CN100369719C - Gripping device with flexible surface of variable stiffness - Google Patents
Gripping device with flexible surface of variable stiffness Download PDFInfo
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- CN100369719C CN100369719C CNB2004101032379A CN200410103237A CN100369719C CN 100369719 C CN100369719 C CN 100369719C CN B2004101032379 A CNB2004101032379 A CN B2004101032379A CN 200410103237 A CN200410103237 A CN 200410103237A CN 100369719 C CN100369719 C CN 100369719C
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Abstract
本发明涉及机器人、机械手或机械夹具的制造，也涉及电、磁流变液的应用技术。它包括柔性膜和支撑件，支撑件由组成阵列的油压活塞机构和多路磁流变阀构成，油压活塞机构包括缸体和在缸内直线运动的活塞，柔性膜表面分别与活塞端头固连，多路磁流变阀的阀体上设有两个或两个以上的接口，每个接口与一个活塞缸体接通，构成密封连通空腔，腔体内盛有磁流变液；阀体内置有两块由软磁性材料构成的磁极，两磁极间的距离为至少0.5毫米。磁流变液也可由电流变液代替，并用电流变阀代替磁流变阀。本装置通过调节多路电、磁流变阀内的电压或磁场大小，达到无级调节柔性膜各个位置的刚度，能适应不同刚度、不同形状的被夹持物。
The invention relates to the manufacture of robots, manipulators or mechanical fixtures, and also relates to the application technology of electric and magnetorheological fluids. It includes a flexible membrane and a support. The support is composed of an array of hydraulic piston mechanism and a multi-channel magneto-rheological valve. The hydraulic piston mechanism includes a cylinder and a piston that moves linearly in the cylinder. The surface of the flexible membrane is connected to the end of the piston respectively. The head is fixedly connected, and the valve body of the multi-channel magneto-rheological valve is provided with two or more ports, and each port is connected with a piston cylinder to form a sealed communication cavity, which is filled with magnetorheological fluid. ; There are two magnetic poles made of soft magnetic material inside the valve body, and the distance between the two magnetic poles is at least 0.5 mm. The magnetorheological fluid can also be replaced by electrorheological fluid, and the magnetorheological valve can be replaced by electrorheological valve. The device can adjust the stiffness of each position of the flexible membrane steplessly by adjusting the voltage or magnetic field in the multi-circuit electric and magneto-rheological valves, and can adapt to clamped objects with different stiffnesses and shapes.
Description
Technical field:
The present invention relates to the manufacturing technology of robot, manipulator or mechanical clamp, also relate to the applied technical field of electricity, magnetic flow liquid.
Background technology:
In technical fields such as robot industry and retrofit, usually need to use the device of flexible surface, for example manipulator or mechanical clamp etc. with stiffness variable.When the object of an irregular contour is caught or clamped to needs, the stable degree for preventing to crush gripped object, improving clamping required the contacted surface of gripping object and gripped object to possess certain flexibility, to increase contact area, to reduce contact stress.The method of available technology adopting mainly is to use elastomeric material, promptly use rubber, high molecular polymer elastomeric material to coat contact surface, the situation of using the special machine structure is also arranged, for example use the needle-like contact to add flexible outer surface that spring reverse motion forms etc.But can't overcome the deficiency below these existing methods exist: no matter (1) is to use elastomeric material, also be to use common spring mechanical structure, the rigidity on its gripping object surface all can't be done to regulate arbitrarily according to actual instructions for use: when (2) gripping object uses strain to come match gripped object profile, because gripped object outer surface pressure is unbalanced, stress as its jut is bigger, and negative area possibly can't affact chucking power, so the phenomenon of bad gripped object surface or clamping shakiness may occur pressing from both sides; (3) distortion of the gripping object flexible surface power effect that is squeezed produces, and after arriving deformation point, still can change shape if be subjected to other external force influence, so can not very firmly fix the position of gripped object.
Electric current, magnetic flow liquid are nearly decades of new developing technology.Electric current, magnetic flow liquid are under the effect of extra electric field, and the viscosity of liquid can obviously increase with the increase of electric-field intensity, solidify rapidly up to undergoing phase transition, and its solidification process can be finished in moment, and this process has invertibity.Along with the research that deepens continuously to electric current, magnetic flow liquid, its application prospect receives the concern of a lot of industries.But because the complexity of technology itself, relevant so far electricity, MR valve also are in the desk study stage, do not have the report of its practical application in engineering.
Summary of the invention:
The objective of the invention is,, provide a kind of stiffness variation of utilizing electric current, MR valve to control flexible surface, thereby constitute the clamping device of flexible surface with stiffness variable at deficiency of the prior art.
Solution of the present invention is as follows:
Clamping device with flexible surface of stiffness variable of the present invention, include flexible membrane and support member thereof, it is characterized in that, described support member is made of hydraulic piston mechanism that forms array and multichannel MR valve, hydraulic piston mechanism comprises cylinder body and straight-line piston in piston cylinder, the surface of flexible membrane is connected with the piston end head surface respectively, the valve body of described multichannel MR valve is made with nonferromugnetic material, this valve body is provided with two or more interfaces, each interface and a piston/cylinder are connected, constitute sealing and be communicated with cavity, fill magnetic flow liquid in the cavity; Valve body is built-in with two magnetic poles that are made of soft magnetic material, and the distance between two magnetic poles is at least 0.5 millimeter, and their outer end links into an integrated entity and is wound with magnetic coil with power connection; A magnetic pole that is wound with solenoid that is made of soft magnetic material perhaps is set in the valve body, and the distance between this magnetic pole and the valve body inner face is at least 0.5 millimeter; The magnetic flow liquid of splendid attire also can be replaced by ER fluid in the described cavity, and replace the multichannel MR valve with the multichannel electrorheological valve, this valve body is made by electrically non-conductive material, its shape and structure is identical with the multichannel MR valve, valve body is built-in with two electrodes that are made of conductive material, two interelectrode distances are at least 0.5 millimeter, and two electrodes are drawn the outer and power connection of valve body by lead respectively.
When only being provided with a magnetic pole around last solenoid in the valve body chamber, magnetic flow liquid flows through from an end of magnetic pole, uses Current Control magnetic field, can simplified structure, but about this moment, magnetic field intensity can be at half than the magnetic field intensity of closed magnetic path.
In actual use, can be according to the difference of the different or different required chucking power of clip position of clamping object, select to use the hydraulic piston mechanism and the multichannel MR valve of varying number, when needs use a plurality of banked direction control valves, each valve uses independently power supply control, cylinder piston motion resistance that like this can distributed control diverse location, thus the contact stiffness of any position on the flexible surface can be changed arbitrarily.Come sensing contact force herein if pressure sensor is set on each hydraulic piston-cylinder, and be transferred in the computer, can regulate and control the chucking power of diverse location by specific program.
Clamping device with flexible surface of stiffness variable of the present invention has the following advantages:
(1) by regulating voltage or the magnetic field size in multichannel electricity, the MR valve, the resistance of motion that can step-less adjustment oil cylinder inner carrier, thereby reach can each position soft or hard rigidity of step-less adjustment flexible surface purpose, simultaneously owing to the oil cylinder array that is provided with piston is arranged in one plane, therefore the distortion on flexible membrane surface is two-dimentional, can adapt to various different-stiffness, difform gripped object;
(2) because the distortion on flexible membrane surface is to rely on the piston motion to produce, and adjustable in pressure.Therefore can accomplish that for different body surface pressure is suitable everywhere, so both can guarantee can not press from both sides bad gripped object, can guarantee the steadiness of clamping again;
(3) rigidity on flexible membrane surface is adjustable at any time, before object is clamped, can regulate rigidity for minimum, thus match object surface shape full out; After object is clamped, can change rigidity immediately to maximum, make the flexible surface after the distortion can't change shape again, thereby keep the position and the stability of gripped object very solid and reliablely;
(4) system that controls with respect to pure machinery, clamping device of the present invention, relatively simple for structure.
By the following examples and accompanying drawing be further described.
Description of drawings
Fig. 1 is the example structure schematic diagram of the clamping device of the flexible surface with stiffness variable of the present invention.
Fig. 2 has a plurality of multichannel MR valves and the embodiment schematic diagram of the clamping device of the control that uses a computer for of the present invention
The multichannel MR valve example structure schematic diagram of Fig. 3 for using among the present invention.
The single magnetic pole multichannel MR valve example structure schematic diagram of Fig. 4 for using among the present invention.
The multichannel electrorheological valve example structure figure of Fig. 5 for using among the present invention.
The specific embodiment:
Referring to Fig. 1,1 is the multichannel MR valve, this valve body is provided with 6 interfaces, connect with the cylinder body 2 of 6 hydraulic piston mechanisms respectively by pipeline, the cavity of valve body 1 and cylinder body 2 is built-in with magnetic flow liquid 3,4 be can be in piston cylinder the piston of moving linearly, be equipped with bead 5 at the head of piston, so that and being connected of flexible membrane 6 (as the elastic caoutchouc tension film).7 is the aluminium sheet pedestal of stationary housing.After the piston of part oil cylinder was extruded, its inner magnetic flow liquid can flow to other oil cylinder inside by MR valve 1 outwards moved the oil cylinder piston that does not stress, up to touching object and reaching identical inside hydrostatic pressing.As long as control the damping force size of 1 pair of magnetic flow liquid of MR valve, just can control the rigidity of compliant surface.Dotted portion is the held object with given shape of imagination among the figure.Piston is adhesively fixed on oil cylinder 2 arrays on the aluminium sheet pedestal 7, and flexible membrane 6 integral body that are bonded on the piston head have just constituted a controlled compliant surface.Use pipeline that the import and export of all oil cylinders are connected on the multichannel MR valve 1, so just constituted a structure that is similar to linker.When needs rigidity is very little (before will clamping object), can regulate electric current for minimum, the magnetic flow liquid in the multichannel MR valve can be flowed arbitrarily, thus match object surface shape full out; When needs rigidity is very big, (clamped the back), can be regulated electric current to maximum as object, sealing multichannel MR valve, magnetic flow liquid can't free in and out oil cylinder, makes the flexible surface after the distortion can't change shape again, thereby keeps position, distortion back.In addition, can also in clamping process, regulate size of current as required and change contact stiffness.
Referring to Fig. 2,, can use a plurality of multichannel MR valves in same the clamping device according to the size of required flexible membrane area.Selected 3 multichannel MR valves in the present embodiment for use, each multichannel MR valve is connected with the cylinder body of 6 hydraulic piston mechanisms respectively.Pressure sensor 8 is installed on each oil cylinder, and its pressure signal that records has reflected the pressure size between this oil cylinder piston contact and the gripped object.The pipeline of 6 oil cylinders is connected on the same multichannel MR valve 1, just can have independently controlled the resistance of motion of these 6 oil cylinders.All oil cylinder pressure signals are all sent in the computer system 9 and are handled, according to pre-set program and the command request that provides in real time, from computer system, send control signal as calculated again in different multichannel MR valves, control the resistance of motion of this part oil cylinder, just can be in the light of actual conditions and the current response that requires to regulate certain part on the flexible face.Arrow is represented the direction of transfer of the pressure signal of pressure sensor 8 among the figure.
Referring to Fig. 3, shown in use in the multichannel MR valve aluminium alloy to make the valve body 10 of open circles ring-type, make C type armature with electrical pure iron, the armature opening part constitutes the magnetic pole 11 and 12 and closed valve of two disk shapes up and down in valve body 10, use high strength epoxy resin glue directly to be bonded and sealed between magnetic pole and the valve body, the stage casing of C type magnet is with CJ10-60 A.C. contactor solenoid 13, constitutes the electromagnet of MR valve, and magnetic flow liquid 3 flows through the gap between magnetic pole 11 and 12.The magnetic pole diameter that present embodiment is selected for use is 16mm, and it up and down is chosen as 1mm in the gap between two magnetic pole end faces.It is the stepless control of 0-24V that solenoid is selected voltage for use, and then two interpolar magnetic induction intensity are 0-400mT, and behind solenoid 13 logical upward electric currents, magnetic pole 11 and 12 is respectively the N and the S utmost point.Magnetic rheology effect has caused the curing of magnetic flow liquid class, makes magnetic flow liquid possess anti-shear ability, and the size of its shear yield strength can be by regulating the stepless control of size of current in the solenoid 13.Because fluid flow resistance and its shear yield strength of magnetic flow liquid valve are directly proportional, so can use the flow resistance of MR valve control turnover fluid.Gap between two magnetic pole end faces is selected and can be increased with the increase of electromagnet coil and electric current, for example, is guaranteeing that magnetic field intensity can reach under the prerequisite of 0-400mT between two magnetic poles, and the gap between two magnetic pole end faces can be chosen as 0.5-5mm up and down.
Experiment shows, when using the magnetic flow liquid of U.S. LORD company, can reach the shear yield strength of 30kPa under 400mT.
Fig. 4 represents to use the structure of the multichannel MR valve of single magnetic pole, use aluminium alloy to make the valve body 10 of round peviform (being the sealing of valve body one end), make column type armature with electrical pure iron, the armature opening part constitutes the magnetic pole 11 and the closed valve of a disk shape in valve body 10, also use high strength epoxy resin glue directly to be bonded and sealed between magnetic pole and the valve body, be that magnetic flow liquid is to flow through (gap between magnetic pole and the valve body end face is selected with embodiment 1) the gap between the end face of valve body 10 inner faces and magnetic pole 11, solenoid 13 is held in addition and is stretched out outside the valve body around electromagnet, like this can simplified structure.Reached so too and used Current Control magnetic field to control the purpose of the mobile resistance of magnetic flow liquid.Just compare, under the situation of equal size of current, about the magnetic field intensity of this structure can be at half with structure shown in Figure 3.
As shown in Figure 5, the use electrorheological valve replaces the MR valve in the said system.Valve body 14 uses idioelectric polytetrafluoroethylmaterial material to make the open circles ring-type, draw the positive and negative electrode of lead and external power supply on the two disk shape electrodes 15 up and down and 16 that are provided with in the valve body respectively and connect, also use high strength epoxy resin glue directly to be bonded and sealed between electrode and the valve body.ER fluid 17 flows through the gap between the end face of two cube electrodes 15 up and down and 16.Its ER fluid can be evenly distributed in the silicone oil by 30% percent by volume by the titania powder of nano-scale magnitude and make.Voltage height step-less adjustment on two electrodes; Change the height of voltage, just can change the fluid flow resistance of the valve of flowing through.Other control mode is identical with the situation of the multichannel MR valve that uses magnetic pole.
Claims (3)
1. clamping device with flexible surface of stiffness variable, include flexible membrane and support member thereof, it is characterized in that, described support member is made of hydraulic piston mechanism that forms array and multichannel MR valve, hydraulic piston mechanism comprises cylinder body and straight-line piston in piston cylinder, a surface of flexible membrane is connected with the piston end head surface respectively, the valve body of described multichannel MR valve is made with nonferromugnetic material, this valve body is provided with two or more interfaces, each interface and a piston/cylinder are connected, constitute sealing and be communicated with cavity, fill magnetic flow liquid in the cavity; Valve body is built-in with two magnetic poles that are made of soft magnetic material, and the distance between two magnetic poles is at least 0.5 millimeter, and their outer end links into an integrated entity and is wound with magnetic coil with power connection.
2. clamping device with flexible surface of stiffness variable, include flexible membrane and support member thereof, it is characterized in that, described support member is made of hydraulic piston mechanism that forms array and multichannel MR valve, hydraulic piston mechanism comprises cylinder body and straight-line piston in piston cylinder, a surface of flexible membrane is connected with the piston end head surface respectively, the valve body of described multichannel MR valve is made with nonferromugnetic material, this valve body is provided with two or more interfaces, each interface and a piston/cylinder are connected, constitute sealing and be communicated with cavity, fill magnetic flow liquid in the cavity; A magnetic pole that is wound with solenoid that is made of soft magnetic material is set in the valve body, and the distance between this magnetic pole and the valve body inner face is at least 0.5 millimeter, the solenoid of this magnetic pole and power connection.
3. clamping device with flexible surface of stiffness variable, include flexible membrane and support member thereof, it is characterized in that, described support member is made of hydraulic piston mechanism that forms array and multichannel electrorheological valve, hydraulic piston mechanism comprises cylinder body and straight-line piston in piston cylinder, a surface of flexible membrane is connected with the piston end head surface respectively, described multichannel electrorheological valve valve body is made by electrically non-conductive material, this valve body is provided with two or more interfaces, each interface and a piston/cylinder are connected, constitute sealing and be communicated with cavity, fill ER fluid in the cavity, valve body is built-in with two electrodes that are made of conductive material, and two interelectrode distances are at least 0.5 millimeter, and two electrodes are drawn the outer and power connection of valve body by lead respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004101032379A CN100369719C (en) | 2004-12-31 | 2004-12-31 | Gripping device with flexible surface of variable stiffness |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004101032379A CN100369719C (en) | 2004-12-31 | 2004-12-31 | Gripping device with flexible surface of variable stiffness |
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| CN1799784A CN1799784A (en) | 2006-07-12 |
| CN100369719C true CN100369719C (en) | 2008-02-20 |
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| CNB2004101032379A Expired - Fee Related CN100369719C (en) | 2004-12-31 | 2004-12-31 | Gripping device with flexible surface of variable stiffness |
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| DE4124340A1 (en) * | 1991-07-23 | 1993-01-28 | Werner Prof Dr Ing Moeller | Clamping method for workpieces with complex surfaces - involves clamping between thrust pins protruding from chambers pressurised with low melting point alloy |
| US6267364B1 (en) * | 1999-07-19 | 2001-07-31 | Xuesong Zhang | Magnetorheological fluids workpiece holding apparatus and method |
| US6823895B2 (en) * | 2001-05-31 | 2004-11-30 | The Board Of Regents Of The University And Community College System Of Nevada On Behalf Of The University Of Nevada | Magnetorheological fluid device |
| CN2761378Y (en) * | 2004-12-31 | 2006-03-01 | 中国科学技术大学 | Clamping device having flexible surface with variable rigidity |
-
2004
- 2004-12-31 CN CNB2004101032379A patent/CN100369719C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4124340A1 (en) * | 1991-07-23 | 1993-01-28 | Werner Prof Dr Ing Moeller | Clamping method for workpieces with complex surfaces - involves clamping between thrust pins protruding from chambers pressurised with low melting point alloy |
| US6267364B1 (en) * | 1999-07-19 | 2001-07-31 | Xuesong Zhang | Magnetorheological fluids workpiece holding apparatus and method |
| US6823895B2 (en) * | 2001-05-31 | 2004-11-30 | The Board Of Regents Of The University And Community College System Of Nevada On Behalf Of The University Of Nevada | Magnetorheological fluid device |
| CN2761378Y (en) * | 2004-12-31 | 2006-03-01 | 中国科学技术大学 | Clamping device having flexible surface with variable rigidity |
Non-Patent Citations (1)
| Title |
|---|
| 磁流变技术及其在机械工程中的应用（续）. 黄豪彩，黄宜坚.制造技术与机床，第2003.7期. 2003 * |
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|---|---|
| CN1799784A (en) | 2006-07-12 |
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Assignee: Hefei Shihua Pipe Fittings Co.,Ltd. Assignor: USTC Asset Management Co., Ltd. Contract fulfillment period: 2008.3.26 to 2014.3.26 contract change Contract record no.: 2009340000032 Denomination of invention: Clamping holder with rigidity changeable flexible surface Granted publication date: 20080220 License type: Exclusive license Record date: 2009.4.16 |
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