CN205799553U - Rope drives magnetic current self adaptation gripping device - Google Patents
Rope drives magnetic current self adaptation gripping device Download PDFInfo
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- CN205799553U CN205799553U CN201620468705.0U CN201620468705U CN205799553U CN 205799553 U CN205799553 U CN 205799553U CN 201620468705 U CN201620468705 U CN 201620468705U CN 205799553 U CN205799553 U CN 205799553U
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- elastic film
- membrane part
- membrane
- flow liquid
- self adaptation
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- 230000006978 adaptation Effects 0.000 title claims abstract description 25
- 239000012528 membrane Substances 0.000 claims abstract description 53
- 239000007788 liquid Substances 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 238000007789 sealing Methods 0.000 claims abstract description 6
- 210000002435 tendon Anatomy 0.000 claims description 9
- 239000013536 elastomeric material Substances 0.000 claims description 4
- 239000010408 film Substances 0.000 claims 8
- 239000010409 thin film Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 15
- 230000005672 electromagnetic field Effects 0.000 abstract description 5
- 206010040007 Sense of oppression Diseases 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 4
- 238000010030 laminating Methods 0.000 abstract description 3
- 230000000994 depressogenic effect Effects 0.000 abstract 1
- 210000004247 hand Anatomy 0.000 description 21
- 210000003811 finger Anatomy 0.000 description 9
- 239000008187 granular material Substances 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000000518 rheometry Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000003323 beak Anatomy 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
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- Manipulator (AREA)
Abstract
Rope drives magnetic current self adaptation gripping device, belongs to robot technical field, including pedestal, driver, drive mechanism, channel part, the first membrane part, the second membrane part, electric magnet, elastic film and magnetic flow liquid.By pulling the first membrane part and the second membrane part, elastic film depressed deformation upward, elastic film parcel object self adaptation laminating object profile, part magnetic flow liquid enters above channel part in the state that suffers oppression, the negative pressure region of sealing it is likely to be formed between elastic film and object, under the common effect of magnetic flow liquid pressure, atmospheric pressure and elastic film frictional force, it is achieved grasping body；The electromagnetic field that electric magnet energising produces makes magnetic flow liquid solidify, and enhances grasping effect.The arrangement achieves multidimensional self-adapting grasping function, can automatically adapt to capture difformity, the object of size；Being capable of the multiple directions adaptation to object, grasping stability is quick, simple in construction.
Description
Technical field
The invention belongs to robot technical field, drive the structure design of magnetic current self adaptation gripping device particularly to a kind of rope.
Background technology
Robot hand pawl (or clamper) grabs object, and therefore, paw is the important terminal of robot.The robot imitating staff development is referred to as
Being referred to as humanoid robot hand or multifingered robot hands, had many multifingered robot hands to be developed, they are respectively provided with multiple finger, each hands
Refer to there is multiple rotary joint.Wherein, it is the most simply two finger clampers (also referred to as industry clampers), has imitated the staff with two finger gloves and grabbed
Take (thumb and four refer to foldings), or be similar to beak rank and take.They are industrially widely adopted, it is possible to achieve to designated shape, size
Special object the most stably captures, and structure is very simple, and cost is the lowest, and many people with disabilitys do evil through another person also because two refer to that the advantage of clamper uses in a large number
This paw.But two refer to that the adaptation of clamper is indifferent, it is impossible to remove automatically to adapt to the object of difformity size.There is grabbing of adaptive characteristic
Fetching is put can following four big classes:
(1) multi-finger clever hand
The robot delicate imitating staff has more than 9 (the most up to about 20) degree of freedom, dozens of sensor and the control of complexity
Principle.Dextrous Hand has the joint of independent control, can actively control each joint, thus realize the action of dexterity, actively capture difformity object.
Since the seventies in last century, had multiple country to develop the most well-known various Dextrous Hand, such as, Salisbury hands, Utah/MIT hands,
The HIT/DLR series hands of Harbin Institute of Technology and German Aerospace Center (DLR), the BH series Dextrous Hand of Beijing Institute of Aeronautics, NASA (NASA)
Robonaut R2 hands, the Shadow series hands of company of Shadow robot of Britain, the fast machine staff of Tokyo University ....Multi-finger clever hand
Structure is complicated, sense with control loaded down with trivial details, cost intensive, also do not promote the use of temporarily at present.
(2) refer to drive lacking hands more
Drive lacking hands is a kind of between industry clamper with the robot referred between multi-joint active drive hands more, belongs to intelligent machine category, utilization
Mechanical system reaches sensing and the purpose controlled, it is achieved that a small amount of motor drives the function in multiple joints, and the most attracting is that it can adapt to automatically
Difformity, size objects, decrease sensing and demand for control.As far back as the seventies in last century, Hirose et al. just have devised a kind of self adaptation
Drive lacking hands, gets growing concern for nearly ten years.The drive lacking hands having been developed over has: the SARAH of Laval University, Canada multi link type
The drive lacking hands that drive lacking hands, the tendon rope of Prensilia company of Italy drive, Harbin Institute of Technology, Beijing Institute of Aeronautics, submits big, University of Science and Technology, Central China and Chinese Academy of Sciences Hefei
The mechanisms such as intelligent machine institute all in terms of drive lacking hands achievement striking.
Dextrous Hand and drive lacking hands two class be not the most independent, and the former refers to have more than 3 fingers and the multifinger hand of more than 9 degree of freedom, the latter
Refer to that driver number on hand is less than joint freedom degrees number.
But Dextrous Hand and drive lacking hands broadly fall into multifingered robot hands, the quantity contacting quantity and the joint being limited to finger of finger and object is difficult
To increase contact point, adaptive ability is the most limited, and grasp stability has much room for improvement.
(3) robot of flexible surface
Flexible or elastomeric material is increased, it is possible to obtain soft finger face captures effect, refers to that the adaptability in face obtains the biggest on the segment surface of multifingered robot hands
Improve, be conducive to capturing.But owing to the body element of finger segment remains rigidity, the effect that local auto-adaptive improves the most only can be obtained,
It is difficult to obtain overall self adaptation effect.
(4) soft robot hands
In terms of particular kind of machine staff, considerable industry paw utilizes the mode such as sucker, Magnet to capture object.But its adaptive surface is the most limited.
Cornell Univ USA has applied for a universal gripper patent (U.S. patent Nos US20130106127A1), the universal clipping introduced
Device uses deacclimatizes body form containing a large amount of short grained hymeniderms, utilizes the mode of air compressor evacuation, is taken away by the air in hymeniderm, stay
Under a large amount of granules there occurs that granule blocks hardening phenomenon, thus it is general to have grown " finger " seemingly, can be with self-adapting grasping difformity, size
Object.This universal gripper is disadvantageous in that: 1) have employed substantial amounts of granular materials, and the number of granular materials affects the effect of crawl,
The abrasion of granular materials is changed after needing certain time；2) using the mode bled, need the source of the gas of relatively high power, noise is big, energy consumption is high, whole
Individual systems bulky, will have one period bled, and almost all of gas all exhausts just calculation crawl and completes, capture the quickest.
Summary of the invention
The invention aims to overcome the weak point of prior art, propose one rope and drive magnetic current self adaptation gripping device, this device is used for capturing
Object, can adapt to the shape of object, size automatically；It is capable of the multiple directions adaptation to object, it is thus achieved that multidimensional self adaptation effect；Grasping force
Greatly, grasping stability is quick；Simple in construction, control are easily.
The present invention adopts the following technical scheme that
A kind of rope of the present invention drives magnetic current self adaptation gripping device, it is characterised in that: include pedestal, driver, drive mechanism, channel part,
First membrane part, the second membrane part, electric magnet, elastic film and magnetic flow liquid；Described channel part is affixed with pedestal；Described driver is solid with pedestal
Connecing, the output shaft of described driver is connected with the input of drive mechanism, and the outfan of described drive mechanism and the upper end of the second membrane part are connected, institute
The upper end stating the lower end of the second membrane part, the upper end of elastic film and the first membrane part is affixed；Under the lower end of described first membrane part and elastic film
Hold affixed；Described elastic film is the hollow sealing structure that deformable elastomeric material makes；A part for described elastic film is positioned under channel part
Side, another part of described elastic film is positioned at the inside of channel part, and a part for described elastic film contacts with the inwall of channel part；Described logical
Road part includes at least 1 passage；Described passage is the cavity structure of hollow, and described passage has lower outlet and upper outlet；When the quantity of passage is more than
When 1, the cavity in all of described passage is interconnected, and the volume of the cavity of the most different described passages is sequentially reduced；Described magnetic flow liquid
It is sealed in elastic film；Described first membrane part uses the mixing of one or more in connecting rod, band, chain or tendon rope；Described second membrane part
Use the mixing of one or more in connecting rod, band, chain or tendon rope；Described electric magnet is arranged on pedestal.
Rope of the present invention drives magnetic current self adaptation gripping device, it is characterised in that: in the described lower end of the first membrane part and the lower end of elastic film
Heart region is connected.
Rope of the present invention drives magnetic current self adaptation gripping device, it is characterised in that: described driver uses motor, cylinder or hydraulic cylinder.
Apparatus of the present invention utilize driver, drive mechanism, channel part, the first membrane part, the second membrane part, electric magnet, elastic film and magnetorheological
Liquid etc. comprehensively achieve multidimensional self-adapting grasping function, can automatically adapt to capture difformity, the object of size, and central principle is: driver is led to
Crossing drive mechanism and pull the first membrane part and the second membrane part, elastic film constantly deforms to the above and within of channel part, under the cooperation of channel part,
Elastic film equipped with magnetic flow liquid wraps up object self adaptation laminating object profile, and part magnetic flow liquid enters narrow leading to successively in the state of suffering oppression
In road part, magnetic flow liquid retroaction, on grabbed object, is likely to be formed the negative pressure region of sealing, magnetorheological between elastic film and object simultaneously
Under the common effect of hydraulic coupling, atmospheric pressure and elastic film frictional force, it is achieved grasping body；The electromagnetic field that electric magnet energising produces makes magnetic flow liquid
Solidification, enhances grasping effect；This device is capable of the multiple directions adaptation to object, it is thus achieved that multidimensional self adaptation effect；This device grasping stability
Quickly, simple in construction, control easily.
Accompanying drawing explanation
Fig. 1 is the sectional view that the rope that the present invention provides drives a kind of embodiment of magnetic current self adaptation gripping device.Fig. 2 is that embodiment illustrated in fig. 1 captures thing
Outside drawing during body.Fig. 3 is sectional view during embodiment illustrated in fig. 1 crawl object.
In Fig. 1 to Fig. 3:
1-pedestal, 11-base socket sleeve, 12-motor support member, 2-driver (motor),
3-drive mechanism, 31-decelerator, 32-shaft coupling, 33-rotating shaft,
34-reel, 4-channel part, 41-passage, export under 411-,
412-upper outlet, 5-the first membrane part, 6-the second membrane part, 7-elastic film,
8-magnetic flow liquid, 83-electric magnet, 9-object.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment further describes the concrete structure of the present invention, operation principle and work process.
The rope of present invention design drives a kind of embodiment of magnetic current self adaptation gripping device, as it is shown in figure 1, include pedestal 1, driver 2, drive mechanism
3, channel part the 4, first membrane part the 5, second membrane part 6, electric magnet 83, elastic film 7 and magnetic flow liquid 8；Described channel part 4 and pedestal
1 is affixed；Described driver 2 is affixed with pedestal 1, and the output shaft of described driver 2 is connected with the input of drive mechanism 3, described drive mechanism
The outfan of 3 and the upper end of the second membrane part 6 are connected, the lower end of described second membrane part 6, the upper end of elastic film 7 and the first membrane part 5
Upper end is affixed；The lower end of described first membrane part 5 is affixed with the lower end of elastic film 7；Described elastic film 7 is that deformable elastomeric material makes
Hollow sealing structure；A part for described elastic film 7 is positioned at the lower section of channel part 4, and another part of described elastic film 7 is positioned at channel part
The inside of 4, a part for described elastic film 7 contacts with the inwall of channel part 4；Described channel part 4 includes at least 1 passage 41；Described
Passage 41 is the cavity structure of hollow, and described passage 41 has lower outlet 411 and upper outlet 412；When the quantity of passage 41 is more than 1, all
Described passage 41 in cavity be interconnected, the volume of the cavity of the most different described passages 41 is sequentially reduced；Described magnetic flow liquid 8 is close
It is enclosed in elastic film 7；Described first membrane part 5 uses the mixing of one or more in connecting rod, band, chain or tendon rope；Described second membrane
Part 6 uses the mixing of one or more in connecting rod, band, chain or tendon rope.In the present embodiment, described first membrane part 5 uses tendon rope；Described
Second membrane part 6 uses tendon rope；Described electric magnet 83 is arranged on pedestal 1.
Described pedestal 1 includes base socket sleeve 11 and motor support member 12, and described base socket sleeve 11 is affixed with motor support member 12, described driver 2
Being fixedly mounted in motor support member 12, the top of described channel part 4 is affixed with base socket sleeve 11.
In the present embodiment, the described lower end of the first membrane part 5 is connected with the central area of the lower end of elastic film 7.
Rope of the present invention drives magnetic current self adaptation gripping device, it is characterised in that: described driver uses motor, cylinder or hydraulic cylinder.This enforcement
In example, described driver 2 uses motor.
In the present embodiment, described drive mechanism 3 includes decelerator 31, shaft coupling 32, rotating shaft 33 and reel 34；The output of described driver 2
Axle is connected with the power shaft of decelerator 31, and the output shaft of described decelerator 31 is connected with rotating shaft 33 by shaft coupling 32, and described rotating shaft 33 is sheathed
In pedestal 1, described reel 34 is fixed in rotating shaft 33, and the upper end of described second membrane part is affixed with reel, and the second membrane part is wrapped in
On reel.
Below in conjunction with Fig. 1, Fig. 2 and Fig. 3, the operation principle introducing apparatus of the present invention is as follows:
The present embodiment original state is as it is shown in figure 1, the lower area of elastic film contacts with object, and driver 2 rotates, by drive mechanism 3
Pulling the second membrane part 6 to move upward, pull the first membrane part 5 to move upward, elastic film 7 is drawn by the first membrane part 5 and the second membrane part 6
Dynamic deformation, under the friction of channel part 4 hinders, the exterior lateral area that elastic film 7 contacts with channel part 4 is maintained near channel part 4, magnetic current
Becoming liquid 8 to be sealed in elastic film 7, magnetic flow liquid 8 has good mobility, and the central area of elastic film 7 upwards deforms, this reality
Execute example under the motion of robot arms, contact object 9, continue through driver 2 and pull the first membrane part 5 and the second membrane part 6, elastic film 7
The deformation of bottom strengthens, and can form a structure further caved inward in its underpart, and now elastic film 7 is by the local of parcel contact object 9,
Stretching in the lower cavity that the local of object is wrapped up elastic film, part water enters narrow two-stage passage successively in the state of suffering oppression, and water is counter to be made
It is used on grabbed object, between elastic film and object, forms negative pressure region simultaneously, common in water pressure, atmospheric pressure and elastic film frictional force
Under effect, it is achieved grasping body.This device has, to the object 9 of difformity Yu size, well adapting to property, such that it is able to realize capturing.
After capturing object, then being energized to electric magnet 83, produce electromagnetic field around, electromagnetic field, through the magnetic flow liquid 8 in elastic film 7, makes
Obtain magnetic flow liquid 8 to solidify, thus enhance grasping effect.During release object 9, by electric magnet 83 power-off, magnetic field disappears, magnetic flow liquid 8 wink
Between become liquid, driver 2 inverts, and makes first membrane part the 5, second membrane part 6 no longer pull elastic film 7, magnetic by drive mechanism 3
Rheology liquid 8 is replied under the resilience force effect of elastic film 7, and magnetic flow liquid 8 presents mobility, no longer object 9 is applied grasping force, thus complete
Become release object 9.
This embodiment device catches object as shown in Figure 2 and Figure 3.
Apparatus of the present invention utilize driver, drive mechanism, channel part, the first membrane part, the second membrane part, elastic film and magnetic flow liquid etc. comprehensive
Achieving multidimensional self-adapting grasping function, can automatically adapt to capture difformity, the object of size, central principle is: driver passes through driver
Structure pulls the first membrane part and the second membrane part, and elastic film constantly deforms to the above and within of channel part, under the cooperation of channel part, equipped with magnetic
The elastic film parcel object of rheology liquid self adaptation laminating object profile, part magnetic flow liquid enters narrow channel part successively in the state of suffering oppression
In, magnetic flow liquid retroaction, on grabbed object, is likely to be formed the negative pressure region of sealing, at magnetorheological hydraulic between elastic film and object simultaneously
Under the common effect of power, atmospheric pressure and elastic film frictional force, it is achieved grasping body；The electromagnetic field that electric magnet energising produces makes magnetic flow liquid solidify,
Enhance grasping effect；This device grasping stability is quick, simple in construction, controls easily.
Claims (3)
1. a rope drives magnetic current self adaptation gripping device, it is characterised in that: include pedestal, driver, drive mechanism, channel part, the first membrane part,
Second membrane part, electric magnet, elastic film and magnetic flow liquid；Described channel part is affixed with pedestal；Described driver is affixed with pedestal, described driving
The output shaft of device is connected with the input of drive mechanism, and the outfan of described drive mechanism and the upper end of the second membrane part are connected, described second membrane part
The upper end of lower end, the upper end of elastic film and the first membrane part affixed；The lower end of described first membrane part is affixed with the lower end of elastic film；Described
Elastic film is the hollow sealing structure that deformable elastomeric material makes；A part for described elastic film is positioned at the lower section of channel part, described elasticity
Another part of thin film is positioned at the inside of channel part, and a part for described elastic film contacts with the inwall of channel part；Described channel part includes at least
1 passage；Described passage is the cavity structure of hollow, and described passage has lower outlet and upper outlet；When the quantity of passage is more than 1, all of
Cavity in described passage is interconnected, and the volume of the cavity of the most different described passages is sequentially reduced；Described magnetic flow liquid is sealed in Thin Elastic
In film；Described first membrane part uses the mixing of one or more in connecting rod, band, chain or tendon rope；Described second membrane part use connecting rod, band,
The mixing of one or more in chain or tendon rope；Described electric magnet is arranged on pedestal.
2. rope as claimed in claim 1 drives magnetic current self adaptation gripping device, it is characterised in that: the lower end of described first membrane part and elastic film
The central area of lower end is connected.
3. rope as claimed in claim 1 drives magnetic current self adaptation gripping device, it is characterised in that: described driver uses motor, cylinder or hydraulic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620468705.0U CN205799553U (en) | 2016-05-19 | 2016-05-19 | Rope drives magnetic current self adaptation gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620468705.0U CN205799553U (en) | 2016-05-19 | 2016-05-19 | Rope drives magnetic current self adaptation gripping device |
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| Publication Number | Publication Date |
|---|---|
| CN205799553U true CN205799553U (en) | 2016-12-14 |
Family
ID=57500002
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620468705.0U Expired - Fee Related CN205799553U (en) | 2016-05-19 | 2016-05-19 | Rope drives magnetic current self adaptation gripping device |
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| Country | Link |
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| CN (1) | CN205799553U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584491A (en) * | 2017-01-03 | 2017-04-26 | 浙江工业大学 | Mechanical gripper based on magnetorheological effect |
| CN112093475A (en) * | 2020-08-31 | 2020-12-18 | 林兴寿 | Rhizome class chinese-medicinal material snatchs mechanism in batches |
| CN112720428A (en) * | 2021-01-19 | 2021-04-30 | 杨慧 | New-generation industrial robot based on high-end equipment manufacturing industry |
| CN113146665A (en) * | 2021-04-21 | 2021-07-23 | 余姚市浙江大学机器人研究中心 | Dexterous hand with tactile feedback and variable rigidity and control method thereof |
| CN113246160A (en) * | 2021-05-25 | 2021-08-13 | 重庆邮电大学 | Magnetic control flexible grabber with paper folding structure |
| CN113276140A (en) * | 2021-05-25 | 2021-08-20 | 重庆邮电大学 | Magnetic control particle blocking type self-adaptive spherical grabber |
| CN113442152A (en) * | 2021-06-24 | 2021-09-28 | 华南农业大学 | Flexible finger with lateral wrapping property for fruit picking |
-
2016
- 2016-05-19 CN CN201620468705.0U patent/CN205799553U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584491A (en) * | 2017-01-03 | 2017-04-26 | 浙江工业大学 | Mechanical gripper based on magnetorheological effect |
| CN112093475A (en) * | 2020-08-31 | 2020-12-18 | 林兴寿 | Rhizome class chinese-medicinal material snatchs mechanism in batches |
| CN112720428A (en) * | 2021-01-19 | 2021-04-30 | 杨慧 | New-generation industrial robot based on high-end equipment manufacturing industry |
| CN113146665A (en) * | 2021-04-21 | 2021-07-23 | 余姚市浙江大学机器人研究中心 | Dexterous hand with tactile feedback and variable rigidity and control method thereof |
| CN113246160A (en) * | 2021-05-25 | 2021-08-13 | 重庆邮电大学 | Magnetic control flexible grabber with paper folding structure |
| CN113276140A (en) * | 2021-05-25 | 2021-08-20 | 重庆邮电大学 | Magnetic control particle blocking type self-adaptive spherical grabber |
| CN113442152A (en) * | 2021-06-24 | 2021-09-28 | 华南农业大学 | Flexible finger with lateral wrapping property for fruit picking |
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Granted publication date: 20161214 Termination date: 20190519 |