CN109773824A - A kind of submissive fixture finger of manipulator based on magnetorheological fluid - Google Patents
A kind of submissive fixture finger of manipulator based on magnetorheological fluid Download PDFInfo
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- CN109773824A CN109773824A CN201910210531.6A CN201910210531A CN109773824A CN 109773824 A CN109773824 A CN 109773824A CN 201910210531 A CN201910210531 A CN 201910210531A CN 109773824 A CN109773824 A CN 109773824A
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- China
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- magnetorheological fluid
- arc
- spring leaf
- sleeve
- submissive
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Abstract
A kind of submissive fixture finger of manipulator based on magnetorheological fluid, including guide block, arc-shaped workpiece, spring leaf and damper, the guide block is connect with one end of the arc-shaped workpiece, the other end of the arc-shaped workpiece is fixedly connected with one end of spring leaf, and the other end of the spring leaf passes through the through hole close to arc-shaped workpiece one end；The damper includes conduit, electromagnetic coil, piston rod, magnetorheological fluid and sleeve, the middle part of the spring leaf is connect with described piston rod one end, the other end of the piston rod is protruded into the sleeve and is moved in a straight line, the sleeve is fixedly connected with the arc-shaped workpiece, the barrel bore is filled with magnetorheological fluid, the sleeve and conduit are connected, and the electromagnetic coil is arranged on the outside of the sleeve.The clamping rigidity of alignment jig of the present invention, improves the adaptability of finger, finger is made to be provided with active compliance.
Description
Technical field
The present invention relates to robots, reading intelligent agriculture equipment technology field, specifically, being a kind of based on the soft of magnetorheological fluid
Along fixture finger.
Background technique
Revolute robot has been widely used in the every aspects such as industrial and agricultural production, service for life, in clamping operation process
In, traditional mechanical frock fixture is not due to having flexibility, and the rigidity adaptability of active, is not easy to crush operation object table
Face, or clamping are not sufficiently stable.Crush operation object in order to prevent, improve the reliability of frock clamp, it is desirable that fixture with pressed from both sides
Objects contact surface is held with certain flexibility, to reduce contact surface stress concentration.The method master used in the prior art
If using elastic material, if rubber, nylon elastomeric material coat contact surface, also have use the elastic elements such as spring as
Stress unit makes frock clamp have certain flexibility.But these existing methods have the disadvantage in that (1) either uses bullet
Property material, or use common spring structure, the rigidity of clamping surface can not all be made arbitrary according to actual operation requirements
It adjusts；(2) when fixture is fitted gripped object shape using flexible deformation, due to gripped object outer surface discontinuity, institute
The phenomenon that be likely to occur gripped object damaged surfaces；(3) deformation of chucking surface be squeezed power effect generate, work as beginning
When deforming, if being influenced still change in shape, especially clamping process if mechanical arm is transported by other external force
It is dynamic, because of the influence of acceleration and the self weight of clipped object product etc., it is easy to cause clamping process unstable, even results in gripped object and fall
And so on.
Summary of the invention
In order to overcome the shortcomings of that it is poor that existing manipulator fixture can not adjust clamping rigidity, adaptability, the present invention provides
A kind of submissive fixture finger of manipulator based on magnetorheological fluid, the clamping rigidity of alignment jig improve the adaptability of finger, make
Finger is provided with active compliance.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of submissive fixture finger of manipulator based on magnetorheological fluid, including guide block, arc-shaped workpiece, spring leaf and damper,
The guide block is connect with one end of the arc-shaped workpiece, and the other end of the arc-shaped workpiece is fixedly connected with one end of spring leaf, described
The other end of spring leaf passes through the through hole close to arc-shaped workpiece one end and can slide in a certain range；
The damper includes conduit, electromagnetic coil, piston rod, magnetorheological fluid and sleeve, the middle part of the spring leaf with
The connection of described piston rod one end, the other end of the piston rod are protruded into the sleeve and are moved in a straight line, the sleeve with it is described
Arc-shaped workpiece is fixedly connected, and the barrel bore is filled with magnetorheological fluid, and the sleeve and conduit are connected, and institute is arranged on the outside of the sleeve
State electromagnetic coil.
Further, the guide block is fixedly connected with arc-shaped workpiece upper end by screw, and the spring leaf and arc-shaped workpiece lower end are logical
Bolt is crossed to be fixedly connected.
Further, the upper surface of the guide block is equipped with fin, and the fin can slap the spiral in body sliding slot with submissive fixture
Slot engagement.
The middle part of the spring leaf is connect with described piston rod one end, elastic force and the damper rod by spring leaf
Resistance variable chucking power is provided jointly.
Further, the upper side of the guide block is equipped with sliding block, and the sliding block is slidably located on the palm of submissive fixture
In body sliding slot, guide block can make centripetal or centrifugal movement in sliding slot when clamping operation.
Technical concept of the invention are as follows: magnetorheological fluid is a kind of intellectual material, has good mangneto phase-change characteristic.Without outer
When adding magnetic fields, Newtonian fluid is shown as；And under the action of an external magnetic field, moment becomes class from the Newtonian fluid flowed freely
Controllable shear yield strength is presented in solid viscoplasticity body, and this transformation is reversible.After electromagnetic coil is powered, adjust
Section is passed through the size of current of electromagnetic coil, thus it is possible to vary magnetic field strength, so that the clamping rigidity of alignment jig, improves finger
Adaptability makes finger be provided with active compliance.
Beneficial effects of the present invention are mainly manifested in: the clamping rigidity of alignment jig improves the adaptability of finger, makes hand
Finger is provided with active compliance.
Detailed description of the invention
Fig. 1 is the submissive fixture finger the schematic diagram of the section structure of the manipulator of the invention based on magnetorheological fluid
Fig. 2 is submissive fixture finger damper structure schematic diagram of the invention
Fig. 3 is the submissive fixture finger oblique view of the manipulator of the invention based on magnetorheological fluid
Fig. 4 is the submissive clamp structure schematic diagram of more fingers using submissive fixture finger of the invention
In figure: 1 is guide block, and 2 be arc-shaped workpiece, and 3 be conduit, and 4 be electromagnetic coil, and 5 be piston rod, and 6 be spring leaf, and 7 be spiral shell
Nail, 8 be magnetorheological fluid, and 9 be sleeve.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig.1~Fig. 4, a kind of submissive fixture finger of manipulator based on magnetorheological fluid, the guide block 1 and arc-shaped workpiece 2
Upper end is fixedly connected by screw 7, and the spring leaf 6 is bolted to connection with 2 lower end of arc-shaped workpiece, and upper end penetrates through and can be
There are fin in sliding, 1 upper surface of guide block in a certain range, and the helicla flute that can be slapped in body sliding slot with submissive fixture engages, and clamp
Guide block can make centripetal or centrifugal movement in sliding slot when operation.
Conduit 3, electromagnetic coil 4, piston rod 5, magnetorheological fluid 8, sleeve 9 collectively constitute submissive fixture finger damper, institute
It states electromagnetic coil 4 and is arranged in 9 outside of sleeve, the conduit 3 is connected with sleeve 9, is filled with magnetorheological fluid 8, piston in the sleeve 9
Bar 5 can move in a straight line in sleeve 9.
The middle part of the spring leaf 6 is connect with described 5 one end of piston rod, living by 6, spring elastic force and the damper
The resistance of stopper rod 5 provides variable chucking power jointly
Further, the upper side of the guide block 1 is equipped with sliding block, and the sliding block is slidably located on the palm of submissive fixture
In body sliding slot, guide block can make centripetal or centrifugal movement in sliding slot when clamping operation.
The submissive fixture finger working principle of manipulator based on magnetorheological fluid is as follows:
Submissive fixture finger by arc-shaped workpiece, conduit, electromagnetic coil, piston rod, spring leaf, sleeve, magnetorheological fluid, guide block,
The composition such as conduit.The middle position of spring leaf is connected with piston rod, and magnetorheological fluid is filled in sleeve, passes through adjusting electromagnetic coil
Size of current, so as to change the viscosity of magnetorheological fluid.When more fingers cooperate clipping operation object, spring leaf is because of chucking power
Reaction force and deform, but the rigidity of spring leaf is a fixed value, cannot according to the attribute of clamped object and
Adjustment rigidity in real time, by changing the viscosity of magnetorheological fluid, damping in real-time regulating piston bar telescopic process, to change hand
The real-time rigidity for referring to clamping, makes finger and fixture be provided with flexibility.
Motion Control Strategies are analyzed as follows:
1) when clamping object, guide block is slided under the action of submissive fixture slaps body internal drive part to fixture axle center, hand
Direction center is close, and after touching clamping object, spring leaf bends under the action of reaction force, is formed to clamping object
Envelope；
2) piston rod movement is pushed when spring plate deflection, when the exciting current in electromagnetic coil is zero, magnetorheological fluid is macro
Sight shows as Newtonian fluid, and the magnetorheological fluid that can arbitrarily flow can flow out sleeve along conduit under the promotion of piston rod.At this time
The reaction force of Newtonian fluid flowing is pushed to generate chucking power jointly by the elastic force and piston of spring leaf, chucking power size is not
Become.When piston motion is to bottom, all outflow piston sleeves, piston cannot continue to move magnetorheological fluid, show as at this time just
Property fixture；
3) when the exciting current in electromagnetic coil is not zero, magnetorheological fluid macro manifestations are viscoplasticity body, exciting current
Bigger stickiness is stronger, and magnetorheological fluid is squeezed out that active force required for sleeve is also bigger by piston rod, chucking power size at this time
It is adjustable, required chucking power can be obtained by adjusting the size of exciting current；
4) based on magnetorheological fluid design submissive fixture when executing clamping operation, can according to clamped Properties of Objects,
The size of form parameter structure adjusting guide block stroke and exciting current, can be effectively ensured the stability of clamping, when chucking power is super
Cross setting by folder object bearing safety threshold value when, also due to the surrender of magnetorheological fluid viscoplasticity body and make the bending of spring leaf
Degree increases, so that fixture be made to be provided with flexibility, has fully ensured that the safety of clamped object；
5) when need discharge clamping object when, drive movement outside of the guide block to fixture axle center, while by exciting current by
Step is reduced to zero, and after release clamps object, piston returns to initial position under the action of spring leaf, and spring leaf also reverts to
Straight line.
As shown in figure 4, submissive fixture finger mounted is slapped on body in submissive fixture, and under the driving effect of stepper motor, hand
Block 1 is instructed to make centripetal or centrifugal movement in sliding slot.When needing clamping operation, guide block drives finger to make centripetal movement, contacts
After clamped object, chucking power is adjusted in real time by changing the electric current in electromagnetic coil, especially when guide block stroke reaches
After setting value, if there is chucking power more than setting by folder object bearing safety threshold value, magnetorheological fluid viscoplasticity knows from experience hair
Raw surrender, further increases envelope contact surface, pressure suffered by clamped object is reduced, to fully ensure that clamping operation
Safety.When needing to discharge clamped object, guide block drives finger to make centrifugal movement, is reduced at this time with certain curvilinear characteristic
Exciting current, spring leaf can gradually restore to linear state under elastic reaction, and recovery process can remain submissive folder
Tool is contacted with the appropriateness of clamped object, to guarantee the safety of release process.
Claims (4)
1. a kind of submissive fixture finger of manipulator based on magnetorheological fluid, which is characterized in that the finger includes guide block, arc
Part, spring leaf and damper, the guide block are connect with one end of the arc-shaped workpiece, the other end of the arc-shaped workpiece and spring leaf
One end is fixedly connected, and the other end of the spring leaf passes through the through hole close to arc-shaped workpiece one end；
The damper includes conduit, electromagnetic coil, piston rod, magnetorheological fluid and sleeve, the middle part of the spring leaf with it is described
The connection of piston rod one end, the other end of the piston rod are protruded into the sleeve and are moved in a straight line, the sleeve and the arc
Part is fixedly connected, and the barrel bore is filled with magnetorheological fluid, and the sleeve and conduit are connected, and the electricity is arranged on the outside of the sleeve
Magnetic coil.
2. a kind of submissive fixture finger of manipulator based on magnetorheological fluid as described in claim 1, which is characterized in that described to lead
Block is fixedly connected with arc-shaped workpiece upper end by screw, and the spring leaf is bolted to connection with arc-shaped workpiece lower end.
3. a kind of submissive fixture finger of manipulator based on magnetorheological fluid as described in claim 1, which is characterized in that the bullet
The middle part of reed is connect with described piston rod one end, is provided jointly by the elastic force of spring leaf and the resistance of the damper rod
Variable chucking power.
4. a kind of submissive fixture finger of manipulator based on magnetorheological fluid as claimed in claim 1 or 2, which is characterized in that institute
The upper side for stating guide block is equipped with sliding block, and the sliding block is slidably located in the palm body sliding slot of submissive fixture, when clamping operation
Guide block can make centripetal or centrifugal movement in sliding slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910210531.6A CN109773824A (en) | 2019-03-20 | 2019-03-20 | A kind of submissive fixture finger of manipulator based on magnetorheological fluid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910210531.6A CN109773824A (en) | 2019-03-20 | 2019-03-20 | A kind of submissive fixture finger of manipulator based on magnetorheological fluid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109773824A true CN109773824A (en) | 2019-05-21 |
Family
ID=66488381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910210531.6A Pending CN109773824A (en) | 2019-03-20 | 2019-03-20 | A kind of submissive fixture finger of manipulator based on magnetorheological fluid |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1799784A (en) * | 2004-12-31 | 2006-07-12 | 中国科学技术大学 | Clamping holder with rigidity changeable flexible surface |
| JP4469110B2 (en) * | 2001-06-18 | 2010-05-26 | 株式会社リコー | Shape deformable robot hand and gripping method using the same |
| CN108436956A (en) * | 2018-05-21 | 2018-08-24 | 谷格智能机械(长兴)有限公司 | A kind of clamping device for robot parts |
| CN108544522A (en) * | 2018-04-16 | 2018-09-18 | 东阳市天齐科技有限公司 | Big opening and closing angle manipulator |
| CN109129529A (en) * | 2018-09-13 | 2019-01-04 | 湖南机电职业技术学院 | A kind of automated machine grip device and clamping method |
-
2019
- 2019-03-20 CN CN201910210531.6A patent/CN109773824A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4469110B2 (en) * | 2001-06-18 | 2010-05-26 | 株式会社リコー | Shape deformable robot hand and gripping method using the same |
| CN1799784A (en) * | 2004-12-31 | 2006-07-12 | 中国科学技术大学 | Clamping holder with rigidity changeable flexible surface |
| CN108544522A (en) * | 2018-04-16 | 2018-09-18 | 东阳市天齐科技有限公司 | Big opening and closing angle manipulator |
| CN108436956A (en) * | 2018-05-21 | 2018-08-24 | 谷格智能机械(长兴)有限公司 | A kind of clamping device for robot parts |
| CN109129529A (en) * | 2018-09-13 | 2019-01-04 | 湖南机电职业技术学院 | A kind of automated machine grip device and clamping method |
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Application publication date: 20190521 |
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| RJ01 | Rejection of invention patent application after publication |