CN216464649U - Electromagnetic drive discrete rod cluster type self-adaptive manipulator - Google Patents

Abstract

An electromagnetic drive discrete rod cluster type self-adaptive manipulator belongs to the technical field of robot hands and comprises a base, a fixed orifice plate, a plurality of push rods, coils, a shielding ring and the like, wherein the push rods, the coils, the shielding ring and the like are parallel to each other on the central line and can respectively and freely slide; the manipulator is used as a robot end effector and combined with a common clamping type mechanical device to grab objects, so that self-adaption stable grabbing is realized; when the manipulator grabs an object, the manipulator is deformed in a self-adaptive manner by relative sliding of mechanical fingers (push rods) placed on two sides of the object, so that the object is wrapped, full wrapping or multi-point large-area contact of the manipulator and the object is realized, force is applied to the object at multiple points and large area, and the object with large material, shape and size can be stably grabbed; the manipulator has the advantages of simple structure, flexible control, high reliability, stable work and wide application range.

Description

Electromagnetic drive discrete rod cluster type self-adaptive manipulator

Technical Field

The utility model belongs to the technical field of robot hands, belongs to a clamping type self-adaptive manipulator, and particularly relates to a structural design of an electromagnetic drive discrete rod cluster type self-adaptive manipulator.

Background

The robot hand plays a key role in the working process of the robot, can be used for temporarily connecting and fixing the robot arm and a workpiece, and can grasp and release the workpiece at a proper time; generally, when a clamping type manipulator is used for grabbing a specific workpiece, the manipulator is designed to be in a form suitable for the workpiece, and a plurality of manipulators with different shapes and types are often designed for the same robot, so that the robots can be used according to different grabbing tasks during working; if the robot hand is self-adaptive, namely the shape, the material and the size of a gripped workpiece do not need to be known before gripping, and the gripped workpiece does not need to be detected excessively carefully in the gripping process, the variety and the number of sensors are not increased, the complexity of control is not increased, the workpiece can be gripped in a self-adaptive manner, and the robot hand can be applied to a large range.

The UK Shadow company develops a Shadow five-finger dexterous hand, the driving source of the hand is a pneumatic device named as 'air muscle', the hand consists of 5 fingers, each finger has 4 degrees of freedom, the Shadow hand is added with an inward convergent degree of freedom at the positions of a ring finger and a little finger, the degree of freedom is combined with the side-swing degree of freedom of a thumb to ensure the better enveloping performance of the dexterous hand, and the body and the wrist system of the Shadow dexterous hand have 24 degrees of freedom; the Shadow hand is the first dexterous hand in the world to completely imitate the design of the freedom degree of a human hand, and for the purpose of commercialization, the concept of beautifying the appearance of the dexterous hand is introduced into the design process of the dexterous hand for the first time.

The disadvantages of this design are:

1. the non-linear nature of the pneumatic mechanism makes control of the external dexterous hand very difficult; the flexibility of the pneumatic mechanism enables the sensor to obtain information which cannot reflect the finger joint position and the joint driving force (driving current) of the dexterous hand, and the design difficulty of the controller is increased.

2. The pneumatic mechanism is very difficult to pre-tighten and calibrate, and due to the non-modular design of the fingers of the dexterous hand, the maintainability and the interchangeability are poor; the mode that the driver is externally arranged on the forearm of the robot requires that the dexterous hand of the robot and the arm of the robot are designed as a module, thereby reducing the possibility of modular design and maintenance of each part of the robot and increasing the design difficulty.

3. The complex transmission and multiple degrees of freedom increase the complexity of a mechanical system, a sensing system, a control system and a control algorithm, and the cost is very high.

The magnetorheological fluid rod cluster self-adaptive hand device provided by a certain university at home comprises a base and a plurality of sliding push rods, wherein one end of each sliding push rod is slidably embedded in the base, and the sliding direction of each sliding push rod is parallel to the central line of the corresponding sliding push rod; the device adopts a plurality of sliding push rods, an elastic film, a coil, magnetorheological fluid, a spring piece and the like to comprehensively realize the discrete self-adaptive grabbing function, realizes the self-adaptive function on the size and the shape of an object by utilizing the plurality of sliding push rods, does not need to adjust the device according to the shape and the size of the object, utilizes the coil to be electrified to generate a magnetic field, enables the magnetorheological fluid to be solidified, further bends and deforms towards the center of the device by the plurality of sliding push rods, and achieves the effect of stably grabbing the object in multiple points and multiple directions.

The disadvantages of this design are:

1. the object is grabbed in the unilateral contact, and the self-adaptation process requires that the object exert an effect on the manipulator, to the object of being grabbed that can't fix, can cause the unable completion of self-adaptation process.

2. Passive compliance, in the process of self-adaptation, requires a high size of the object to be grasped, for example, for an object with a flat contact surface, it may result in an inability to grasp the object.

3. The single manipulator is used alone, relies on the terminal spring force of push rod to grasp the object, and the power of grasping is little, can't grasp the great object of quality.

A tendon rope driven particle blocking spherical self-adaptive robot hand device proposed by a university in China comprises a base, a driver, a transmission mechanism, a channel piece, a first film drawing piece, a second film drawing piece, a particle material, a filter layer, an elastic film and a fluid; the device has the working principle that the elastic film is sunken and deformed upwards by pulling the first film pulling piece and the second film pulling piece, the elastic film wraps an object and is adaptive to the shape of the object, part of fluid enters the upper part of the channel piece in a compressed state, a sealed negative pressure area is possibly formed between the elastic film and the object, the object is grabbed under the combined action of fluid pressure, atmospheric pressure and the friction force of the elastic film, and the solidification effect generated by the density increase of the particle materials below the elastic film can bring higher holding force; the device realizes the multi-dimensional self-adaptive grabbing function, and can automatically and adaptively grab objects with different shapes and sizes; the device can realize the adaptation of a plurality of directions to objects, and has the advantages of stable and quick grabbing and simple structure.

The design has similar defects and mainly comprises the following steps:

1. the object is grabbed in the unilateral contact, and the self-adaptation process requires that the object exert an effect on the manipulator, to the object of being grabbed that can't fix, can cause the unable completion of self-adaptation process.

2. Passive compliance, in the process of self-adaptation, requires a high size of the object to be grasped, for example, for an object with a flat contact surface, it may result in an inability to grasp the object.

3. The single manipulator grips in a single direction, and grips an object under the combined action of fluid pressure, atmospheric pressure and elastic film friction, so that the gripping force is small, and the object with high mass cannot be gripped.

4. The self-adaptive process is adopted in each use, the abrasion is serious, and the problems of air leakage, liquid leakage and the like can be caused after long-term use.

An electromagnetism actuating lever cluster formula self-adaptation manipulator device that domestic some university provided drives inside a plurality of poles through the solenoid that applys at the periphery and bunches and realize getting the clamp of object, and this manipulator device has the self-adaptability to object size and shape when snatching the object, has realized the stable centre gripping effect to the object, can carry out all-round or the parcel on a relatively large scale to the work piece, effectively grasps the object homoenergetic of different shapes, material, and its major defect is:

1. the drive current required to be applied is large and the individual power supplies are highly required during operation.

2. Because one driving coil drives a plurality of rod clusters simultaneously, the stability of the operation of the rod clusters is low.

The utility model content is as follows:

the utility model aims to overcome the defects of the existing clamping type manipulator and provide an electromagnetic driving discrete rod cluster type self-adaptive manipulator; when the manipulator grabs an object, the manipulator has self-adaptability to the size and the shape of the object, realizes a stable clamping effect on the object, can wrap a workpiece in an all-around or large range, increases the contact area between the manipulator and the workpiece, provides large grabbing force, and can effectively grab objects made of various materials in various shapes placed in different directions; each push rod (each rod-shaped object capable of moving in the coil is called as a push rod) is provided with a drive coil, compared with the existing adaptive manipulator, the manipulator has the advantages that the drive current of each push rod is small, the structure is simple, the working consistency of rod clusters is good, and the grasping is stable; the gripping device is suitable for being used in severe physical environments such as more dust, flying floc and the like, can be used in non-gravity environments such as space and the like, can be used in high-pressure environments such as seabed and the like, cannot cause the gripped object to escape, and has the advantages of good environmental adaptability, high reliability for long-term use and high gripping stability.

The utility model adopts the following technical scheme:

the utility model relates to an electromagnetic drive discrete rod cluster type self-adaptive manipulator, which consists of more than two electromagnetic drive discrete rod cluster structures, wherein each two structures are symmetrically arranged on a clamping frame (a clamping mechanism of a common clamping type manipulator), and each structure comprises a shell, a base, a plurality of fixed pore plates, a plurality of coils, a plurality of push rods, a plurality of shielding rings and an elastic film; the number of the structures in one manipulator is r, the number of the bases in each structure is 1, the number of the push rods, the number of the coils and the number of the shielding rings are equal, the number of the push rods, the number of the coils and the number of the shielding rings are m, the central lines of the push rods in each structure are parallel to each other, the push rods are made by overlapping silicon steel sheets, and the cross sections of the push rods are circular; the push rod also comprises a wear-resistant insulating coating wrapped outside the silicon steel sheet; the driving coil of the push rod is arranged outside the push rod; the inner side of the driving coil is coated with a wear-resistant insulating coating, the periphery of the driving coil is provided with a shielding ring, and a rod cluster component consists of a push rod, the driving coil and the shielding ring; the elastic film is made of an elastic evacuable material, can be deformed and is provided with an opening, the elastic film wraps the part of all push rods extending out of the base, the opening side of the elastic film is fixed on the shell in a sealing mode, and the elastic film and the base form a sealed cavity in a sealing mode; the coils can conduct electricity and are sleeved outside each push rod, and the shielding rings are sleeved outside the coils; the fixed orifice plates are mesh plates made of high-strength materials with hole patterns matched with the sections of the push rods and the hole number of k, and are divided into two groups, wherein the hole plate number of each group is i and t respectively; the tensioning mechanism is used for tensioning in opposite directions to enable the two groups of fixed pore plates to alternately hold the sliding push rod tightly, the tensioning mechanism enables the fixed pore plates to be in a state of releasing the push rod in the self-adaption process, and the tensioning mechanism enables the fixed pore plates to be in a state of holding the push rod tightly after the self-adaption is completed; wherein r is greater than or equal to 2, m is a natural number greater than or equal to 2, k is a natural number greater than or equal to m, i is a natural number greater than or equal to 1, and t is a natural number greater than or equal to 1.

The utility model relates to an electromagnetic drive discrete rod cluster type self-adaptive manipulator, which is characterized in that: the push rods on each side relatively move to the surface of the grabbed object to form a dot matrix and a multi-dot surface combined enveloping mode for the grabbed object;

the utility model discloses an electromagnetic drive discrete rod cluster type self-adaptive manipulator, which is characterized in that: the sliding push rod comprises at least one rod piece, and each push rod can independently move along the axis direction of the push rod.

Compared with the prior art, the utility model has the following outstanding characteristics:

1. the utility model adopts a plurality of components such as discrete push rods, elastic films, coils, fixed pore plates, bases and the like to comprehensively realize the self-adaptive grabbing function, the coils outside each push rod are electrified to generate a magnetic field, the push rods can extend out of the bases under the action of the magnetic field, the push rods and the fixed pore plates work in a matching way to realize the self-adaptive function of the size and the shape of an object, the manipulator does not need to be adjusted according to the shape and the size of the object, the position of the sliding push rods is fixed by utilizing the reverse motion of the fixed pore plates, the manipulator is shaped, and the aim of stably grabbing objects is fulfilled; the shape sealing and force sealing effects in the grabbing process are good, the stable grabbing performance is superior, the stability is high, the reliability is good, and the structure is simple and reliable compared with a manipulator with similar performance.

2. The manipulator can effectively grip objects with various shapes and materials (magnetic materials and non-magnetic materials) placed in different directions, and has good adaptability to objects.

3. In the manipulator, all sliding push rods, the fixed pore plate and the like are better sealed inside the device, so the manipulator is suitable for being used in a working environment with severe traffic (such as more dust and flying floc), and has good environmental adaptability.

4. The manipulator adopts the fixed pore plate to fix the position of the push rod, does not depend on the action of external force outside the manipulator, does not need the action of fluid force, and therefore can be applied to non-gravity environments and high-pressure working environments and is suitable for special operation environments.

5. Every push rod of this manipulator can independent control, can be according to the volume size of being snatched the object, and drive coil control carries out in a flexible way, and operational reliability is high and can have energy-conserving effect concurrently.

Description of the drawings:

in the figure, 1 is a base, 2 is a fixed orifice plate, 3 is a push rod, 4 is an electromagnetic coil for providing electromagnetic driving force, 5 is a shielding ring installed outside the coil, 6 is a push rod assembly, 7 is a manipulator shell, 8 is an elastic envelope, and 9 is a grasped object.

Fig. 1 is a bottom view (top) and a side view (bottom) of the base of this embodiment, with the circular holes visible in the bottom view for fitting the push rod assembly and the slots visible in the side view for fitting the fixed orifice plate.

Fig. 2 is a bottom view of a fixed orifice plate within an electromagnetically driven discrete pole clustered adaptive robot of this embodiment.

Fig. 3 is a side view (top) and a bottom view (bottom) of the pusher bar assembly of the electromagnetically driven discrete stem cluster adaptive robot of the present embodiment.

Fig. 4 is a bottom view of the internal structure of a single-sided electromagnetically driven discrete rod cluster-type adaptive robot in this embodiment (with the housing and elastomeric envelope removed).

Fig. 5 is a side view of the internal structure of a single-sided electromagnetically driven discrete rod cluster-style adaptive robot of this embodiment (with the housing and elastomeric capsule removed).

Fig. 6 is a side, middle, cross-sectional view of a dual-sided electromagnetically-driven discrete pole cluster-type adaptive robot in accordance with the present embodiment.

Fig. 7 is a cross-sectional view of a small spherical object being gripped by an electromagnetically driven discrete-pole clustered adaptive robot of the present embodiment, which is about to be completely wrapped by the gripped object.

Fig. 8 is a cross-sectional view of a larger spherical object being gripped by an electromagnetically driven discrete-stem cluster-type adaptive robot in accordance with an embodiment of the present invention, the robot partially wrapping the gripped object.

Detailed Description

The following description of the specific structure, operation and operation of the present invention will be made with reference to the accompanying drawings and examples:

the utility model relates to an electromagnetic drive discrete rod cluster type self-adaptive manipulator, which consists of more than two electromagnetic drive discrete rod cluster structures, wherein each two structures are symmetrically arranged on a clamping frame (a clamping mechanism of a common clamping type manipulator), and each structure comprises a shell, a base, a plurality of fixed pore plates, a plurality of coils, a plurality of push rods, a plurality of shielding rings and an elastic film; one manipulator of the present invention has r structures as described above; each structure comprises 1 base, the number of push rods, the number of coils and the number of shielding rings are equal, the number of the push rods, the number of the coils and the number of the shielding rings are m, the central lines of the push rods in each structure are parallel to each other, the push rods are made by overlapping silicon steel sheets, and the cross sections of the push rods are circular; the push rod also comprises a wear-resistant insulating coating wrapped outside the silicon steel sheet; the driving coil of the push rod is arranged outside the push rod; the inner side of the driving coil is coated with a wear-resistant insulating coating, and the periphery of the driving coil is provided with a shielding ring; a rod cluster assembly consisting of a push rod, a drive coil and a shield ring; the elastic film is made of an elastic evacuable material, can be deformed and is provided with an opening, the elastic film can wrap the part of all push rods extending out of the base, the opening side of the elastic film is fixed on the shell in a sealing mode, and the elastic film and the shell form a sealed cavity in a sealing mode; the coils can conduct electricity and are sleeved outside each push rod, and the shielding rings are sleeved outside the coils; the fixed orifice plates are mesh plates made of high-strength materials with hole patterns matched with the sections of the push rods and the hole number of k, and are divided into two groups, wherein the hole plate number of each group is i and t respectively; the tensioning mechanism is used for tensioning in opposite directions to enable the two groups of fixed pore plates to alternately hold the sliding push rod tightly, the tensioning mechanism enables the fixed pore plates to be in a state of releasing the push rod in the self-adaption process, and the tensioning mechanism enables the fixed pore plates to be in a state of holding the push rod tightly after the self-adaption is completed; wherein r is greater than or equal to 2, m is a natural number greater than or equal to 2, k is a natural number greater than or equal to m, i is a natural number greater than or equal to 1, and t is a natural number greater than or equal to 1.

Taking the case and the base as rectangular structures, where r is 2, m is 81, k is 81, i is 2, and t is 2, an embodiment of the electromagnetically driven discrete rod cluster type adaptive manipulator according to the present invention is shown in fig. 1-8, where the embodiment is an electromagnetically driven discrete rod cluster type adaptive manipulator (called a double-sided electromagnetically driven discrete rod cluster type adaptive manipulator) with a double-sided (r is 2) structure, each (single) side structure in the embodiment includes 1 case, 1 base (the base structure is shown in fig. 1), a fixed orifice plate 2 set is provided in the coil, each set of 2 fixed orifice plates (the fixed orifice plate structure is shown in fig. 2), each fixed orifice plate has 81 holes, each hole is provided with 1 push rod assembly (the push rod assembly is shown in fig. 3), the single push rod assemblies have 81 in total, the push rod can slide in the coil, the base is moved towards or returned to the target, all push rods can move towards the target object in parallel, and the elastic coating film, the tensioning mechanism (a common tensioning mechanism, which is not shown in the figure), the interface connected with an external power supply and the connection interface (a common interface, which is not shown in the figure) connected with the common clamping mechanism are further arranged.

In the operation of this embodiment, the actual working device of the manipulator of the present invention, which becomes a gripping type manipulator, is operated in two stages: in the preparation stage of grabbing, the clamping mechanism is opened, all push rods of the electromagnetic drive discrete rod cluster type self-adaptive manipulator are positioned in the base and are in an initial state, as shown in fig. 6, the mechanical arm acts to place the clamping device in place, even though two parts of structures of the electromagnetic drive discrete rod cluster type self-adaptive manipulator are respectively positioned at two sides of the object to be grabbed; after the preparation stage is finished, entering a self-adaptive stage, introducing excitation current to the electromagnetic drive discrete rod cluster type self-adaptive manipulator, enabling the rod cluster to move relatively under the action of the excitation current to form shape closure on the gripped object, if the gripped object is a small round ball, after the self-adaptive action is finished, enabling the inner structure to be as shown in fig. 7 and 8, under the matching work of the clamping mechanism and the electromagnetic drive discrete rod cluster type self-adaptive manipulator, the manipulator finishes complete wrapping on the gripped object, the shape closure effect is good, the tensioning mechanism acts to enable the fixed mesh plate to act in the opposite direction to hold the push rod tightly, and therefore, the shape of the manipulator is fixed to be a shape adaptive to the shape of the gripped object, and the self-adaptive work is finished; the moving and carrying processes are the same as those of the common clamping type manipulator, and are not described; if the objects to be grabbed are a batch of objects with similar shapes and sizes, the self-adaptive working process is not needed to be carried out every time, only the preparation stage and the moving and carrying process are carried out, and if the objects to be grabbed are different every time, the self-adaptive working is needed every time; the electromagnetic drive discrete rod cluster type self-adaptive manipulator is matched with the clamping mechanism and the control system to work in a coordinated mode, and the purpose of stable grabbing is achieved.

Claims (3)

1. The utility model provides an electromagnetic drive divides pole cluster formula self-adaptation manipulator, includes that the electromagnetic drive more than two divides pole cluster structure, its characterized in that: every two structures are symmetrically arranged on the clamping frame, and each structure comprises a shell, a base, a plurality of fixed pore plates, a plurality of coils, a plurality of push rods, a plurality of shielding rings and an elastic film; the number of the bases contained in each structure is 1, the number of the push rods, the number of the coils and the number of the shielding rings are equal, the number of the push rods, the number of the coils and the number of the shielding rings are m, the central lines of the push rods in each structure are parallel to each other, the push rods are made by overlapping silicon steel sheets, and the cross sections of the push rods are circular; the push rod also comprises a wear-resistant insulating coating wrapped outside the silicon steel sheet; the driving coil of the push rod is arranged outside the push rod; the inner side of the driving coil is coated with a wear-resistant insulating coating, the periphery of the driving coil is provided with a shielding ring, and a rod cluster component consists of a push rod, the driving coil and the shielding ring; the elastic film is made of an elastic evacuable material, can be deformed and is provided with an opening, the elastic film wraps the part of all push rods extending out of the base, the opening side of the elastic film is fixed on the shell in a sealing mode, and the elastic film and the base form a sealed cavity in a sealing mode; the coils can conduct electricity and are sleeved outside each push rod, and the shielding rings are sleeved outside the coils; the fixed pore plates are mesh plates made of high-strength materials with hole numbers of k and matched with the push rods, the fixed pore plates are divided into two groups, and the number of the pore plates in each group is i and t respectively; wherein r is greater than or equal to 2, m is a natural number greater than or equal to 2, k is a natural number greater than or equal to m, i is a natural number greater than or equal to 1, and t is a natural number greater than or equal to 1.

2. The electromagnetically driven discrete pole cluster type adaptive manipulator as claimed in claim 1, wherein the push rods of the two sets of fixed orifice plates are in a release state during the adaptive process of the manipulator and are freely movable, and after the adaptive process of the manipulator is completed, the two sets of fixed orifice plates are respectively moved in opposite directions to clasp the sliding push rods, so that the shape of the manipulator is fixed.

3. The electromagnetically driven discrete stem cluster adaptive robot as claimed in claim 1, wherein each of the stem cluster assemblies consists of a pusher, a drive coil and a shield ring, or each of the stem cluster assemblies consists of a pusher and a drive coil.

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