CN106113068A - Magnetic flow liquid bar bunch self adaptation arm device - Google Patents
Magnetic flow liquid bar bunch self adaptation arm device Download PDFInfo
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- CN106113068A CN106113068A CN201610378109.8A CN201610378109A CN106113068A CN 106113068 A CN106113068 A CN 106113068A CN 201610378109 A CN201610378109 A CN 201610378109A CN 106113068 A CN106113068 A CN 106113068A
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- pusher
- flow liquid
- magnetic flow
- pedestal
- elastic film
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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
- B25J15/0019—End effectors other than grippers
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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
- B25J15/0076—Gripping heads and other end effectors with means, e.g. Pelletier elements, for freezing a fluid interface between the gripping head and an object to be gripped
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
Magnetic flow liquid bar bunch self adaptation arm device, belongs to robot technical field, including pedestal, multiple pusher, elastic film, coil, magnetic flow liquid and multiple spring part.This device captures object for robot, it is achieved that self-adapting grasping function.When device contact object, freely sliding up and down of multiple pusher is utilized to reach to wrap up different size and the self adaptation effect of shaped objects；Utilizing coil electricity to produce magnetic field makes magnetic flow liquid solidify, and makes multiple pusher end gather to center curvature, and multiple spot multidirectional applying grasping force can realize the stable grasp to object.This apparatus structure is simple, and good reliability is applied widely.
Description
Technical field
The invention belongs to robot technical field, particularly to the structure of a kind of magnetic flow liquid bar bunch self adaptation arm device
Design.
Background technology
Robot has been widely used in robot field, is used for connection interim with object for robot and fixes
Getting up, and can discharge in due course, the former achieves crawl object, and the latter achieves relieving object.General
Robot is made into has the part of two relative motioies to reduce cost, in order to simplest realization captures and releases
Playing function.Also there are many structures imitating staff, are designed as having on more finger and finger and there is some joints, but that
Sample can bring the complexity of mechanical system, sensor-based system, control system and control algolithm and high cost.Partial robotic's hands
Having adaptability, i.e. not knowing object to be captured before crawl is which kind of shape and size, the most not to crawl in crawl
Object carry out sensing detection, but but can capture adaptively, this for body form, the automatic conformability of size
Robot is made not increase sensing and demand for control while realizing the most extensively capturing different objects.
Peter B.Scott is at document (Peter B.Scott, " The ' Omnigripper ': a form of robot
Universal gripper ", Robotica, vol.3:pp 153-158,1985) in describe a kind of machinery passive type and adapt to
The universal gripper Omnigripper of body form.This clamper has two groups of bar gatherings and closes, and often group bar gathering is closed and had multiple phase
The most parallel stock, these stocks being promoted by object to be grabbed and freely sliding up and down have reached to adapt to the purpose of body form,
Draw close in conjunction with two groups of bars bunch of driver drives or leave, it is achieved the grasping to object.For example, lean on when the end of robot
When the object being placed on certain seating surface (such as desktop), object extruding stock makes it slide in pedestal, due to stock number
Measuring more, and stock is relatively thin (diameter is less), different stocks touches different object table cake, and each stock is in palm
Sliding distance is different, and this distance is relevant with the local shape of object；Afterwards, two groups of bar gatherings that a first from left is right are closed and are closed up folder again
Handle object, utilize stock to clamp object from side, reach to capture purpose.
This device is disadvantageous in that:
(1) multidirectional grasping cannot be accomplished.When this device applies grasp force to target object, this grasp force is only along two groups
The direction that bar gathering is closed up, is equivalent to two finger clampers, and generation is only one-dimensional clamping mode, and clamping effect is poor.
(2) the strip object grasping placed for specific direction was lost efficacy.When target object is parallel with the direction and target
Object is longer than this device in the direction, then target object will not be because two groups of expansion links close up by grasping force, as captured one
The object of individual strip.
(3) structure is complicated, energy consumption is big.This device has 2 groups of bar gatherings to close, and needs the movable supporting member of 2 mutual motions
(or moving base), a set of line slideway, 2 slide blocks, driver, drive mechanisms etc., structure is complex, and to allow a tool
Power consumption is compared in the heavy bar gathering resultant motion having many stocks.
(4) long term reliability is poor.All stocks and chute all expose in the work environment, at full dust, fly
In the factory floor environment of wadding, between stock, easily sandwich little foreign body, chute cannot be able to slide because of long-pending full dirt wadding fiber,
Various impacts and to reduce the factor in service life a lot, in the factory floors such as the food of many dust, weaving, mining activities, dirt
Soil absorption is collected in stock and chute, largely effects on stock sliding effect in pedestal, even produces fault.
(5) grasping stability has much room for improvement.This device the grasping force of target object is only closed up by two groups of bar gatherings and
Produce, be only capable of using the force-closure grasp object of grasping force, and lack preferable envelop-type Shape closed and capture effect, because, power
Close crawl object and not necessarily can produce Shape closed crawl, but Shape closed captures and necessarily includes force-closure grasp, therefore
It is best that grasp stability has reached Shape closed.
Eric Brown et al. is at document (Eric Brown, Nicholas Rodenberga, John Amendb, Annan
Mozeikac,Erik Steltzc,Mitchell R.Zakind,Hod Lipsonb,Heinrich
M.Jaegera.Universal robotic gripper based on the jamming of granular
material.Proceedings of the National Academy of Sciences of the United States
of America(PNAS),vol.107,no.44:18809–18814,doi:10.1073/pnas.1003250107,
Sept.17,2010) a kind of general-purpose machinery staff blocking the principle of solidification based on granule is described in.This robot includes can
The elastic film of deformation, port, a filter screen, it is placed in hymeniderm fluid (such as gas) and a large amount of granular materials (such as coffee
Grain) and fluid source (such as pump or can emptying receptacles).
The operation principle of this device is: the granule in hymeniderm can be freely-movable, when the end of robot is close in hymeniderm
When being placed on the object of certain seating surface, object can extrude hymeniderm, makes the granule in hymeniderm be squeezed and move, different
Grain movement degree in hymeniderm is different, and this movement degree is relevant with the shape of object, reaches the effect of self adaptation body form
Really.Afterwards, the fluid in hymeniderm is sucked away, and granule is stayed in hymeniderm due to the existence of filter screen, and granule is due to mutual extrusion friction
Produce and block solidification effect, utilize the particles populations of solidification, across hymeniderm, object is produced contact point, cause and refer to Multi-contact more
The effect captured, local may produce the area of low pressure sealed to obtain atmospheric pressure auxiliary grip effect in addition.
This device is disadvantageous in that:
(1) this device uses substantial amounts of granular materials, and the abrasion of granular materials can weaken the use longevity of this device significantly
Life；
(2) this device needs adjusting means endocorpuscular the most different preferably to capture when capturing different objects
Object, greatly reduces its versatility；
(3) this device needs to aspirate by the fluid almost all in hymeniderm, and energy consumption is big, and fluid source (such as pump) cost is high,
Can emptying receptacles volume big or can the pressure of emptying receptacles big.
Summary of the invention
The invention aims to overcome the weak point of prior art, it is provided that a kind of magnetic flow liquid bar bunch self adaptation hands
Device.This device is used for capturing object, and article size and shape are had adaptivity；Reach the multidirectional grasping effect to object
Really: grasping force can be provided in multiple directions to object, the variously-shaped object placed different directions all can effectively grasp；Suitable
Being combined in the harsh environments such as more dust and willow catkins flying in the air use, long term reliability is good；Simple in construction, grasps stability
High.
The present invention adopts the following technical scheme that
A kind of magnetic flow liquid bar bunch self adaptation arm device of present invention design, including pedestal and K pusher；Each institute
State one end of pusher to slide and be embedded in pedestal and the centerline parallel of glide direction and this pusher, all described cunnings
The centrage of dynamic push rod is parallel to each other；It is characterized in that: this magnetic flow liquid bar bunch self adaptation arm device also includes elastic film, line
Circle, magnetic flow liquid and K spring part；Described pedestal includes K through hole；Part or all of described pusher uses the elasticity of flexure
Rods, resilient when described rods stress is flexible and does not stresses；The two ends of described i-th spring part connect pedestal respectively
With i-th pusher；One end of all described pusher is all stretched out from the same side of pedestal；Described elastic film is variable
Shape, described elastic film has opening, and described elastic film wraps up all pusher and stretches out the part of pedestal, described Thin Elastic
The opening of film seals and is fixed on pedestal；Described elastic film and pedestal constitute a chamber sealing magnetic flow liquid, magnetic current
Become liquid-tight envelope in the cavity；Described coil can conduct electricity, and is wrapped in around pedestal；Wherein, K is the natural number more than 3；I=
1,2,…,K；I is natural number.
Magnetic flow liquid bar bunch self adaptation arm device of the present invention, it is characterised in that: described elastic film can by flexibility
The material of emptying is made.
Magnetic flow liquid bar bunch self adaptation arm device of the present invention, it is characterised in that: described pusher includes at least
One rod member and at least one flexible elastic component；Described rod member is together with springs in series.
The present invention compared with prior art, has a feature highlighted below:
It is discrete that apparatus of the present invention use multiple pusher, elastic film, coil, magnetic flow liquid and spring part etc. comprehensively to realize
Spatially adaptive captures function, utilizes multiple pusher to realize article size and the adaptation function of shape, it is not necessary to root
Adjust this device according to shape, the size of object, utilize coil electricity to produce magnetic field, make magnetic rheological liquid solidify, and then multiple cunning
Dynamic push rod deforms to the center curvature of device, reaches the multidirectional stable grasp effect of the multiple spot to object；This device is to different directions
The variously-shaped object (such as strip object) placed all can effectively grasp；In this device, all of pusher and through hole etc.
Preferably being enclosed in inside device, therefore this device is suitable for the building ring in the most severe (as there are more dust, willow catkins flying in the air)
Border uses；Owing to achieving multidirectional crawl, it is possible to provide grasping force in multiple directions to target object.This apparatus structure letter
Single, good reliability, applied widely.
Accompanying drawing explanation
Fig. 1 is the sectional view of a kind of embodiment of the magnetic flow liquid bar bunch self adaptation arm device that the present invention provides.
Fig. 2 is the axle sectional view of embodiment illustrated in fig. 1.
Fig. 3 is a kind of three-dimensional appearance figure of embodiment illustrated in fig. 1.
Fig. 4 is the another kind of three-dimensional appearance figure of embodiment illustrated in fig. 1.
Fig. 5 is the through hole distribution schematic diagram of the bottom base of embodiment illustrated in fig. 1.
Fig. 6, Fig. 7 and Fig. 8 are the process schematic that embodiment illustrated in fig. 1 captures sphere-like object object.
Fig. 9 and Figure 10 is the principle schematic that embodiment illustrated in fig. 1 captures sphere-like object object.
Figure 11 is the embodiment illustrated in fig. 1 part-structure front view when this embodiment captures sphere-like object object.
Figure 12 is embodiment illustrated in fig. 1 schematic three dimensional views of part-structure when this embodiment captures sphere-like object object.
Figure 13 is this embodiment and sphere-like object object before embodiment illustrated in fig. 1 applies chucking power to sphere-like object object
Three-dimensional appearance figure.
Figure 14 is this embodiment and sphere-like object object after embodiment illustrated in fig. 1 applies chucking power to sphere-like object object
Three-dimensional appearance figure.
Figure 15,16 and Figure 17 are the process schematic that embodiment illustrated in fig. 1 captures strip target object.
Figure 18 is that embodiment illustrated in fig. 1 captures the part-structure front view of strip target object in this embodiment.
Figure 19 is that embodiment illustrated in fig. 1 captures the part-structure schematic three dimensional views of strip target object in this embodiment.
Figure 20 is this embodiment and strip target before embodiment illustrated in fig. 1 applies chucking power to strip target object
The three-dimensional appearance figure of object.
Figure 21 is this embodiment and strip target after embodiment illustrated in fig. 1 applies chucking power to strip target object
The three-dimensional appearance figure of object.
Figure 22 is the schematic diagram of the pusher of another embodiment of the present invention.In Fig. 1 to Figure 22:
1-pedestal, 11-through hole, 12-top base, 13-intermediate base, 14-bottom base,
15-the first port, 16-the second port, 2-pusher, 21-rod member, 22-elastic component,
3-spring part, 4-elastic film, 5-coil, 6-clamping ring, 7-magnetic flow liquid,
8-conduit, 91-sphere-like object object, 92-strip target object,
10-bearing-surface.
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.
A kind of magnetic flow liquid bar bunch self adaptation arm device of present invention design, including pedestal and K pusher；Each institute
State one end of pusher to slide and be embedded in pedestal and the centerline parallel of glide direction and this pusher, all described cunnings
The centrage of dynamic push rod is parallel to each other；It is characterized in that: this magnetic flow liquid bar bunch self adaptation arm device also includes elastic film, line
Circle, magnetic flow liquid and K spring part；Described pedestal includes K through hole；Part or all of described pusher uses the elasticity of flexure
Rods, resilient when described rods stress is flexible and does not stresses；The two ends of described i-th spring part connect pedestal respectively
With i-th pusher；One end of all described pusher is all stretched out from the same side of pedestal；Described elastic film is variable
Shape, described elastic film has opening, and described elastic film wraps up all pusher and stretches out the part of pedestal, described Thin Elastic
The opening of film seals and is fixed on pedestal；Described elastic film and pedestal constitute a chamber sealing magnetic flow liquid, magnetic current
Become liquid-tight envelope in the cavity；Described coil can conduct electricity, and is wrapped in around pedestal；Wherein, K is the natural number more than 3；I=
1,2,…,K；I is natural number.
Take K=40, a kind of embodiment of magnetic flow liquid bar bunch self adaptation arm device the most of the present invention, as shown in Figure 1, Figure 2,
Shown in Fig. 3 and Fig. 4.This embodiment includes pedestal 1 and K pusher 2；Slide and inlay in one end of each described pusher 2
In pedestal 1 and the centerline parallel of glide direction and this pusher (2), the centrage of all described pusher 2 is mutual
Parallel；It is characterized in that: this magnetic flow liquid bar bunch self adaptation arm device also includes elastic film 4, coil 5, magnetic flow liquid 7 and K
Individual spring part 3；Described pedestal 1 includes K through hole 11；Part or all of described pusher 2 uses the rods having the elasticity of flexure,
When described rods stress is flexible and does not stresses resilient；The two ends of described i-th spring part 3 connect pedestal 1 and i-th respectively
Pusher 2；One end of all described pusher 2 is all stretched out from the same side of pedestal 1；Described elastic film (4) deformable,
Described elastic film 4 has opening, and described elastic film 4 wraps up all pusher 2 and stretches out the part of pedestal 1, described elasticity
The opening of thin film 4 seals and is fixed on pedestal 1；Described elastic film 4 and pedestal 1 constitute a chamber sealing magnetic flow liquid 7
Room, magnetic flow liquid 7 seals in the cavity；Described coil 5 can conduct electricity, and is wrapped in around pedestal 1；Wherein, K is more than 3
Natural number；I=1,2 ..., 40；I is natural number.
In the present embodiment, the material that described elastic film 4 can be emptied by flexibility is made.
Magnetic flow liquid bar bunch self adaptation arm device of the present invention, it is characterised in that: described pusher includes at least
One rod member and at least one flexible elastic component；Described rod member is together with springs in series.In another kind of embodiment,
Described pusher 2 as shown in figure 22, including at least one inflexibility, incompressible rod member 21 and at least one bendable
Elastic component 22 bent, compressible；Described rod member 21 and elastic component 22 are cascaded.
Although softer elastic film 4 serves the effect of soft finger face grasping, but, in another kind of embodiment, described cunning
The end of dynamic push rod 2 can use elastomeric material, is so advantageously implemented more preferable soft finger face and captures effect, push rod end and bullet
Property thin film 4 localized contact point expand to contact area, contact range is bigger, captures effect more preferable.
In the present embodiment, described pedestal 1 includes top base 12, intermediate base 13 and bottom base 14；Described intermediate base
13, bottom base 14 is equipped with 40 through holes, and the jth through hole of intermediate base 13 coaxial with the jth through hole of bottom base 14
The heart, the through hole schematic diagram of bottom base is as shown in Figure 5.J=1,2 ..., 40；J is natural number.
In the present embodiment, described drive mechanism includes shaft coupling 102 and reel 103；Described shaft coupling connects reel
103 with driver 103, described coiling jacket casing 103 is located on pedestal 1, and described membrane part 9 one end is affixed on a bobbin, another
End is fixed on elastic film 4.
The present embodiment also includes that elastic film 4 is fixed on pedestal 1 by clamping ring 6, described clamping ring 6.
In the present embodiment, described pedestal is additionally provided with the first port 15 and the second port 16.
The present embodiment also includes that conduit 8, described conduit 8 connect first port the 15, second port 16 and bottom base 14 and bullet
Property thin film 4 constitute chamber.
Introduce the operation principle of embodiment illustrated in fig. 1 below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, now the first port 15 and the second port 16 are equal for the original state of the present embodiment
Closing, the chamber that bottom base 14 is constituted with elastic film 4 is full of magnetic flow liquid.I-th pusher 2 is at the work of i-th spring part 3
Under with, the major part of i-th pusher 2 is stretched out bottom base 14 and is in the chamber that bottom base 14 and elastic film 4 are constituted；
Now driver 101 is not actuated, and membrane part 9 is in relaxed state；Wherein, i=1,2 ..., 40；I is natural number.
When target object is implemented to capture by this embodiment.This embodiment is close under the drive of mechanical arm is placed on bearing-surface
On object and to object produce extruding.If the region of elastic film 4 corresponding below the pusher in device 2 touches
Object, then this pusher 2 can be relative to gripping device upward sliding under the counteracting force of target object；And if pusher
The region of elastic film 4 corresponding below 2 does not touches target object, and this pusher 2 will not be moved relative to gripping device；
Owing to different pusher 2 creates different sliding distances extruding of target object under counteracting force, therefore elastic film 4
Wrap target object adaptively, as shown in Figure 9.
Afterwards, coil 5 is energized, and produces magnetic field, and then makes magnetic flow liquid 7 solidify；And owing to pusher 2 has flexible
Elasticity, therefore pusher 2 can be had in the middle part of this device by the extruding of elastic film 4 and a certain degree of gather bending and become
Shape, and then in the side of target object, target object is created extruding force i.e. grasping force；Schematic diagram during capturing
As shown in Figure 9 and Figure 10；The bending situation of pusher 2 is as shown in Figure 11, Figure 12, Figure 18 and Figure 19, before applying grasp force
Time this device and object three-dimensional appearance as shown in Figure 13 and Figure 20；Outside when applying after grasp force, this device is with the three-dimensional of object
See as shown in Figure 14 and Figure 21；Whole crawl process is as shown in Fig. 6 to Fig. 8 and Figure 15 to Figure 17.
Between this embodiment and target object, produce localized low-pressure zone and this embodiment creates side to target object
After extruding force, this gripping device achieves the crawl to target object under the motion of mechanical arm.
When discharging object, stopping coil 5 and turn on, magnetic flow liquid 7 stops solidification, reverts to liquid；Pusher 2 can be certainly
By sliding, then removing robot hand device, i-th pusher 2 also returns to stretch out base under the effect of i-th spring part 3
Seat 1 the longest original state, and extrude owing to pusher 2 is no longer influenced by elastic film 4, pusher 2 recovery is stretched
Original state, and then the grasp force of target object is disappeared, it is achieved that the release to target object.Wherein, i=1,2 ..., 36；
I is natural number.
When needs add or change magnetic flow liquid, by first port the 15, second port 16 and conduit 8 outside device
The magnetic flow liquid being sealed between bottom base 14 and elastic film 4 is completed.
It is discrete that apparatus of the present invention use multiple pusher, elastic film, coil, magnetic flow liquid and spring part etc. comprehensively to realize
Spatially adaptive captures function, utilizes multiple pusher to realize article size and the adaptation function of shape, it is not necessary to root
This device is adjusted according to shape, the size of object；Utilize coil electricity, make magnetic flow liquid solidify, so make multiple pusher to
The center curvature deformation of device, reaches the multidirectional stable grasp effect of the multiple spot to object；It is each that different directions is placed by this device
Plant shaped objects (such as strip object) all can effectively grasp；In this device, all of pusher is preferably sealed with through hole etc.
Closing inside device, therefore this device is suitable for using in the working environment of the most severe (as there are more dust, willow catkins flying in the air)；
Owing to achieving multidirectional crawl, it is possible to provide grasping force in multiple directions to target object, therefore grasping stability is high.This device
Simple in construction, good reliability, applied widely.
Claims (3)
1. a magnetic flow liquid bar bunch self adaptation arm device, including pedestal (1) and K pusher (2)；Each described slip pushes away
Slide and be embedded in pedestal (1) and the centerline parallel of glide direction and this pusher (2) in one end of bar (2), all described
The centrage of pusher (2) is parallel to each other；It is characterized in that: this magnetic flow liquid bar bunch self adaptation arm device also includes Thin Elastic
Film (4), coil (5), magnetic flow liquid (7) and K spring part (3)；Described pedestal (1) includes K through hole (11)；Partly or entirely institute
State pusher (2) and use the rods having the elasticity of flexure, resilient when described rods stress is flexible and does not stresses；Described
The two ends of i-th spring part (3) connect pedestal (1) and i-th pusher (2) respectively；One end of all described pusher (2)
All the same sides from pedestal (1) are stretched out；Described elastic film (4) deformable, described elastic film (4) has opening, described bullet
Property thin film (4) wrap up all pusher (2) and stretch out the part of pedestal (1), the opening of described elastic film (4) seals and is fixed in
On pedestal (1)；Described elastic film (4) constitutes a chamber sealing magnetic flow liquid (7), magnetic flow liquid (7) with pedestal (1)
Seal in the cavity；Described coil (5) can conduct electricity, and is wrapped in pedestal (1) around；Wherein, K is the natural number more than 3；i
=1,2 ..., K；I is natural number.
2. magnetic flow liquid bar bunch self adaptation arm device as claimed in claim 1, it is characterised in that: described elastic film (4) by
The flexible material that can empty is made.
3. magnetic flow liquid bar bunch self adaptation arm device as claimed in claim 1, it is characterised in that: described pusher include to
A few rod member (21) and at least one flexible elastic component (22)；Described rod member (21) and elastic component (22) are connected on one
Rise.
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| CN201610378109.8A CN106113068A (en) | 2016-05-31 | 2016-05-31 | Magnetic flow liquid bar bunch self adaptation arm device |
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| CN110860886A (en) * | 2019-11-29 | 2020-03-06 | 东莞仕达通自动化有限公司 | Manipulator and working method thereof |
| CN113183174A (en) * | 2021-05-25 | 2021-07-30 | 北方工业大学 | Soft robot gripper based on magnetic ball reinforced elastomer |
| CN113710434A (en) * | 2019-02-01 | 2021-11-26 | 耐克塞拉机器人公司 | Electromagnetic clamping device |
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| CN113183174A (en) * | 2021-05-25 | 2021-07-30 | 北方工业大学 | Soft robot gripper based on magnetic ball reinforced elastomer |
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Application publication date: 20161116 |