CN118123866A - Variable-rigidity magnetorheological soft magnetic control robot based on particle blocking principle - Google Patents
Variable-rigidity magnetorheological soft magnetic control robot based on particle blocking principle Download PDFInfo
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- CN118123866A CN118123866A CN202410021407.6A CN202410021407A CN118123866A CN 118123866 A CN118123866 A CN 118123866A CN 202410021407 A CN202410021407 A CN 202410021407A CN 118123866 A CN118123866 A CN 118123866A
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- elastic body
- robot
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- layer elastic
- magnetorheological
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 44
- 239000002245 particle Substances 0.000 title claims abstract description 26
- 230000000903 blocking effect Effects 0.000 title claims abstract description 18
- 229920001971 elastomer Polymers 0.000 claims abstract description 33
- 239000000806 elastomer Substances 0.000 claims abstract description 26
- 239000012530 fluid Substances 0.000 claims abstract description 26
- 239000007787 solid Substances 0.000 claims abstract description 11
- 239000000463 material Substances 0.000 claims abstract description 8
- 230000002441 reversible effect Effects 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 5
- 230000009471 action Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 239000011859 microparticle Substances 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 7
- 239000007788 liquid Substances 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 238000001246 colloidal dispersion Methods 0.000 description 1
- 239000000084 colloidal system Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000002612 dispersion medium Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000003350 kerosene Substances 0.000 description 1
- 239000010721 machine oil Substances 0.000 description 1
- 239000006249 magnetic particle Substances 0.000 description 1
- 230000005415 magnetization Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 239000013618 particulate matter Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Fluid-Damping Devices (AREA)
Abstract
The invention discloses a variable-rigidity magnetorheological soft magnetic control robot based on a particle blocking principle, which comprises a robot, wherein the robot comprises a support frame and an elastic body component, and an object to be clamped is clamped at the inner side of the elastic body component. According to the invention, the blocking principle of solid particles and the rheological property of magnetorheological fluid materials are utilized, the rheological process of magnetorheological fluid is controlled through a magnetic field, the blocking degree of micro particles is controlled, the grabbing action of a soft robot is realized, the outer surface of a grabbed object is better attached, the outer surface is not damaged, and the stability of the grabbing action is ensured; based on rheological property and particle blocking principle, the viscosity of the magnetorheological fluid is rapidly increased, the magnetorheological fluid is in a solid-like state, and the mobility of centimeter-level solid particles mixed in the magnetorheological fluid is rapidly reduced, so that the rigidity of the inner layer elastomer is greatly improved, the rapid and convenient rigidity-changing adjustment is realized, and the bearing capacity of the soft robot is improved.
Description
Technical Field
The invention relates to a robot, in particular to a variable-rigidity magnetorheological soft magnetic control robot based on a particle blocking principle, and belongs to the technical field of soft robots.
Background
When the traditional rigid robot interacts with the environment, the application range of the robot is greatly limited due to obvious defects in aspects such as flexibility and adaptability. Therefore, in recent years, soft robots made of soft materials have become a research hotspot.
Although soft robots have made great progress, soft robots still have limitations. The completely low stiffness structure in the case of large deformations limits the load-bearing properties of its practical operation. In addition, in modern industrial production lines, the types of products are increasing. For conformal grabbing of different objects, most of flexible manipulators are realized by enveloping the clamping objects, and the joint surface of the rubber bag filled with gas and the object is not easy to control, so that the flexible manipulator has great limitation.
Micro-particles are a very specific substance, and although each is solid, a population of particles has a liquid-like fluidity in a loose state. Meanwhile, if pressure is applied to loose particles, a blocking effect is generated among the particles, and the particles are mutually extruded, so that the whole particles are in a solid state. By means of the fluidity of the particles, the particles are used as media to achieve the effect similar to hydraulic transmission or gas transmission, so that the transmission of power is carried out. Compared with gas and liquid transmission, the particulate matter transmission does not need to be strictly sealed, so that the design of a transmission structure can be simplified, and the rigidity change can be carried out. However, conventional particle blocking transmission methods require pneumatic or motor drive, which has application limitations in small soft robots.
Magnetorheological fluids are a colloidal dispersion composed of a base carrier liquid and a particulate magnetic solid. The base carrier liquid, i.e., the dispersion medium, is generally kerosene, machine oil, or the like, and the solid magnetic particles as the dispersed phase are usually ferromagnetic substances such as iron, cobalt, nickel, magnetic oxides thereof, and the like. The magnetorheological fluid has colloid stability, component stability and good magnetization property. The liquid has better fluidity when no external magnetic field is applied. When the fluid is subjected to an externally applied magnetic field, the fluid is instantaneously converted into Bingham fluid from Newton fluid, and the viscosity is rapidly increased. After the space magnetic field is removed, the magnetorheological fluid is restored to the initial state.
Therefore, in order to solve the problems of the soft robot, development of a stiffness-changing technology for the soft robot is needed to realize reversible switching between a rigid state and a flexible state, so that the flexibility of the system is ensured, the environmental adaptability is improved, the bearing capacity of the system is improved, and the requirements of multiple varieties and small batches are better met.
Disclosure of Invention
The invention aims to solve at least one technical problem and provide the variable-rigidity magnetorheological soft magnetic control robot based on the particle blocking principle, which combines the particle blocking principle with the rheological property of magnetorheological fluid, so that the flexible robot has the advantages of adjustable rigidity, simple structure and strong environment adaptability.
The invention realizes the above purpose through the following technical scheme: the variable-rigidity magnetorheological soft magnetic control robot based on the particle blocking principle comprises a robot, wherein the robot comprises a support frame and an elastic body component, the elastic body component is connected to the bottom of the support frame, and an object to be clamped is clamped on the inner side of the elastic body component;
An axial coil is embedded in the support frame;
the elastic body assembly comprises an outer layer elastic body and an inner layer elastic body, wherein the outer layer elastic body is symmetrically connected to two ends of the supporting frame, the inner layer elastic body is combined with the outer layer elastic body and the supporting frame to form closed loop connection, a middle coil is connected at the butt joint position of the inner layer elastic body and the outer layer elastic body, a bottom coil is arranged at the lower end of the inner layer elastic body, and magnetorheological fluid and centimeter-level solid particles are evenly filled in the inner layer elastic body.
The axial coil is positioned at the middle position of the support frame, and a magnetic field generated by electrifying the axial coil is along the axial direction of the support frame.
The two outer layer elastic bodies are made of sheet rubber materials, one end of each outer layer elastic body is fixedly connected with the supporting frame, the other end of each outer layer elastic body is connected with the middle coil, and the magnetic field direction of the middle coil is perpendicular to the magnetic field direction of the axial coil.
The inner layer elastic body is made of rubber material, is a hollow rectangular strip body and is bent into a mountain shape as a whole.
The bottom coil installed at the lower end of the inner layer elastomer is symmetrically arranged, and the magnetic field direction of the bottom coil is parallel to the magnetic field direction of the middle coil.
As still further aspects of the invention: the robot is in a non-energized state in the state of no grabbing task or in a natural state, and the middle coil, the bottom coil and the axial coil are all in a non-energized state.
As still further aspects of the invention: the robot applies reverse currents to the two bottom coils when performing the gripping task.
As still further aspects of the invention: when the robot performs a grabbing task, the direction of the current applied by the axial coil is not constrained.
As still further aspects of the invention: the robot applies opposite currents to the two middle coils when performing the gripping task.
The beneficial effects of the invention are as follows:
1) The blocking principle of solid particles and the rheological property of magnetorheological fluid materials are utilized, the rheological process of magnetorheological fluid is controlled through a magnetic field, so that the blocking degree of micro particles is controlled, the grabbing action of a soft robot is realized, the traditional pneumatic driving and motor driving with larger volume are avoided, and the response speed is high;
2) Compared with the traditional flexible gripper, the flexible gripper can better attach to the outer surface of a gripped object, cannot damage the outer surface, ensures the stability of gripping action, simultaneously, rapidly increases the viscosity of magnetorheological fluid based on rheological property and particle blocking principle, presents a solid-like state, rapidly decreases the fluidity of centimeter-level solid particles mixed in the magnetorheological fluid, namely, generates the blocking effect, greatly improves the rigidity of an inner-layer elastomer, realizes rapid and convenient rigidity-variable adjustment, and improves the bearing capacity of a soft robot.
Drawings
FIG. 1 is a schematic view of an overall three-dimensional model of the invention;
FIG. 2is a schematic cross-sectional view of the invention;
Fig. 3 is a schematic view of a three-dimensional model of an object to be grasped according to the invention.
In the figure: 1. the device comprises a supporting frame, 2, an outer layer elastomer, 3, a middle coil, 4, a bottom coil, 5, an inner layer elastomer, 6, an axial coil, 7 and an object to be clamped.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment 1, as shown in fig. 1 to 3, is a variable-stiffness magnetorheological soft magnetic control robot based on the particle blocking principle, comprising a robot, wherein the robot comprises a support frame 1 and an elastomer component, the elastomer component is connected to the bottom of the support frame 1, and an object 7 to be clamped is clamped on the inner side of the elastomer component;
An axial coil 6 is embedded in the support frame 1;
The elastomer assembly comprises an outer layer elastomer 2 and an inner layer elastomer 5, wherein the outer layer elastomer 2 is symmetrically connected to two ends of a supporting frame 1, the inner layer elastomer 5 is combined with the outer layer elastomer 2 and the supporting frame 1 to form closed loop connection, a middle coil 3 is connected to the butt joint of the inner layer elastomer 5 and the outer layer elastomer 2, a bottom coil 4 is arranged at the lower end of the inner layer elastomer 5, and magnetorheological fluid and centimeter-level solid particles are evenly filled in the inner layer elastomer 5.
Embodiment 2, in addition to all the technical features in embodiment one, further includes: the axial coil 6 is located at the middle position of the support frame 1, and a magnetic field generated by energizing the axial coil 6 is along the axial direction of the support frame 1.
The two outer layer elastic bodies 2 are made of sheet rubber materials, one end of each outer layer elastic body 2 is fixedly connected with the supporting frame 1, the other end of each outer layer elastic body is connected with the middle coil 3, and the magnetic field direction of the middle coil 3 is perpendicular to the magnetic field direction of the axial coil 6.
The inner layer elastic body 5 is made of rubber material, and the inner layer elastic body 5 is a hollow rectangular strip-shaped body and is bent into a mountain shape as a whole.
The bottom coil 4 arranged at the lower end of the inner layer elastic body 5 is symmetrically arranged, and the magnetic field direction of the bottom coil 4 is parallel to the magnetic field direction of the middle coil 3.
Embodiment 3, in addition to all the technical features in embodiment one, further includes: the robot is in a non-energized state in which the middle coil 3, the bottom coil 4 and the axial coil 6 are not energized or in a natural state, no magnetic field is generated, and the whole robot is in a soft state, so that the inner-layer elastic body 5 of the robot can be conveniently sleeved on the object 7 to be clamped when the robot performs a grabbing task.
When the robot performs a grabbing task, the two bottom coils 4 apply reverse currents, namely magnetic fields are opposite, the two bottom coils 4 attract each other, and the inner layer elastic body 5 is driven to deform and wrap the object 7 to be grabbed.
When the robot performs a grabbing task, the axial coil 6 applies current without constraint in the direction, and a magnetic field generated by the axial coil 6 attracts magnetorheological fluid in the inner-layer elastic body 5, namely, the top end of the elastic body is driven to move upwards, so that the inner-layer elastic body 5 is further deformed and attached to the surface of an object 7 to be clamped.
When the robot performs a grabbing task, the two middle coils 3 apply opposite currents, namely, the magnetic fields of the two middle coils 3 are opposite and attract each other, and the generated magnetic fields magnetize magnetorheological fluid in the inner layer elastomer 5, so that the two middle coils 3 are respectively close to the center and are adsorbed on the surface of the inner layer elastomer 5.
The working process comprises the following steps: when the magnetorheological soft magnetic control robot is in a non-grabbing task or natural state, the axial coil 6, the middle coil 3 and the bottom coil 4 are not electrified, no magnetic field is generated, and the whole is in a soft state. When an object needs to be grabbed, firstly, the inner layer elastomer 5 is primarily contacted with the surface of the object, and the two bottom coils 4 apply reverse currents, namely, magnetic fields are opposite; the two bottom coils 4 attract each other to drive the inner layer elastic body 5 to deform and wrap the object; then, an electric current is applied to the axial coil 6, and a magnetic field generated by the electric current attracts magnetorheological fluid in the inner-layer elastic body 5, namely drives the top end of the elastic body to move upwards, so that the inner-layer elastic body 5 is further deformed and is attached to the surface of the clamped object; finally, opposite currents are applied to the two middle coils 3, namely, the magnetic fields of the two middle coils 3 are opposite and attract each other, and the generated magnetic fields magnetize the magnetorheological fluid in the inner layer elastomer 5, so that the two middle coils 3 are respectively close to the center and are adsorbed on the surface of the inner layer elastomer 5. In the grabbing process, the magnetic fields generated by the axial coil 6, the middle coil 3 and the bottom coil 4 not only can magnetize the magnetorheological fluid in the inner-layer elastic body 5, but also can generate corresponding stretching and extrusion movements; when the clamped object is required to be released, the power supply is disconnected to the axial coil 6 and the middle coil 3, and current in the same direction is applied to the bottom coil 4, namely the top and middle positions of the inner layer elastomer 5 are restored to a soft state, and the clamped object is separated; at the same time, the two bottom coils 4 repel each other, releasing the gripped object. After the object is released, the power supply of the middle coil 3 is disconnected, and the magnetorheological soft magnetic control robot quickly returns to the initial state to wait for the next grabbing task.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (9)
1. A variable-rigidity magnetorheological soft magnetic control robot based on a particle blocking principle comprises a robot and is characterized in that: the robot comprises a support frame (1) and an elastic body component, wherein the elastic body component is connected to the bottom of the support frame (1), and an object (7) to be clamped is clamped on the inner side of the elastic body component;
An axial coil (6) is embedded in the support frame (1);
The elastic body assembly comprises an outer layer elastic body (2) and an inner layer elastic body (5), wherein the outer layer elastic body (2) is symmetrically connected to the two ends of the supporting frame (1), the inner layer elastic body (5) is connected with the outer layer elastic body (2) and the supporting frame (1) in a combined mode to form a closed loop, a middle coil (3) is connected at the butt joint position of the inner layer elastic body (5) and the outer layer elastic body (2), a bottom coil (4) is arranged at the lower end of the inner layer elastic body (5), and magnetorheological fluid and centimeter-level solid particles are evenly filled inside the inner layer elastic body (5).
2. The variable stiffness magnetorheological soft body magnetically controlled robot of claim 1, wherein: the axial coil (6) is positioned at the middle position of the support frame (1), and a magnetic field generated by electrifying the axial coil (6) is along the axial direction of the support frame (1).
3. The variable stiffness magnetorheological soft body magnetically controlled robot of claim 1, wherein: the two outer layer elastic bodies (2) are made of sheet rubber materials, one end of each outer layer elastic body (2) is fixedly connected with the supporting frame (1), the other end of each outer layer elastic body is connected with the middle coil (3), and the magnetic field direction of the middle coil (3) is perpendicular to the magnetic field direction of the axial coil (6).
4. The variable stiffness magnetorheological soft magnetically controlled robot of claim 1 or 2, wherein: the inner layer elastic body (5) is made of rubber materials, and the inner layer elastic body (5) is a hollow rectangular strip-shaped body and is bent into a mountain shape integrally.
5. The variable stiffness magnetorheological soft body magnetically controlled robot of claim 4, wherein: the bottom coil (4) arranged at the lower end of the inner layer elastomer (5) is symmetrically arranged, and the magnetic field direction of the bottom coil (4) is parallel to the magnetic field direction of the middle coil (3).
6. The variable stiffness magnetorheological soft body magnetically controlled robot of claim 1, wherein: the robot is in a non-energized state in the absence of a grabbing task or in a natural state, and the middle coil (3), the bottom coil (4) and the axial coil (6) are in a non-energized state.
7. The variable stiffness magnetorheological soft body magnetically controlled robot of claim 1, wherein: when the robot performs a grabbing task, two bottom coils (4) apply reverse current, the two bottom coils (4) attract each other, and the inner layer elastic body (5) is driven to deform and wrap an object (7) to be grabbed.
8. The variable stiffness magnetorheological soft body magnetically controlled robot of claim 1, wherein: when the robot performs a grabbing task, the axial coil (6) applies current in a direction which is not restricted, and a magnetic field generated by the axial coil (6) attracts magnetorheological fluid in the inner-layer elastomer (5).
9. The variable stiffness magnetorheological soft body magnetically controlled robot of claim 1, wherein: when the robot performs a grabbing task, two middle coils (3) apply opposite currents.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410021407.6A CN118123866B (en) | 2024-01-08 | 2024-01-08 | Variable-rigidity magnetorheological soft magnetic control robot based on particle blocking principle |
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| CN202410021407.6A CN118123866B (en) | 2024-01-08 | 2024-01-08 | Variable-rigidity magnetorheological soft magnetic control robot based on particle blocking principle |
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| CN118123866A true CN118123866A (en) | 2024-06-04 |
| CN118123866B CN118123866B (en) | 2024-10-11 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111590613A (en) * | 2020-05-20 | 2020-08-28 | 中国矿业大学 | Magnetorheological fluid soft clamp |
| EP3771524A1 (en) * | 2019-07-30 | 2021-02-03 | Robert Bosch GmbH | Holding device with magneto-rheological fluid, robot, machine, bottle closure device and holding method |
| CN113276140A (en) * | 2021-05-25 | 2021-08-20 | 重庆邮电大学 | Magnetic control particle blocking type self-adaptive spherical grabber |
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- 2024-01-08 CN CN202410021407.6A patent/CN118123866B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3771524A1 (en) * | 2019-07-30 | 2021-02-03 | Robert Bosch GmbH | Holding device with magneto-rheological fluid, robot, machine, bottle closure device and holding method |
| CN111590613A (en) * | 2020-05-20 | 2020-08-28 | 中国矿业大学 | Magnetorheological fluid soft clamp |
| CN113276140A (en) * | 2021-05-25 | 2021-08-20 | 重庆邮电大学 | Magnetic control particle blocking type self-adaptive spherical grabber |
Non-Patent Citations (1)
| Title |
|---|
| 赵欣;司广志;刘新华: "磁流体球形机器人运动特性研究", 制造业自动化, vol. 41, no. 010, 31 December 2019 (2019-12-31), pages 91 - 95 * |
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