CN111645102A - Bionic magnetic control flexible gripper device with self-sensing function - Google Patents
Bionic magnetic control flexible gripper device with self-sensing function Download PDFInfo
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- CN111645102A CN111645102A CN202010553145.XA CN202010553145A CN111645102A CN 111645102 A CN111645102 A CN 111645102A CN 202010553145 A CN202010553145 A CN 202010553145A CN 111645102 A CN111645102 A CN 111645102A
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The invention discloses a bionic magnetic control flexible gripper device with a self-sensing function, which belongs to the technical field of robot equipment and comprises a sensing action component, a magnetic field generation component, an acquisition control module and a power supply device. The bionic flexible gripper integrally formed by the magneto-sensitive rubber polymer with the functions of strain and piezoresistive sensing, magnetic control deformation and friction is adopted, and all parts are coordinated according to a positioning algorithm of a software layer in a control module so as to realize accurate gripping. According to the bionic magnetic control flexible gripper device, materials with strain and piezoresistive sensing and materials with magnetic control deformation and friction are integrally formed, so that the bionic magnetic control flexible gripper device has the capabilities of sensing feedback and intelligent regulation and control, and can accurately complete a gripping task. The method has great adaptability and wide application prospect in the production and manufacturing processes of objects with complicated heterogeneous surfaces, such as industrial manufacturing, food engineering and the like.
Description
Technical Field
The invention belongs to the technical field of robot equipment, and particularly relates to a bionic magnetic control flexible gripper with a self-sensing function.
Background
Along with the continuous updating and iteration of the robot technology and the automation technology, the intellectualization and the automation of the interactive equipment become more and more important, and the traditional fixture and the gripper with rigid structures have the problems of high replacement cost, complex control algorithm and the like, so that the application of the fixture and the gripper in some fields is greatly limited, and the flexible gripping technology becomes the current popular research. The flexible gripper based on the intelligent material has been researched a lot due to high gripping adaptability and a simple control mode, and has great application prospects in the fields of robots, medical treatment, industrial manufacturing and the like.
The flexible gripping device at the present stage is divided into pneumatic, electric field driving and magnetic field driving according to the regulation and control mode. Although the pneumatic flexible gripper has strong gripping force, the manufacturing process is complex, the noise is large during working, and the pneumatic flexible gripper cannot be miniaturized. The field drive requires a voltage in the order of kilovolts to produce sufficient grip and is less safe for the production process. The magnetic field driving type flexible grabbing device belongs to non-contact external field regulation and control, and has the advantages of quick response, remote control and the like. Although a flexible magnetic attraction robot auxiliary gripper is mentioned in the patent document CN110434883A, the flexible magnetic attraction robot auxiliary gripper is still limited to the traditional mode of motor driving, and when a small-sized operation object is precisely operated, the control of the output torque of the motor is very difficult.
Human beings through to self and the research of various primate hands, have found the crooked laminating of finger and have been snatched the phenomenon of thing in order to protect the article of snatching, and at the in-process of snatching, the skin surface of human palm can perceive material, appearance etc. of article to human joint can be crooked, realizes certain degree attached, adapts to the surface of being snatched the object. The gripping force can be adjusted through sensing the sliding condition of the object, so that better gripping is realized; through the research of animals in the animal kingdom which actively regulate the friction force between the animals and the contact surface, such as snakes: the angle of the scale is actively regulated and controlled in the movement process so as to change the friction force of the scale and realize better movement. The invention designs a bionic magnetic control flexible gripper with a self-sensing function.
The magnetorheological elastomer is a composite material which is controlled by a magnetic field and has good comprehensive performance, has quick response under the action of the magnetic field, can adjust flexibility according to the proportion of a base body, can finish a sensing task on the premise of ensuring the quick response after being added with a special sensitive material, is like a human hand to simultaneously realize the gripping and the sensing of the shape of an object, and intelligently adjusts the gripping force. The flexible finger is made of the magnetic-sensitive rubber polymer with magnetic control deformation, magnetic friction, strain and piezoresistive sensing characteristics, so that the flexible gripper device can complete gripping tasks in a magnetic control mode, the flexible gripper device is different from the traditional open-loop control magnetic field, piezoresistive sensing materials are added at the finger end of the flexible finger through an integrated forming technology, the strain sensing materials are added at the tail end of the flexible finger, the size of the magnetic field can be regulated and controlled in a closed-loop feedback mode, the intelligent flexible gripper is accurately controlled, articles are gripped with specific deformation and strength, the gripping effect is enhanced because the bionic flexible gripper contact surface can regulate and control the surface roughness under the action of the magnetic field, and the rubber gripper can protect the shape and the internal structure of a gripped object due to the soft characteristic.
Disclosure of Invention
The present invention is directed to solving the above problems of the prior art. A bionic magnetic control flexible gripper device with a self-sensing function is provided. The technical scheme of the invention is as follows:
a bionic magnetic control flexible gripper device with a self-sensing function comprises: a sensing action component, a magnetic field generating component and a circuit device; the sensing action assembly consists of a flexible finger and a fixed part, the flexible finger comprises two parts, namely a sensing assembly and a grabbing assembly, wherein the sensing part consists of pressure-sensitive and strain-sensitive materials, the action part consists of hard magnetic particles, the hard magnetic particles are added into a matrix together in a layering way, an embedding way and the like, and the sensing action assembly is formed by adopting an integral forming technology; the fixing part comprises a fixing bolt and a clamp and is used for fixing the flexible finger; the magnetic field generating device is composed of an iron core, a coil and a magnetic conduction shell, the magnetic field generating device is used for generating a magnetic field to drive the action assembly, the magnetic field generating device is connected with the sensing action assembly, and the circuit device provides sensing acquisition, data processing, magnetic field control and power supply.
Furthermore, the sensing action assembly comprises a clamp (5), a flexible finger (6) and a fixing bolt (7), the flexible finger (6) comprises a flexible finger piezoresistive sensing part (601), a flexible finger strain sensing part (602) and a flexible finger outer layer (603), the fixing bolt (7) comprises a bolt I (701) -a bolt V (705), the bolt I (701) is used for fixing a top cover and a sleeve of the magnetic conduction shell, the bolt II (702) is used for fixing an iron core, and the bolt III (703) is used for fixing an aluminum framework; the clamp (5) is fixed below a magnetic conduction shell (3) in the magnetic field generation assembly through a bolt IV (704), the tightness degree is adjusted through a bolt V (705) to fix the flexible finger (6), (the flexible finger (6) is fixed with the clamp (5) through the bolt V (705), the flexible finger pressure resistance sensing part (601) is fixed below the magnetic conduction shell (3), and the flexible finger pressure resistance sensing part (601) is arranged above the flexible finger strain sensing part (602).
Furthermore, the flexible finger (6) is made of a polymer material with piezoresistance and strain sensing, magnetic control deformation and friction, the flexible and thin finger outer layer (603) is arranged on the outer surfaces of the flexible finger piezoresistance sensing part (601) and the flexible finger strain sensing part (602), the flexible and thin finger outer layer (603) is stressed and deformed under the action of a magnetic field by adding hard magnetic particles to realize object gripping, the flexible finger strain sensing part (602) senses the contact force between the flexible finger and a gripped object by adding a pressure sensitive material, and the flexible finger strain sensing part (601) senses the deformation process of the flexible finger by attaching a layer of bending strain sensitive material in the process of manufacturing the flexible finger and deforming the gripped object.
Furthermore, the magnetic field generating assembly comprises a magnetic conduction shell (3) and a small iron core (4), wherein the magnetic conduction shell (3) is composed of a conductive coil (1), an aluminum framework (2) and a ferromagnetic material, the magnetic conduction shell (3) comprises a top cover (301) and a sleeve (302), the conductive coil (1) is wound on the aluminum framework (2), the small iron core (4) is cylindrical and fixed at the center of the aluminum framework (2), and the conductive coil and the small iron core are placed together in the magnetic conduction sleeve (302) to install the top cover (301).
Furthermore, under the action of the magnetic field generating device, the hard magnetic particles on the surface of the flexible finger (6) can be directly influenced by the magnetic field to form a certain protrusion, the surface roughness of the hard magnetic particles is changed, the friction force regulation and control are realized, the object grabbing is assisted, the magnetic field can change the modulus and the bending strain degree of the intelligent flexible gripper, and the accurate regulation and control can be realized by combining with the perception data.
Further, circuit arrangement includes control module (8) and power supply unit (9), and control module (8) singlechip and its surrounding circuit, drive circuit, communication circuit constitute, and STM32F103C8T6 is selected for use to the singlechip, and AD7606 data acquisition module is selected for use to the collection module. The single chip microcomputer and a peripheral circuit thereof are used for processing collected data, calculating and outputting a driving signal, the driving circuit is used for driving the magnetic field generating device, the communication circuit is used for communicating with an upper computer and coordinating and processing the gripping time, the control module (8) collects the contact force of the finger end of the intelligent flexible gripper, collects the bending strain condition of the tail end and regulates and controls the magnetic field generating assembly, the finger end contact force data and the tail end bending strain data are collected and processed, the data are transmitted to a main control chip after filtering, compensation and fitting, then the driving current of the driving module is accurately regulated and controlled by using a fuzzy PID control algorithm, the magnetic field generating assembly is further controlled, and the intelligent flexible gripper is driven. The control module (8) can also process other data according to requirements, for example, the control module communicates with a mechanical arm and other mobile devices through serial ports, USB and other communication modes to acquire self-defined command words to execute operations such as starting, stopping, controlling to a specific grabbing angle and the like. The acquisition module is electrically connected with the induction part in the flexible finger, the control module is electrically connected with the drive of the magnetic field generating device, and the power supply device supplies power to the circuit devices of all parts. Furthermore, the power supply device (9) adopts AMS1117 to input 6-12V and output 3.3-5V by a battery, a voltage stabilizing circuit and a voltage conversion module, and is used for providing power for the acquisition control module, the driving circuit and the magnetic field generating device, an interface is reserved on the power supply device (9) to replace power supplies with different capacities according to actual conditions, and the voltage conversion circuit is used for converting different requirements of each component on voltage.
Furthermore, the pressure sensing material and the bending strain sensing material of the sensing part can be made into sensors by adopting polydimethylsiloxane as a matrix, and the magnetic-sensitive rubber is also made into a sensor by adopting polydimethylsiloxane as a matrix, namely, materials realizing different functions can be integrated in one polydimethylsiloxane matrix in a layering mode, so that the pressure, bending, magnetic-control bending response and magnetic-control friction integrated molding is realized.
Furthermore, the fixing clamps (5) on the connecting and fixing part of the action assembly are uniformly and equidistantly distributed on the connecting and fixing part in one shape of circle, square, triangle, ellipse and polygon around the central point of the whole transposition.
Furthermore, the magnetic induction intensity generated by the magnetic field generating assembly is 5mT-40mT, the thickness of a single flexible finger (6) is 0.1mm-5mm, the length-width ratio of the flexible finger is 1:1-1:20, the number of the flexible finger is at least 2, the number of the fixing clamps is at least 2, and the number of joints of the flexible finger can be 0-5.
The invention has the following advantages and beneficial effects:
the bionic flexible gripping device is improved based on the traditional magnetic driving type flexible gripping device, the flexible fingers are formed by adopting magnetic sensitive rubber materials with magnetic control deformation and friction enhancement, and meanwhile, the bionic flexible gripping device adopts an integrated forming technology by combining the sensitive materials with the magnetic sensitive rubber. The pressure sensing material is added to the finger end part of the flexible finger, so that when an object is gripped, data are collected and transmitted to the single chip microcomputer through the collection module to be operated, the drive signal is output to regulate and control the magnetic field generation assembly, the strain sensing material is added to the tail end part of the flexible finger, the size of bending strain can be sensed in the bending strain process of the flexible finger, and the flexible finger can be sensed and controlled to grip the object more accurately by combining feedback control. The intelligent flexible gripper can intelligently regulate and control the surface roughness, change the friction force, well adapt to and attach to the surface of a gripped object, and prevent the surface of the object from being damaged. Generally speaking, the invention has simple structure, multiple additional functions and wide applicable environment, and can be used for grabbing objects of various special-shaped bodies.
Drawings
FIG. 1 is a schematic structural view of the present invention providing a preferred embodiment thereof;
FIG. 2 is a schematic view of the magnetic field generating assembly of the present invention assembled;
FIG. 3 is a top view of the present invention;
fig. 4 is a schematic diagram of a flexible finger layer according to the present invention.
FIG. 5 is a schematic view of the grasping of the present invention.
FIG. 6 is a schematic diagram of a lift control process according to the present invention.
Reference numerals: the device comprises a conductive coil 1, an aluminum framework 2, a magnetic conduction shell 3 made of ferromagnetic materials, a magnetic conduction shell top cover 301, a magnetic conduction shell sleeve 302, a small iron core 4, a fixing clamp 5, a flexible finger 6, a flexible finger inner layer fixed end bending strain sensing part 601, a flexible finger inner layer finger end pressure resistance sensing part 602, a flexible finger outer layer 603, a fixing bolt 701 and a power supply device 705, an acquisition control module 8 and a power supply device 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be described in detail and clearly with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention.
The technical scheme for solving the technical problems is as follows:
wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
The invention provides a bionic magnetic control flexible gripper with a self-sensing function.
The magnetic field generating assembly comprises an iron core, a coil and a magnetic conduction shell, wherein the iron core is arranged at the central part of the coil, the coil is arranged at the hollow part of the magnetic conduction shell, the coil and the iron core are fixed on the magnetic conduction shell through screws, and only one side of each of the upper surface and the lower surface of the magnetic conduction shell is provided with a sealing cover. Aiming at the characteristics of an excitation device without a sealing cover at the lower end, a structure optimization scheme which is different from an electromagnet and suitable for the magnetic control bionic flexible gripper is provided. And determining an average magnetic flux model as an optimization target, giving constraint conditions, and then modeling, analyzing a magnetic circuit and optimizing the excitation device in a multi-physical-field finite element simulation software Comsol. From the simulation results, it is known that the steel shell, the coil and the iron core all affect the magnetic field. The overall dimensions of the coil and core affect the magnitude of the magnetic field, with the larger the overall dimensions, the larger the magnetic field produced. Meanwhile, the iron core and the coil can have the maximum magnetic field when the size ratio is 1: 5. The steel shell influences the shape of the magnetic field. More magnetic fields are gathered on the excitation device in the direction with the steel shell, only a small part of magnetic fields are leaked in the working environment, and the influence on other components can be effectively reduced. Meanwhile, the steel shells at the upper end and the side surfaces can enable the magnetic field generated by the surface without the steel shell at the lower end to be spread farther, and the working range of the flexible finger can be effectively enlarged.
The sensing actuating assembly comprises a flexible finger and a connecting and fixing component, wherein the flexible finger is made of a magnetic sensitive polymer material with piezoresistance, strain sensing, magnetic control deformation and friction, a specific pressure-sensitive material is added to the finger end of the flexible finger, a specific strain sensing material is added to the fixed end of the flexible finger, the strain condition in the process of grabbing an object can be sensed, one end of the flexible finger is fixed by a fixing clamp of the connecting and fixing component, and the connecting and fixing component is mechanically connected to the non-sealing cover side of the magnetic conductive shell
Preferably, the pressure-sensitive material is a carbon nanotube material, and the strain-sensitive material is an iron nanowire material.
Furthermore, the flexible finger is composed of two layers of materials, wherein the outer layer of material is composed of hard magnetic particles, the inner layer of flexible finger tip is composed of pressure-sensitive material, the inner layer of finger fixing end is composed of strain material, the two layers of materials both use Polydimethylsiloxane (PDMS) as a substrate, and the two layers of materials can be integrally formed in the preparation process, so that better attachment is realized.
Furthermore, under the action of a magnetic field, the hard magnetic particles on the surface of the flexible finger can be directly acted by the magnetic field to form a certain protrusion, so that the surface friction is changed, and the gripping force of the flexible grip is further enhanced.
Furthermore, the sensing signal of the flexible finger is conducted to the acquisition module through the electrode embedded in the base body through electric connection.
The circuit device is arranged outside the magnetic conduction shell, an acquisition module in the circuit device is electrically connected with the intelligent flexible finger pressure and strain induction material, a control module in the circuit device is electrically connected with the magnetic field generation assembly, and a power supply device in the circuit device is electrically connected with the control module and the magnetic field generation assembly respectively.
Furthermore, the flexible fingers are distributed in an array distribution mode on the hollow outer side of the magnetic field generating assembly and the inner side of the magnetic conduction shell in the direction of the side, which is not covered, of the magnetic conduction shell.
Furthermore, the flexible finger is in various shapes such as various long strips, triangles and fan shapes.
Furthermore, all the flexible fingers can be uniformly bent towards the center or outwards bent and deformed under the action of the magnetic field generating device, and the deformation state can be stably kept.
Further, the magnetic field generating device is in various shapes such as a circle, a square and a rectangle.
Example one
The intelligent flexible gripping device based on the magnetic-sensitive rubber comprises a sensing and gripping integrated assembly, a magnetic field generating assembly, an acquisition module, a control module and a power supply device.
Preferably, the sensing actuating component comprises a clamp 5, a flexible finger 6, a flexible finger piezoresistive sensing part 601, a flexible finger strain sensing part 602 and a fixing bolt 7, the clamp 5 is fixed below the magnetic conduction shell 3 in the magnetic field generating component through a bolt 704, the tightness degree is adjusted through a bolt 705 to fix the flexible finger 6, the flexible finger is made of a polymer material with piezoresistive and strain sensing, magnetic control deformation and friction, the outer layer 603 of the flexible finger is stressed and deformed under the action of a magnetic field by adding hard magnetic particles to realize object gripping, the finger end 602 of the inner layer of the flexible finger senses the contact force between the flexible finger and a gripped object by adding a pressure sensitive material, the flexible finger piezoresistive sensing part 601 can be attached with a layer of a bending strain sensitive material in the process of preparing the flexible finger, in the process of deformation of the gripped object, and sensing the deformation process of the flexible finger.
The magnetic field generating assembly comprises a conductive coil 1, an aluminum framework 2, a magnetic conduction shell 3 made of ferromagnetic materials, a small iron core 4 and a fixing bolt 7, wherein the magnetic conduction shell comprises a 301 top cover and a 302 sleeve, the conductive coil 1 is wound on the aluminum framework 2, the small iron core 4 is cylindrical and fixed at the center of the aluminum framework 2, the conductive coil 1 and the small iron core are placed together in the magnetic conduction sleeve 302 to be provided with the top cover 301, meanwhile, the bolts 7 are used for fixing all parts, bolts 701 are used for fixing the top cover and the sleeve of the magnetic conduction shell, the bolts 702 are used for fixing the iron core, and the bolts 703 are.
The acquisition control module 8 is composed of a single chip microcomputer and a peripheral circuit, a driving circuit and a communication circuit thereof, and mainly realizes the acquisition of the contact force of the intelligent flexible gripper finger end, the acquisition of the condition of the bending strain of the tail end and the regulation and control of the magnetic field generating assembly. Specifically, finger tip contact force data and tail end bending strain data are collected and processed, the data are transmitted to a main control chip after filtering, compensation and fitting, then a fuzzy PID control algorithm is used for accurately regulating and controlling the driving current of a driving module, a magnetic field generating assembly is further controlled, and the intelligent flexible gripper is driven through a magnetic field. The control module (8) can also process other data according to requirements, such as data communication with a mechanical arm and other mobile devices, so as to receive data of an upper computer to obtain a specific instruction for control and the like.
Preferably, the single flexible finger is divided into a plurality of knuckles, wherein the finger tip is provided with a specific sensitive material, and a metal wire is embedded in the rubber to realize the magnitude of contact force between the sensing and the grabbed object in the grabbing process, and the rear end part of the single flexible finger is used for realizing the bending strain sensing through different preparation schemes. 3-dimensional shape data can be constructed through various fingers and joint data in the grabbing process, and the grabbing force is intelligently adjusted through continuous online feedback, so that accurate grabbing is realized.
The power supply device 9 is composed of a battery, a voltage stabilizing circuit and a voltage conversion circuit, plays a role of providing power guarantee for system operation, and the power supply device 9 is provided with an interface which can be used for replacing power supplies with different capacities according to actual conditions. The voltage conversion circuit is used for realizing different requirements of each component on voltage.
The working principle of the invention is as follows: the invention fully utilizes the characteristics that the magnetic-sensitive rubber can be bent and deformed under the regulation and control of a magnetic field and change the surface friction, combines an integrated molding technology, innovatively adds bending strain and piezoresistive sensing materials, realizes the integration of sensing and driving, and utilizes an acquisition control system to realize accurate control. Namely, in the environment of an external magnetic field, the grabbing process of the flexible grabbing finger is as follows: initially, the intelligent flexible gripper is moved to the position above a gripped object through a mechanical arm and other moving devices, at the moment, an external magnetic field is generated, the flexible fingers start to deform under the action of the magnetic field, the surface friction force is increased, when the finger ends of the flexible fingers start to contact the gripped object, the resistance value parameter of the pressure sensing material starts to change, at the moment, the magnetic field intensity is continuously increased until the bending strain parameter at the tail ends of the flexible fingers does not change any more, namely the flexible fingers are attached to the gripped object as much as possible, at the moment, the mechanical arm starts to try to grip and lift the object, when the finger end pressure data changes in a vibration mode, the object and the gripper slide relatively, the magnetic field is required to be continuously increased, and then the lifting operation. Conversely, after the placing operation moves the object to the specified position, the magnetic field intensity is reduced.
The invention creatively adopts a sensing and actuating integrated structure. Because the pressure sensing material and the bending strain sensing material can adopt Polydimethylsiloxane (PDMS) as a base body to manufacture the sensor, and the magnetic-sensing rubber also adopts Polydimethylsiloxane (PDMS) as the base body, namely, materials realizing different functions can be integrated in one PDMS base body in a layering mode, so that pressure, bending, magnetic-control bending response and magnetic-control friction integrated forming are realized, the stability of an execution control assembly is improved, the sensing control is further miniaturized, compared with an extended sensing module, the integrated level is high, the controllable effect is good, the whole body has considerable flexibility, the grabbing can be accurately realized, and the purposes of protecting the internal structure and the appearance characteristics of a grabbed object are achieved.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above examples are to be construed as merely illustrative and not limitative of the remainder of the disclosure. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (10)
1. A bionic magnetic control flexible gripper device with a self-sensing function is characterized by comprising: the device comprises a perception action assembly, a magnetic field generation assembly, an acquisition control module and a power supply device; the sensing action assembly consists of a flexible finger and a fixed part, the flexible finger comprises two parts of a sensing assembly and an action assembly, wherein the sensing part consists of pressure-sensitive and strain-sensitive materials, the action assembly part consists of hard magnetic particles, the hard magnetic particles are added into a matrix together in a layering and embedding manner, and the sensing action assembly is formed by adopting an integral forming technology; the fixing part comprises a fixing bolt and a clamp and is used for fixing the flexible finger; the magnetic field generating device is composed of an iron core, a coil and a magnetic conduction shell, the magnetic field generating device is used for generating a magnetic field to drive the action assembly, the magnetic field generating device is connected with the sensing action assembly, the acquisition control module is used for providing sensing acquisition, data processing and magnetic field control, and the power supply device is used for providing power supply for the acquisition control module.
2. The bionic magnetic control flexible gripper device with the self-sensing function is characterized in that the sensing action assembly comprises a clamp (5), a flexible finger (6), a flexible finger piezoresistive sensing part (601), a flexible finger strain sensing part (602), a flexible finger outer layer (603) and a fixing bolt (7), wherein the fixing bolt (7) comprises a bolt I (701) -a bolt V (705), the bolt I (701) is used for fixing a top cover and a sleeve of a magnetic conduction shell, the bolt II (702) is used for fixing an iron core, and the bolt III (703) is used for fixing an aluminum framework; the fixture (5) is fixed below a magnetic conduction shell (3) in the magnetic field generation assembly through a bolt IV (704), the tightness degree is adjusted through a bolt V (705) to fix the flexible finger (6), the flexible finger (6) is connected with the fixture (5) through the bolt V (705), the flexible finger strain sensing part (601) is arranged below the magnetic conduction shell (3), and the flexible finger pressure resistance sensing part (602) is arranged below the flexible finger strain sensing part (601).
3. The bionic magnetic control flexible gripper device with the self-sensing function according to claim 2, wherein the flexible finger (6) is made of a polymer material with pressure resistance and strain sensing, magnetic control deformation and friction, the flexible and thin finger outer layer (603) is arranged on the outer surfaces of the flexible finger pressure resistance sensing part (601) and the flexible finger strain sensing part (602), and the flexible and thin finger outer layer (603) is stressed and deformed under the action of a magnetic field by adding hard magnetic particles to realize object gripping. The flexible finger piezoresistive sensing part (602) senses the contact force between a flexible finger and a grasped object by adding a pressure sensitive material, and the flexible finger strain sensing part (601) senses the deformation process of the flexible finger by attaching a layer of bending strain sensitive material in the process of preparing the flexible finger and in the process of deformation of the grasped object.
4. The bionic magnetic control flexible gripper device with the self-sensing function is characterized in that the magnetic field generating assembly comprises a conductive coil (1), an aluminum framework (2), a magnetic conductive shell (3) made of ferromagnetic materials and a small iron core (4), the magnetic conductive shell (3) comprises a top cover (301) and a sleeve (302), the conductive coil (1) is wound on the aluminum framework (2), the small iron core (4) is cylindrical and fixed at the center of the aluminum framework (2), and the conductive coil (1) and the small iron core are placed together in the magnetic conductive sleeve (302) to install the top cover (301).
5. The bionic magnetic control flexible gripper device with the self-sensing function as claimed in claim 2, wherein the flexible fingers (6) in the sensing action assembly are under the action of the magnetic field generating device, hard magnetic particles on the surfaces of the flexible fingers (6) can be directly under the action of the magnetic field to form certain protrusions, the surface roughness of the protrusions is changed, friction regulation and control are achieved, grabbing of an object are assisted, meanwhile, the magnetic field can change the modulus and the bending strain degree of the intelligent flexible gripper, and accurate regulation and control can be achieved by combining sensing data.
6. The bionic magnetic control flexible gripper device with the self-perception function according to claim 5, wherein the circuit device comprises an acquisition control module (8) and a power supply device (9), the acquisition control module (8) is composed of a single chip microcomputer and a peripheral circuit thereof, a driving circuit and a communication circuit, the single chip microcomputer selects STM32F103C8T6, the acquisition module selects an AD 760616-bit 8-path data acquisition module, the single chip microcomputer and the peripheral circuit thereof are used for processing the acquired data, performing operation processing and outputting driving signals, the driving circuit is used for driving the magnetic field generating device, the communication circuit is used for communicating with an upper computer and coordinating and processing the gripping time, the acquisition control module (8) acquires the magnitude of the contact force of the finger end of the intelligent flexible gripper, acquires the condition of the bending strain of the tail end and regulates and controls the magnetic field generating assembly, and acquires and processes the contact force data of the finger end and the bending strain data of the tail end, the data are transmitted to a main control chip after filtering, compensation and fitting, then a fuzzy PID control algorithm is applied to accurately regulate and control the driving current of a driving module, a magnetic field generating assembly is further controlled, an intelligent flexible gripper is driven through a magnetic field, other data can be processed by an acquisition control module (8) according to requirements, for example, data communication is carried out with a mechanical arm and other mobile devices, communication is carried out with an upper computer through serial ports, USB and other communication modes, and a self-defined command word is obtained to carry out operations including starting, stopping and controlling to a specific grabbing angle; the acquisition module is electrically connected with the induction part in the flexible finger, the control module is electrically connected with the drive of the magnetic field generating device, and the power supply device supplies power to the circuit devices of all parts.
7. The bionic magnetic control flexible gripper device with the self-sensing function as claimed in claim 5, wherein the power supply device (9) is composed of a battery, a voltage stabilizing circuit and a voltage conversion module, adopts AMS1117 to input 6-12V and output 3.3-5V, and is used for supplying power to the acquisition control module, the driving circuit and the magnetic field generating device, the power supply device (9) is provided with an interface which can be used for replacing power supplies with different capacities according to actual conditions, and the voltage conversion circuit is used for converting different requirements of each component on voltage.
8. The bionic magnetically controlled flexible gripper device with the self-sensing function according to claim 5, wherein the pressure sensing material and the bending strain sensing material of the sensing part can be made into sensors by using Polydimethylsiloxane (PDMS) as a substrate, and the magnetic sensitive rubber is also made of PDMS as a substrate, i.e., materials realizing different functions can be integrated in a PDMS substrate by layering, embedding and the like, so as to realize the integrated molding of pressure, bending, magnetically controlled bending response and magnetically controlled friction.
9. The bionic magnetically controlled flexible gripper device with self-sensing function as claimed in claim 1, wherein the fixing clamps (5) on the connecting and fixing part of the motion assembly are uniformly and equidistantly distributed on the connecting and fixing part in one shape of circle, square, triangle, ellipse and polygon around the center point of the whole device.
10. The bionic magnetic control flexible gripper device with the self-sensing function according to claim 1, wherein the magnetic induction intensity generated by the magnetic field generating assembly is 5mT-40mT, the thickness of a single flexible finger (6) is 0.1mm-5mm, the ratio of the length to the width of the flexible finger is 1:1-1:20, the number of the flexible finger is at least 2, the number of the fixing clamps is at least 2, and the number of joints of the flexible finger can be 0-5.
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