CN216464649U - An electromagnetically driven discrete rod cluster type adaptive manipulator - Google Patents

Abstract

An electromagnetic-driven discrete-rod cluster-type adaptive manipulator belongs to the technical field of robotic hands, comprising a base, a fixed orifice plate, a plurality of push rods, coils, and shielding rings whose center lines are parallel to each other and can slide freely respectively; the manipulator acts as a The robot end effector, combined with a common gripping mechanical device, is used to grasp objects and realize self-adaptive and stable grasping; when grasping objects, the manipulator passes the mechanical fingers (push rods) placed on both sides of the target object. The relative sliding makes the self-adaptive deformation of the manipulator to achieve the wrapping of the target object, thereby realizing the full wrapping or multi-point and large-area contact between the manipulator and the target object, and applying force to the target object at multiple points and large areas. Stable grasping of target objects with a range of materials, shapes and sizes; the manipulator has a simple structure, flexible control, high reliability, stable work and wide application range.

Description

An electromagnetically driven discrete rod cluster type 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 electromagnetically driven discrete rod cluster type self-adaptive manipulator.

Background technique

The robot hand plays a key role in the working process of the robot. It can be used to temporarily connect and fix the robot arm and the workpiece, and can grip and release the workpiece at an appropriate time; usually, the gripping manipulator is used for grasping For a specific workpiece, the manipulator is designed in a form suitable for the workpiece. Multiple manipulators of different shapes and types are often designed for the same robot, so that the robot can use it according to different grasping tasks during work; Adaptability, that is, it is not necessary to know the shape, material and size of the workpiece to be grasped before grasping, and it is not necessary to perform too detailed detection on the grasped workpiece during the grasping process, and the type and number of sensors are not increased. , without increasing the complexity of the control, it can grasp the workpiece adaptively, which will make this robot hand get a wide range of applications.

British Shadow Company has developed a Shadow five-fingered dexterous hand. Its driving source is a pneumatic device called "air muscle". It consists of 5 fingers, each of which has 4 degrees of freedom. The Shadow hand is on the ring finger. An introverted degree of freedom is added to the dexterous hand and the little finger. This degree of freedom, combined with the lateral swinging degree of freedom of the thumb, ensures a better envelope performance for the dexterous hand. The Shadow dexterous hand body and wrist system have a total of 24 degrees of freedom; the Shadow hand is the current world It is the first dexterous hand that completely imitates the design of the freedom of the human hand. For the purpose of commercialization, the concept of beautifying the shape of the dexterous hand is introduced for the first time in the design process of the dexterous hand.

The shortcomings of this design are:

1. The nonlinear nature of the pneumatic mechanism makes the control of the external dexterous hand very difficult; the flexibility of the pneumatic mechanism makes the information obtained by the sensor cannot reflect the position of the finger joints and the joint driving force (driving current) of the dexterous hand, which increases the design of the controller. difficulty.

2. It is very difficult to preload and calibrate the pneumatic mechanism. Due to the non-modular design of the fingers of the dexterous hand, its maintainability and interchangeability are poor; Designing with one module reduces the possibility of modular design and maintenance of each part of the robot, and increases the difficulty of design.

3. Complex transmission and multiple degrees of freedom increase the complexity of mechanical systems, sensing systems, control systems and control algorithms, resulting in high costs.

A magnetorheological hydraulic rod cluster adaptive hand device proposed by a domestic university includes a base and a plurality of sliding push rods. One end of each sliding push rod is slidably embedded in the base and the sliding direction is the same as the sliding push rod. The center lines are parallel; the device uses multiple sliding push rods, elastic films, coils, magnetorheological fluids, springs, etc. to comprehensively realize the discrete adaptive grasping function, and uses multiple sliding push rods to achieve self-adaptation to the size and shape of the object Function, there is no need to adjust the device according to the shape and size of the object. The device uses the coil to energize to generate a magnetic field to solidify the magnetorheological liquid, and then multiple sliding push rods bend and deform toward the center of the device to achieve a multi-point and multi-directional stable grasp of the object. Effect.

The shortcomings of this design are:

1. One-way contact with the grasped object, and the adaptive process requires the object to exert a force on the manipulator. For the grasped object that cannot be fixed, the adaptive process cannot be completed.

2. Passive compliance. In the process of self-adaptation, the shape and size of the object to be grasped are required to be high. For example, for objects whose contact surface is flat, it will cause the object to be unable to be grasped.

3. A single manipulator is used alone, and relies on the spring force at the end of the push rod to grasp the object. The grasping force is small and cannot grasp the object with large mass.

A spherical self-adaptive robot hand device with tendon rope driving particle blockage proposed by a domestic university, the device includes a base, a driver, a transmission mechanism, a channel member, a first membrane pulling member, a second membrane pulling member, particulate material, filter layer, elastic film and fluid; the working principle of the device is that by pulling the first film pulling member and the second film pulling member, the elastic film is concave and deformed upward, the elastic film wraps the object and adapts to the shape of the object, and part of the fluid is subjected to The compressed state enters the upper part of the channel member, and a negative pressure area that may be sealed between the elastic film and the object may be formed. Under the combined action of fluid pressure, atmospheric pressure and elastic film friction, the object is grasped, and the particulate material is in the lower part of the elastic film. The solidification effect produced by the increase in the density of the material will bring about a greater grasping force; the device realizes the multi-dimensional adaptive grasping function, which can automatically adapt to grasp objects of different shapes and sizes; it can realize the adaptation of objects in multiple directions, The grabbing is stable and fast, and the structure is simple.

The shortcomings of this design are similar, mainly in:

1. One-way contact with the grasped object, and the adaptive process requires the object to exert a force on the manipulator. For the grasped object that cannot be fixed, the adaptive process cannot be completed.

2. Passive compliance. In the process of self-adaptation, the shape and size of the object to be grasped are required to be high. For example, for objects whose contact surface is flat, it will cause the object to be unable to be grasped.

3. A single manipulator grasps in one direction, relying on the joint action of fluid pressure, atmospheric pressure and elastic film friction to grasp objects. The grasping force is small and cannot grasp objects with large mass.

4. The self-adaptive process is adopted every time it is used, and the wear and tear is serious, and long-term use may cause problems such as air leakage and liquid leakage.

An electromagnetically driven rod-cluster-type adaptive manipulator device proposed by a domestic university, realizes the gripping of objects by driving multiple internal rod clusters through electromagnetic coils applied on the outer periphery. The size and shape of the object are adaptive, which realizes the stable clamping effect of the object, can wrap the workpiece in all directions or in a large range, and can effectively grasp objects of different shapes and materials. The main disadvantages are:

1. The driving current that needs to be applied is very large, and the single power supply is very demanding during the working process.

2. Since one driving coil drives multiple rod clusters at the same time, the working stability of the rod clusters is low.

Invention content:

The purpose of the utility model is to improve the deficiencies of the existing clamping manipulators, and to provide an electromagnetically driven discrete rod cluster type adaptive manipulator; the manipulator has self-adaptability to the size and shape of the object when grasping the object, and realizes the The stable clamping effect of the object can wrap the workpiece in all directions or in a larger range, increase the contact area between the manipulator and the workpiece, and provide a larger gripping force. All objects of the material can be effectively grasped; each push rod (each rod that can move in the coil is called a push rod) is equipped with a driving coil, compared with the existing adaptive manipulator, the manipulator has each push rod. The driving current of the rod is small, the structure is relatively simple, the consistency of the rod cluster work is better, and the grip is more stable; it is suitable for use in harsh physical environments such as more dust and flying flocs, and can be used in non-gravity environments such as space. It can be used in high pressure environments such as the seabed, without causing the grasped object to escape, with good environmental adaptability, high reliability for long-term use, and high grasping stability.

The utility model adopts the following technical solutions:

The utility model relates to an electromagnetically driven discrete rod cluster type self-adaptive manipulator. The manipulator is composed of more than two electromagnetically driven discrete rod cluster structures. (clamping mechanism), each such structure includes a casing, a base, a plurality of fixed orifice plates, a plurality of coils, a plurality of push rods, a plurality of shielding rings and an elastic film; this structure in a manipulator is r, the number of bases contained in each structure is 1, the number of push rods, the number of coils and the shielding ring are equal, and all three are m, the center lines of the push rods in each structure are parallel to each other, and the push rods are formed by It is made of superimposed silicon steel sheets, and the cross section of the push rod is circular; the push rod also includes a wear-resistant insulating coating wrapped around the silicon steel sheet; the outside of the push rod is the drive coil of the push rod; the inside of the drive coil is coated with wear-resistant Insulation coating, the periphery of the driving coil is a shielding ring, which consists of a push rod, a driving coil and a shielding ring to form a rod cluster assembly; the elastic film is made of elastic and evacuable material, and the elastic film is deformable and has an opening , the elastic film wraps all the parts of the push rod extending out of the base, the open side of the elastic film is sealed and fixed on the casing, and the elastic film and the base are sealed to form a closed cavity; the above-mentioned coils are conductive and are sleeved on each Outside the above-mentioned push rod, the above-mentioned shielding ring is sleeved outside the coil; the fixed orifice plate is a mesh plate made of high-strength material with the hole type and the cross-section of the push rod matched, and the number of holes is k, and the fixed orifice plate is divided into two groups, The number of orifice plates in each group is i, t respectively; the tensioning mechanism is used for tensioning in opposite directions to make the two groups of fixed orifice plates dislocate and hold the sliding push rods. During the adaptive process, the tensioning mechanism makes the fixed orifice plates in The state of releasing the push rod, after the self-adaptation is completed, the tensioning mechanism makes the fixed mesh plate in the state of holding the push rod; 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 electromagnetic-driven discrete-rod cluster-type adaptive manipulator of the utility model is characterized in that: a plurality of push rods on each side move relatively to the surface of the object to be grasped, forming a lattice pattern and multiple points on the object to be grasped. The envelope method of combining the surfaces;

The electromagnetic driven discrete rod cluster type adaptive manipulator of the utility model is characterized in that: the sliding push rod includes at least one rod, and each push rod can move independently along its own axis direction.

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

1. The utility model adopts multiple components such as a discrete push rod, an elastic film, a coil, a fixed orifice plate, a base, etc. to comprehensively realize the self-adaptive grasping function, and utilizes the coil outside each push rod to be energized to generate a magnetic field. The push rod can extend out of the base, and the push rod and the fixed orifice plate work together to realize the adaptive function of the size and shape of the object. There is no need to adjust the manipulator according to the shape and size of the object, and the reverse movement of the fixed orifice plate is used. , the position of the sliding push rod is fixed, it is the shape of the manipulator, and the purpose of stable grasping of the grasping object is achieved; the shape sealing and force sealing effect of the grasping process are good, the stable grasping performance is excellent, the stability is high, the reliability is good, and the structure Simple and reliable compared to similar performance manipulators.

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

3. In this manipulator, all sliding push rods and fixed orifice plates are well enclosed inside the device, so this manipulator is suitable for use in a relatively harsh working environment (such as a lot of dust and flying fluff), and the environmental adaptability it is good.

4. The manipulator uses a fixed orifice plate to fix the position of the push rod, does not rely on external forces other than the manipulator, and does not require the effect of fluid force. Therefore, it can be used in non-gravity environments and high-pressure working environments, and is suitable for special operating environments.

5. Each push rod of the manipulator can be independently controlled, and the drive coil can be flexibly controlled according to the size of the object to be grasped, with high working reliability and energy-saving effect.

Description of drawings:

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

Figure 1 is a bottom view (top) and a side view (bottom) of the base in this embodiment. The round hole visible in the bottom view is used for assembling the push rod assembly, and the narrow slot visible in the side view is used for assembling the fixed orifice plate.

FIG. 2 is a bottom view of the fixed orifice plate inside the electromagnetically driven discrete rod cluster type adaptive manipulator in this embodiment.

3 is a side view (top) and a bottom view (bottom) of the push rod assembly of the electromagnetically driven discrete rod cluster adaptive manipulator in this embodiment.

FIG. 4 is a bottom view of the internal structure of the single-side electromagnetically driven discrete-rod cluster-type adaptive manipulator in this embodiment (with the outer shell and elastic envelope removed).

FIG. 5 is a side view of the internal structure of the single-side electromagnetic-driven discrete-rod cluster-type adaptive manipulator in this embodiment (with the outer casing and elastic envelope removed).

FIG. 6 is a side middle section view of the double-sided electromagnetically driven discrete rod cluster type adaptive manipulator in this embodiment.

FIG. 7 is a middle cross-sectional view of the electromagnetically driven discrete-rod cluster-type adaptive manipulator in the present embodiment when grabbing a small spherical object, and the manipulator completely wraps the grabbed object.

FIG. 8 is a middle cross-sectional view of the electromagnetically driven discrete-rod cluster-type adaptive manipulator in this embodiment when grabbing a larger spherical object, and the manipulator will partially wrap the grabbed object.

Detailed ways

The specific structure, working principle and working process of the present utility model are described below in conjunction with the accompanying drawings and examples:

The utility model relates to an electromagnetically driven discrete rod cluster type self-adaptive manipulator. The manipulator is composed of more than two electromagnetically driven discrete rod cluster structures. (holding mechanism), each such structure includes a casing, a base, a plurality of fixed orifice plates, a plurality of coils, a plurality of push rods, a plurality of shielding rings and an elastic film; a manipulator of the present invention has the above-mentioned There are r structures; each of the above structures includes 1 base, the number of push rods, the number of coils and the shielding ring are equal, and the three are m, the center lines of the push rods in each structure are parallel to each other, and the push rods It is made of superimposed silicon steel sheets, and the cross section of the push rod is circular; the push rod also includes a wear-resistant insulating coating wrapped around the silicon steel sheet; outside the push rod is the drive coil of the push rod; The insulating coating is ground, and the periphery of the driving coil is a shielding ring; a rod cluster assembly is composed of a push rod, a driving coil and a shielding ring; the elastic film is made of elastic and evacuable material, and the elastic film is deformable and has The elastic film can wrap all the parts of the push rod that extend out of the base, the open side of the elastic film is sealed and fixed on the casing, and the elastic film and the casing are sealed to form a closed cavity; Outside each push rod, the above-mentioned shielding ring is sleeved outside the coil; the fixed orifice plate is a mesh plate made of high-strength material with the hole type matched with the cross-section of the push rod, and the number of holes is k. The fixed orifice plate is divided into two parts. The number of orifice plates in each group is i, t respectively; the tensioning mechanism is used to tension the two groups of fixed orifice plates in opposite directions to make the two groups of fixed orifice plates dislocate and hold the sliding push rod. The plate is in the state of releasing the push rod. After the self-adaptation is completed, the tensioning mechanism makes the fixed mesh plate in the state of holding the push rod; among them, r is greater than or equal to 2, m is a natural number greater than or equal to 2, and k is greater than or equal to m. A natural number, 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 shell and the base as a cuboid structure, r=2, m=81, k=81, i=2, t=2, it becomes a kind of electromagnetically driven discrete rod cluster type adaptive manipulator described in the present utility model Embodiment (as shown in Figures 1-8), this embodiment is a double-sided (r=2) structure of the electromagnetically driven discrete rod cluster type adaptive manipulator (called the double-sided electromagnetically driven discrete rod cluster type adaptive manipulator). ), each (single) side structure in this embodiment includes a shell, a base (the base structure is shown in Figure 1), and there are 2 groups of fixed orifice plates in the coil, each group of 2 fixed orifice plates (The structure of the fixed orifice plate is shown in Figure 2), there are 81 holes on each fixed orifice plate, and one push rod assembly is installed in each hole (the push rod assembly is shown in Figure 3), and there are push rod assemblies on one side 81, the push rods can slide in the coil, move to the target or return to the base, all the push rods can move parallel to the target object, and are also equipped with elastic envelopes and tensioning mechanisms (ordinary tensioning mechanisms, not shown in the figure) expression), an interface connected with an external power supply, and a connection interface with a common clamping mechanism (ordinary interface, not shown in the figure).

During the work of this embodiment, the manipulator of the present invention becomes the actual working device of the gripping manipulator, and the work is carried out in two stages: in the preparatory stage of grasping, the gripping mechanism is opened, and the electromagnetically driven discrete rod All the push rods of the cluster adaptive manipulator are located in the base and are in the initial state, as shown in Figure 6, the manipulator moves to put the clamping device in place, even if the two parts of the electromagnetically driven discrete rod cluster adaptive manipulator are respectively It is located on both sides of the object to be grasped; after the preparation stage is completed, it enters the adaptive stage, and the excitation current is applied to the electromagnetically driven discrete rod cluster adaptive manipulator. The object forms a closed shape. If the object to be grasped is a small ball, after the adaptive action is completed, the internal structure is shown in Figure 7 and Figure 8. The clamping mechanism and the electromagnetically driven discrete rod cluster adaptive manipulator work together. Next, the manipulator completes the complete wrapping of the object to be grasped, and the shape and sealing effect is good. The tensioning mechanism moves the fixed mesh plate in the opposite direction and holds the push rod tightly. Since then, the shape of the manipulator is fixed and becomes A shape that is adapted to the shape of the object to be grasped, the adaptive work is completed; the subsequent moving and handling process is the same as that of a common gripping manipulator, and will not be described again; if the objects to be grasped are a batch of similar shapes and sizes It is not necessary to carry out the adaptive work process every time, only the preparation stage and the moving and handling process can be carried out. If the target grasped each time is different, the self-adaptive work needs to be carried out each time; the electromagnetic drive is discrete The rod-cluster-type adaptive manipulator cooperates with the clamping mechanism and the control system to achieve the purpose of stable grasping.

Claims (3)

1. an electromagnetically driven discrete rod cluster type adaptive manipulator, comprising more than two electromagnetically driven discrete rod cluster structures, it is characterized in that: every two such structures are symmetrically mounted on the clamping frame, and each this structure comprises Shell, base, multiple fixed orifice plates, multiple coils, multiple push rods, multiple shielding rings and elastic membranes; the number of bases contained in each of the above structures is 1, the number of push rods, the number of coils and The shielding rings are equal, and the three are all m. The centerlines of the push rods in each structure are parallel to each other. The push rods are made by superimposing silicon steel sheets. The cross section of the push rods is circular; the push rods are also included in the silicon steel sheets. A wear-resistant insulating coating is wrapped outside; the push rod is the drive coil of the push rod; the inner side of the drive coil is coated with a wear-resistant insulating coating, and the outer periphery of the drive coil is a shield ring, which consists of a push rod, a drive coil and a shield ring A rod cluster assembly is formed; the elastic film is made of elastic and evacuable material, the elastic film can be deformed, and has an opening, the elastic film wraps all the parts of the push rod that protrude from the base, and the opening side of the elastic film is sealed and fixed On the casing, the elastic film and the base are sealed to form a closed cavity; the above-mentioned coil is conductive, and is sleeved outside each of the above-mentioned push rods, and the above-mentioned shielding ring is sleeved outside the coil; the fixed orifice plate is a hole type and a push rod. Matching, the mesh plate made of high-strength material with the number of holes k, the fixed orifice plate is divided into two groups, the number of orifice plates in each group is i, t respectively; among them, r is greater than or equal to 2, m is 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 rod cluster type adaptive manipulator as claimed in claim 1, wherein the two groups of fixed orifice plates are in a released state during the manipulator self-adaptation and the push rod can move freely, and after the manipulator self-adaptation is completed, the push rod can move freely. , the two sets of fixed orifice plates move in opposite directions to hold the sliding push rod, and the shape of the manipulator is fixed. 3. The electromagnetically driven discrete rod cluster type adaptive manipulator as claimed in claim 1, wherein each rod cluster assembly is made up of a push rod, a drive coil and a shielding ring, or each rod cluster assembly is composed of It consists of a push rod and a drive coil.

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