refers to, the 3rd pair refers to all be fixed on palm plate by respective mechanical finger first support, and the first pair refers to that swinging block is arranged on mechanical finger first support that the first pair refers to;
Above-mentioned power unit comprises power unit shell, power unit top cover, power unit magnetic bottom, guide rail card tooth, electromagnetic structure guide rail, latching structure, latching structure cone tooth, kayser magnetic conduction sheet cone tooth, kayser magnetic conduction sheet rotating shaft support, the rotating shaft of kayser magnetic conduction sheet, kayser magnetic conduction sheet spring, kayser magnetic conduction sheet, liquid medium elastic container, magnetic conductive board at the bottom of electromagnetic structure, hot-wire coil, electromagnetic structure top magnetic conductive board, latching structure support chip, latching structure rotating shaft, power unit exports, electromagnetic structure draw-in groove, electromagnetic structure Effects of Central Magnetic Conductor, kayser magnetic conduction sheet spring retainer body, wherein liquid medium elastic container is arranged on power unit magnetic bottom, power unit shell is arranged on power unit magnetic bottom, two electromagnetic structure guide rail symmetries are arranged on power unit shell, each electromagnetic structure guide rail is provided with guide rail card tooth, electromagnetic structure Effects of Central Magnetic Conductor one end is fixed on the magnetic conductive board of electromagnetic structure top, and the other end is fixed on magnetic conductive board at the bottom of electromagnetic structure, and hot-wire coil is wrapped on electromagnetic structure Effects of Central Magnetic Conductor, magnetic conductive board at the bottom of electromagnetic structure top magnetic conductive board and electromagnetic structure is corresponding up and down respectively has two electromagnetic structure draw-in grooves, and electromagnetic structure draw-in groove coordinates with electromagnetic structure guide rail, latching structure rotating shaft is arranged on the upside of the magnetic conductive board of electromagnetic structure top by latching structure support chip, and latching structure is arranged in latching structure rotating shaft, and latching structure two ends coordinate with guide rail card tooth, latching structure cone tooth is arranged in latching structure rotating shaft, the rotating shaft of kayser magnetic conduction sheet is arranged on the magnetic conductive board of electromagnetic structure top by kayser magnetic conduction sheet rotating shaft support, kayser magnetic conduction sheet cone tooth is arranged in the rotating shaft of kayser magnetic conduction sheet, kayser magnetic conduction sheet one end is arranged in the rotating shaft of kayser magnetic conduction sheet, kayser magnetic conduction sheet spring one end is arranged on the downside of kayser magnetic conduction sheet, and the other end is arranged on the magnetic conductive board of electromagnetic structure top, power unit top cover is arranged on power unit shell upper end, power unit magnetic bottom has power unit outlet, with side bonds on liquid medium elastic container on the downside of magnetic conductive board at the bottom of electromagnetic structure,
Above-mentioned performance element comprises performance element import, rotatable engagement structure, pressure-bearing elastic container, interior nested structure, bears spring, jacket structure, inner sleeve structure roof, inner sleeve structure of guide-rail groove, jacket structure base plate, jacket structure guide rail, and wherein performance element import is arranged on the downside of pressure-bearing elastic container; Inner sleeve structure installment is inner at jacket structure, and interior nested structure has inner sleeve structure of guide-rail groove, jacket structure inside has jacket structure guide rail, and inner sleeve structure of guide-rail groove and jacket structure guide rail coordinate; Inner sleeve structure roof is arranged on interior nested structure upper end, and jacket structure base plate is arranged on jacket structure lower end; Bearing spring one end is arranged on the downside of inner sleeve structure roof, and the other end is arranged on the upside of jacket structure base plate, and is coated on interior nested structure and jacket structure; Pressure-bearing elastic container is arranged on the upside of inner sleeve structure roof and jacket structure baseplate underside; Performance element two ends are all provided with rotatable engagement structure, and are connected by straight pin with corresponding performance element journal stirrup.
2. a kind of manipulator based on Electromagnetic Drive according to claim 1, it is characterized in that: above-mentioned electromagnetic structure top magnetic conductive board is also provided with kayser magnetic conduction sheet spring retainer body, kayser magnetic conduction sheet spring one end is arranged on the downside of kayser magnetic conduction sheet, and the other end can be arranged on kayser magnetic conduction sheet spring retainer body.
3. a kind of manipulator based on Electromagnetic Drive according to claim 1,2, is characterized in that: above-mentioned kayser magnetic conduction sheet spring retainer body is cylinder, and limit body diameter is less than kayser magnetic conduction sheet spring diameter.
4. a kind of manipulator based on Electromagnetic Drive according to claim 1, is characterized in that: above-mentioned power unit magnetic bottom is permanent magnet.
5. a kind of manipulator based on Electromagnetic Drive according to claim 1, is characterized in that: at the bottom of above-mentioned electromagnetic structure top magnetic conductive board, electromagnetic structure, magnetic conductive board, electromagnetic structure Effects of Central Magnetic Conductor, kayser magnetic conduction sheet are soft magnetic bodies.
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| CN201510980180.9A CN105397824B (en) | 2015-12-24 | 2015-12-24 | A kind of manipulator based on electromagnetic drive |
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| CN201510980180.9A CN105397824B (en) | 2015-12-24 | 2015-12-24 | A kind of manipulator based on electromagnetic drive |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107214686A (en) * | 2017-06-22 | 2017-09-29 | 上海交通大学 | Hand exoskeleton system based on electromagnetic drive |
| CN109227587A (en) * | 2018-11-28 | 2019-01-18 | 董月阳 | A kind of bionic mechanical hand |
| CN110370305A (en) * | 2019-07-22 | 2019-10-25 | 珠海格力智能装备有限公司 | Mechanical finger and mechanical arm |
| CN110524533A (en) * | 2019-09-05 | 2019-12-03 | 华北电力大学 | A kind of device and method of series-parallel relay substitution biological muscles function |
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| CN105397824B (en) | 2017-07-18 |
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