CN105856185A - Piston-drive magnetic flow flexible robot hand device - Google Patents
Piston-drive magnetic flow flexible robot hand device Download PDFInfo
- Publication number
- CN105856185A CN105856185A CN201610339256.4A CN201610339256A CN105856185A CN 105856185 A CN105856185 A CN 105856185A CN 201610339256 A CN201610339256 A CN 201610339256A CN 105856185 A CN105856185 A CN 105856185A
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- China
- Prior art keywords
- piston
- elastic film
- driver
- magnetic flow
- finger
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
Abstract
The invention discloses a piston-drive magnetic flow flexible robot hand device, and belongs to the technical field of robot hands. The magnetic flow flexible robot hand device comprises a base, an elastic film, a piston, actuators, transmission mechanisms, a film drawing piece, an electromagnet, springs and magneto-rheological liquid. According to the device, multi-dimensional self-adaptation and active and passive mixed grabbing functions are achieved, and the piston-drive magnetic flow flexible robot hand device can automatically adapt to grabbing of objects of different shapes and sizes. The piston-drive magnetic flow flexible robot hand device can adapt to the objects in many directions, a multi-dimensional self-adaptation effect is obtained, and the grabbing stability is high. The piston-drive magnetic flow flexible robot hand device can grab the objects in a passive manner, can actively deform to grab the objects, can adapt to grabbing of reverse acting face objects and can also adapt to grabbing of objects without reverse acting faces, and the grabbing range is wide. The magneto-rheological liquid is solidified through an electromagnetic field generated through electrification of the electromagnet, and the grabbing effect is improved. The piston-drive magnetic flow flexible robot hand device is simple in structure and easy to control.
Description
Technical field
The invention belongs to robot technical field, drive magnetic current flexible machine hand apparatus particularly to a kind of piston
Structure designs.
Background technology
Robot is the important terminal that robot manipulation uses, robot utilize its paw capture object or handle (as
Mobile, rotation) object.The hands of robot can imitate the operating principle of staff and manufacture, the robot of this imitation staff
Having been developed that typically have multiple finger, each finger has multiple joint, and this hands is also referred to as humanoid robot hand
Or multifingered robot hands.
Multifingered robot hands is divided into again Dextrous Hand and the big class of drive lacking hands two, and two classes are not the most independent, and the former refers to tool
Having more than 3 fingers and the multifinger hand of more than 9 degree of freedom, the latter refers to that driver number on hand is less than joint freedom degrees number
Mesh.
Dextrous Hand is the most advanced, and integrated level is the highest, and sensing and control system are complicated, have the joint that more independence controls
Degree of freedom, it is possible to the dexterous multiple joint of control, completes different gesture motion, it is possible to capture object on one's own initiative.This respect portion
Typical Representative is divided to include: the Robonaut R2 hands of NASA's exploitation, three finger fast machine people of Tokyo Univ Japan's exploitation
Hands, Harbin Institute of Technology of China and the HIT-DLR-II hands of German Aerospace Center (DLR) joint research and development, Shadow company of Britain
The Shadow hands developed ....But, Dextrous Hand also brings the most loaded down with trivial details calculating, requirement of real-time control in crawl control
Height, manufactures and maintenance cost is expensive.
Drive lacking hands, between general industry clamper and Dextrous Hand, is a kind of intelligent machine, crawl uses machinery
Mode reach the joint freedom degrees that less driver drives is more, and can automatically adapt to capture difformity and size
Object, sense and the demand that controls be few, obtained more research in recent years.Some drive lacking handss have been had to be developed
Come, such as Laval University, Canada, Robotiq company, Prensilia company of Italy, Holland Delft university, Harbin work
Sparetime university, BJ University of Aeronautics & Astronautics, Shanghai Communications University, the Central China University of Science and Technology and Hefei Institute Of Intelligent Machines Chinese Academy Of Sciences etc.
Mechanism has all researched and developed under-actuated robot hand.But drive lacking hands remains the contact point of multifinger hand, finger and object
Being confined to each segment surface, due to finger limited amount, the segment limited amount on each finger, therefore, it is impossible to accomplish more
Contact point, it is impossible to reaching the self adaptation of more direction, the adaptivity and the scope of crawl that capture object are limited by bigger,
The stability captured need to improve further.
Additionally, in terms of outward appearance does not imitate the particular kind of machine staff of staff, substantial amounts of commercial Application use sucker, Magnet or
The modes such as Electrostatic Absorption capture and operate object.Cornell Univ USA have developed a kind of universal gripper (U.S. patent Nos
US20130106127A1), in using, the deformable elastic thin film of grand amount small sized particles material and gas removes passive adaptation thing
Shape, and utilize the mode of negative pressure to bleed, a large amount of granular materialss are detained wherein generation and block hardening, reach to capture difformity
The purpose of size objects.This clamper is disadvantageous in that: the counteracting force that external environment 1) must be relied on to give object comes
Reach the deformation of elastic film, it is impossible to pickup does not has the object (Fructus Mali pumilae played the most in the air) of reaction surface, this clamping
Device is difficult to capture.2) have employed substantial amounts of granular materials, the number of granular materials affects the effect of crawl, the mill of granular materials
Damage is changed after needing certain time.3) using the mode bled, need the source of the gas of relatively high power, noise is big, energy consumption is high, whole system
Unite bulky, will have one period bled, almost all of gas is all exhausted just calculation crawl and completes, capture the quickest.
Summary of the invention
The invention aims to overcome the weak point of prior art, propose a kind of piston and drive magnetic current flexible machine
Hand apparatus, this device is used for capturing object, can automatically adapt to the shape of object, size；It is capable of multiple directions to thing
The adaptation of body, it is thus achieved that multidimensional self adaptation effect, grasp stability is high；This device can use passive mode deformation to capture object,
Can also go to capture object by active deformation, be both adapted to the crawl of reaction surface object, it is also possible to adapt to low-disturbance face
The crawl of object, capture scope big；This apparatus structure is simple, controls easily.
The present invention adopts the following technical scheme that
A kind of piston of the present invention drives magnetic current flexible machine hand apparatus, it is characterised in that: include pedestal, first
Driver, drive mechanism, piston, membrane part, the first spring part, electric magnet, elastic film and magnetic flow liquid；Described pedestal includes base
Cover for seat cylinder；Described first driver is affixed with pedestal, and the described output shaft of the first driver is connected with the input of drive mechanism,
The outfan of described drive mechanism is connected with piston, and described piston slides and is embedded in base socket sleeve；The two of described first spring part
End connects one end and the piston of membrane part respectively；The other end of described membrane part is connected with elastic film；Described elastic film is
The hollow structure that deformable material makes, exports including at least one, and the outlet of described elastic film seals phase with base socket sleeve
Even；Described magnetic flow liquid is sealed in the sealing space between elastic film, base socket sleeve and piston three；Described membrane part is adopted
With the mixing of one or more in connecting rod, band, chain or tendon rope；Described electric magnet is arranged on pedestal.
Piston of the present invention drives magnetic current flexible machine hand apparatus, it is characterised in that: the thickness of described elastic film
Spending uneven, the elastic film in top center region is relatively thin, and the elastic film of surrounding is thicker.
Piston of the present invention drives magnetic current flexible machine hand apparatus, it is characterised in that: also include at least one hands
Referring to, described finger includes finger base, N number of segment, N number of joint shaft, at least one second driver and at least one the second biography
Motivation structure, described finger base is affixed with described pedestal, and described first segment passes through first joint shaft and finger base phase
Even, described i-th segment is connected by i-th joint shaft and the i-th-1 segment, and described second driver passes through the second driver
Structure is connected with each joint shaft；Described finger is positioned at around elastic film, and wherein, N is natural number, and i is 2,3 ... N.
Piston of the present invention drives magnetic current flexible machine hand apparatus, it is characterised in that: one end of described membrane part
It is connected with the central area of elastic film.
Piston of the present invention drives magnetic current flexible machine hand apparatus, it is characterised in that: described first driver uses
Motor, cylinder or hydraulic cylinder.
Piston of the present invention drives magnetic current flexible machine hand apparatus, it is characterised in that: described second driver is adopted
With motor, cylinder or hydraulic cylinder.
Apparatus of the present invention utilize driver, drive mechanism, magnetic flow liquid, elastic film, piston, electric magnet, membrane part and
Spring part etc. comprehensively achieves multidimensional self adaptation and main passive hybrid crawl function, can automatically adapt to capture difformity, chi
Very little object；Being capable of the multiple directions adaptation to object, it is thus achieved that multidimensional self adaptation effect, grasp stability is high；This device
Passive mode deformation can be used to capture object, it is also possible to active deformation goes to capture object, has both been adapted to reaction surface thing
The crawl of body, it is also possible to adapt to the crawl of the object in low-disturbance face, captures scope big；The electromagnetic field that electric magnet energising produces makes
Obtain magnetic flow liquid solidification, enhance grasping effect.This apparatus structure is simple, controls easily.
Accompanying drawing explanation
Fig. 1 is the sectional view that the piston that the present invention provides drives a kind of embodiment of magnetic current flexible machine hand apparatus.
Fig. 2 is the stereo appearance figure of embodiment illustrated in fig. 1.
Fig. 3 is the front appearance figure of embodiment illustrated in fig. 1.
Fig. 4 is the sectional view (pedestal and the first segment partial cross) of the finger of embodiment illustrated in fig. 1.
Fig. 5 is the sectional view during embodiment illustrated in fig. 1 crawl object first stage, now, uses piston to move downward, logical
Crossing membrane part pulls elastic film deformation to capture object.
Fig. 6 is sectional view during embodiment illustrated in fig. 1 crawl object second stage, now, does not transports downwards only with piston
Dynamic, pull elastic film deformation to capture object by membrane part, but also utilize the bending of finger to capture object.
In Fig. 1 to Fig. 6:
1-pedestal, 11-base socket sleeve, 12-pedestal outer cover plate, 13-pedestal skeleton,
2-the first driver (the first motor), 3-the first drive mechanism, 31-the first decelerator,
32-the first belt wheel, 33-the first transmission band, 34-the second belt wheel, 35-nut,
36-leading screw, 4-piston, 41-piston packing, 5-membrane part,
51-connector, 52-the first spring part, 6-finger, 61-finger base,
62-the first segment, 63-the second segment, 64-the first joint shaft, 65-second joint axle,
66-the second driver (the second motor), 661-the second decelerator, 662-the 3rd belt wheel, 663-the 4th belt wheel,
664-the second transmission band, 67-the 3rd transmission band, 671-the 5th belt wheel, 672-the 6th belt wheel,
673-transition axis, 674-transition wheel, 68-the second spring part, 7-elastic film,
8-magnetic flow liquid, 83-electric magnet, 9-object.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment further describes the concrete structure of the present invention, operation principle and worked
Journey.
The piston of present invention design drives the first embodiment of magnetic current flexible machine hand apparatus, as shown in Figure 1, Figure 2, Fig. 3
Shown in Fig. 4, including pedestal the 1, first driver 2, drive mechanism 3, piston 4, membrane part the 5, first spring part 52, electric magnet 83,
Elastic film 7 and magnetic flow liquid 8；Described pedestal 1 includes base socket sleeve 11；Described first driver 2 is affixed with pedestal 1, described
The output shaft of the first driver 2 is connected with the input of drive mechanism 3, and the outfan of described drive mechanism 3 is connected with piston 4,
Described piston 4 slides and is embedded in base socket sleeve 11；The two ends of described first spring part 52 connect one end and the work of membrane part 5 respectively
Plug 4；The other end of described membrane part 5 is connected with elastic film 7；The hollow knot that described elastic film 7 makes for deformable material
Structure, exports including at least one, and the outlet of described elastic film 7 seals with base socket sleeve 11 and is connected；Described magnetic flow liquid 8 seals
In sealing space between elastic film 7, base socket sleeve 11 and piston 4 three；Described membrane part 5 uses connecting rod, band, chain
Or the mixing of one or more in tendon rope, in the present embodiment, described membrane part 5 uses tendon rope；Described electric magnet is arranged on base
On seat.
Described pedestal 1 also includes pedestal outer cover plate 12 and pedestal skeleton 13.Described pedestal outer cover plate 12 and pedestal skeleton 13
Affixed；The exit seal of elastic film 7 is connected on base socket sleeve 11 by described pedestal outer cover plate 12, the hollow of elastic film 7
Cavity is connected with base socket sleeve 11.Described drive mechanism 3 is arranged in pedestal skeleton 13.
In another kind of embodiment, described elastic film 7 in uneven thickness, the elastic film 7 in top center region is relatively thin,
The elastic film 7 of surrounding is thicker.
Piston of the present invention drives magnetic current flexible machine hand apparatus, it is characterised in that: also include at least one hands
Referring to, described finger includes finger base, N number of segment, N number of joint shaft, at least one second driver and at least one the second biography
Motivation structure, described finger base is affixed with described pedestal, and described first segment is connected with pedestal by first joint shaft, institute
StateiIndividual segment is connected by i-th joint shaft and the i-th-1 segment, described second driver by the second drive mechanism with
Each joint shaft is connected；Described finger is positioned at around elastic film, and wherein, N is natural number, and i is 2,3 ... N.
In the present embodiment, taking N is 2.Therefore, the present embodiment also includes that three fingers 6, described finger 6 include finger base
61, first segment the 62, second segment the 63, first joint shaft 64, second joint axle the 65, second driver 66 and the second driver
Structure, described finger base 61 is affixed with described pedestal 1, and described first segment 62 is by the first joint shaft 64 and finger base 61 phase
Even, described second segment 63 is connected with the first segment 62 by second joint axle 65, and described second driver 66 is by the second biography
Motivation structure is connected with the first joint shaft 64, second joint axle 65 respectively；Described finger 6 is positioned at elastic film 7 around, three institutes
State finger 6 and be distributed on the surrounding of elastic film 7.
In the present embodiment, one end of described membrane part 5 is connected with the central area of elastic film 7.
Piston of the present invention drives magnetic current flexible machine hand apparatus, it is characterised in that: described first driver is adopted
With motor, cylinder or hydraulic cylinder.In the present embodiment, described first driver 2 uses motor.
Piston of the present invention drives magnetic current flexible machine hand apparatus, it is characterised in that: described second driver is adopted
With motor, cylinder or hydraulic cylinder.In the present embodiment, described second driver 66 uses motor.
In the present embodiment, described first drive mechanism 3 include first decelerator the 31, first belt wheel the 32, second belt wheel 34,
One transmission band 33, leading screw 36 and nut 35；The output shaft of described first driver 2 and the power shaft of the first decelerator 31 are connected,
Described first belt wheel 32 is fixed on the output shaft of the first decelerator 31, and described second belt wheel 34 is affixed with nut 35, and described
One transmission band 33 connects the first belt wheel 32 and the second belt wheel 34, described first belt wheel the 32, second belt wheel 34 and the first transmission band 33
Three cooperatively forms belt wheel transmission relation；Described nut 35 is connected with leading screw 36, and described nut 35 cooperatively forms spiral shell with leading screw 36
Stricture of vagina drive connection；Described leading screw 36 is affixed with piston 4.
In the present embodiment, described second drive mechanism include the second decelerator the 661, the 3rd belt wheel the 662, the 4th belt wheel 663,
Second transmission band the 664, the 5th belt wheel the 671, the 6th belt wheel the 672, the 3rd transmission band 67, transition axis 673, transition wheel 674 and second
Spring part 68；The output shaft of described second driver 66 and the power shaft of the second decelerator 661 are connected, and described 3rd belt wheel 662 overlaps
Gu on the output shaft of the second decelerator 661, described 4th belt wheel 663 is fixed on the first joint shaft 64, described second transmission
Band 664 connection the 3rd belt wheel 662 and the 4th belt wheel 663, described 3rd belt wheel the 662, the 4th belt wheel 663 and the second transmission band 664
Three cooperatively forms belt wheel transmission relation；Described first segment is actively socketed on the first joint shaft；Described 5th belt wheel 671 overlaps
Gu on the first joint shaft 64, described 6th belt wheel 672 is actively socketed on second joint axle 65, described 3rd transmission band 67 is even
Meet the 5th belt wheel 671 and the 6th belt wheel 672, described 5th belt wheel the 671, the 6th belt wheel 672 and the 3rd transmission band 67 three to coordinate
Form belt wheel transmission relation；The two ends of described second spring part 68 connect the first segment 62 and the second segment 63 respectively, and described second
Segment 63 is affixed with the 6th belt wheel 672；Described transition axis 673 is set in the first segment 62, and described transition wheel 674 was socketed in
Crossing on axle 673, described 3rd transmission band 67 coils through transition wheel 674.
Below in conjunction with Fig. 5 and Fig. 6, introduce the operation principle of apparatus of the present invention, as follows:
The present embodiment original state, as in figure 2 it is shown, the first driver 2 rotates, drives piston 4 by the first drive mechanism 3
Moving downward, pull membrane part 5 to move downward by the first spring part 52, elastic film 7 is pulled deformation, center by membrane part 5
Territory deforms downwards, forms a structure caved inward, and now the present embodiment is close to object 9 under the motion of robot arms,
Object 9, close to time near the elastic film 7 of sunk structure, further pulls membrane part 5, allows elastic film 7 deform bigger,
Now the elastic film 7 of surrounding is by the surrounding of contact object 9, owing to magnetic flow liquid 8 has good mobility, therefore, to not
Similar shape has, with the object 9 of size, well adapting to property, and magnetic flow liquid 8 is sealed in elastic film 7, such that it is able to realize grabbing
Take.
When object 9 is heavier, the second driver 66 can be started, be driven each pass of each finger 6 by the second drive mechanism
Bent-segment, reaches many fingers 6 by elastic film 7, presses to object 9 by magnetic flow liquid 8, reach the crawl of more great, real
Show preferable active to capture.
The present embodiment can also use the hybrid mode of part passive (or beginning Passive deformation, actively crawl afterwards) to grab
Taking object 9, when mechanical arm handles the present embodiment near object 9, object 9 contact resilient thin film 7 also allows elastic film 7 become
Shape, magnetic flow liquid 8 has mobility, can well adapt to the shape and size of object 9, after elastic film 7 has deformed,
Now or pull membrane part 5, or bend each finger 6 joint, all can realize preferably capturing.
After capturing object, then being energized to electric magnet 83, produce electromagnetic field around, electromagnetic field passes in elastic film 7
Magnetic flow liquid 8 so that magnetic flow liquid 8 solidifies, thus enhances grasping effect.During release object 9, by electric magnet 83 power-off,
Magnetic field disappears, and magnetic flow liquid 8 moment becomes liquid, and driver 2 inverts, and makes the first membrane part 5, second by drive mechanism 3
Membrane part 6 no longer pulls elastic film 7, and magnetic flow liquid 8 is replied under the resilience force effect of elastic film 7, and magnetic flow liquid 8 presents
Mobility, no longer applies grasping force, thus completes to discharge object 9 object 9.
Apparatus of the present invention utilize driver, drive mechanism, magnetic flow liquid, elastic film, piston, electric magnet, membrane part and
Spring part etc. comprehensively achieves multidimensional self adaptation and main passive hybrid crawl function, can automatically adapt to capture difformity, chi
Very little object；Being capable of the multiple directions adaptation to object, it is thus achieved that multidimensional self adaptation effect, grasp stability is high；This device
Passive mode deformation can be used to capture object, it is also possible to active deformation goes to capture object, has both been adapted to reaction surface thing
The crawl of body, it is also possible to adapt to the crawl of the object in low-disturbance face, captures scope big；The electromagnetic field that electric magnet energising produces makes
Obtain magnetic flow liquid solidification, enhance grasping effect.This apparatus structure is simple, controls easily.
Claims (6)
1. a piston drives magnetic current flexible machine hand apparatus, it is characterised in that: include pedestal, the first driver, driver
Structure, piston, membrane part, the first spring part, electric magnet, elastic film and magnetic flow liquid；Described pedestal includes base socket sleeve；Described
One driver is affixed with pedestal, and the described output shaft of the first driver is connected with the input of drive mechanism, described drive mechanism
Outfan be connected with piston, described piston slide be embedded in base socket sleeve；The two ends of described first spring part connect respectively draws
One end of membrane and piston；The other end of described membrane part is connected with elastic film；Described elastic film is deformable material system
The hollow structure made, exports including at least one, and the outlet of described elastic film seals with base socket sleeve and is connected；Described magnetorheological
In the liquid-tight sealing space being enclosed between elastic film, base socket sleeve and piston three；Described membrane part uses connecting rod, band, chain
The mixing of one or more in bar or tendon rope；Described electric magnet is arranged on pedestal.
2. piston as claimed in claim 1 drives magnetic current flexible machine hand apparatus, it is characterised in that: described elastic film
In uneven thickness, the elastic film in top center region is relatively thin, and the elastic film of surrounding is thicker.
3. piston as claimed in claim 1 or 2 drives magnetic current flexible machine hand apparatus, it is characterised in that: also include at least
One finger, described finger include finger base, N number of segment, N number of joint shaft, at least one second driver and at least one
Second drive mechanism, described finger base is affixed with described pedestal, and described first segment passes through first joint shaft and finger
Pedestal is connected, and described i-th segment is connected by i-th joint shaft and the i-th-1 segment, and described second driver passes through second
Drive mechanism is connected with each joint shaft；Described finger is positioned at around elastic film, and wherein, N is natural number, and i is 2,
3,……N。
4. piston as claimed in claim 1 drives magnetic current flexible machine hand apparatus, it is characterised in that: the one of described membrane part
End is connected with the central area of elastic film.
5. piston as claimed in claim 1 drives magnetic current flexible machine hand apparatus, it is characterised in that: described first driver
Use motor, cylinder or hydraulic cylinder.
6. piston as claimed in claim 3 drives magnetic current flexible machine hand apparatus, it is characterised in that: described second driver
Use motor, cylinder or hydraulic cylinder.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339256.4A CN105856185A (en) | 2016-05-19 | 2016-05-19 | Piston-drive magnetic flow flexible robot hand device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610339256.4A CN105856185A (en) | 2016-05-19 | 2016-05-19 | Piston-drive magnetic flow flexible robot hand device |
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| CN201610339256.4A Pending CN105856185A (en) | 2016-05-19 | 2016-05-19 | Piston-drive magnetic flow flexible robot hand device |
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| CN106584491A (en) * | 2017-01-03 | 2017-04-26 | 浙江工业大学 | Mechanical gripper based on magnetorheological effect |
| CN107351114A (en) * | 2017-08-30 | 2017-11-17 | 浙江工业大学 | Multiple degrees of freedom flexible electromagnetism pawl |
| CN107457797A (en) * | 2017-06-08 | 2017-12-12 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Porous twolayer fluid adaptive robot arm device |
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