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Mechanical hand flexible fixture finger based on magnetorheological fluid

A magnetorheological fluid, manipulator technology, applied in manipulators, chucks, manufacturing tools, etc., can solve the problems of poor adaptability and inability to adjust the clamping stiffness, and achieve the effect of improving adaptability

Inactive Publication Date: 2019-05-21
蔡鹏飞
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the existing manipulator clamps that cannot adjust the clamping stiffness and poor adaptability, the present invention provides a manipulator compliant clamp finger based on magnetorheological fluid, which can adjust the clamping stiffness of the clamp and improve the adaptability of the finger. Provides active flexibility to the fingers

Method used

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  • Mechanical hand flexible fixture finger based on magnetorheological fluid
  • Mechanical hand flexible fixture finger based on magnetorheological fluid
  • Mechanical hand flexible fixture finger based on magnetorheological fluid

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Embodiment Construction

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] refer to Figure 1 to Figure 4 , a manipulator compliant gripper finger based on magneto-rheological fluid, the guide block 1 is fixedly connected to the upper end of the arc-shaped member 2 by a screw 7, the spring leaf 6 is fixedly connected to the lower end of the arc-shaped member 2 by bolts, and the upper end penetrates and It can slide within a certain range, and the upper end surface of the guide block 1 has convex ribs, which can be engaged with the spiral groove in the chute of the palm body of the pliable fixture. During the clamping operation, the guide block can move centripetally or centrifugally in the chute.

[0020] The conduit 3, the electromagnetic coil 4, the piston rod 5, the magnetorheological fluid 8, and the sleeve 9 together form a compliant clamp finger damper, the electromagnetic coil 4 is arranged outside the sleeve 9, and the conduit ...

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Abstract

A mechanical hand flexible fixture finger based on magnetorheological fluid comprises a guide block, an arc-shaped piece, a spring piece and a damper; the guide block is connected with one end of thearc-shaped piece, the other end of the arc-shaped piece is fixedly connected with one end of the spring piece, and the other end of the spring piece penetrates a through hole close to one end of the arc-shaped piece; the damper comprises a guide pipe, an electromagnetic coil, a piston rod, the magnetorheological fluid and a sleeve; the middle of the spring piece is connected with one end of the piston rod, and the other end of the piston rod stretches into the sleeve to do linear motion; and the sleeve is fixedly connected with the arc-shaped piece, an inner cavity of the sleeve is filled withthe magnetorheological fluid, the sleeve communicates with the guide pipe, and the electromagnetic coil is arranged on the outer side of the sleeve. According to the mechanical hand flexible fixturefinger, the clamping rigidity of a fixture is adjusted, the adaptability of the finger is improved, and thus, the finger has the active flexibility.

Description

technical field [0001] The invention relates to the technical field of robots and intelligent agricultural equipment, in particular, a magneto-rheological fluid-based compliant gripper finger. Background technique [0002] Articulated robots have been widely used in all aspects of industrial and agricultural production, life services, etc. During the clamping operation, the traditional mechanical fixtures are not flexible and have no active stiffness adaptability, so it is easy to pinch the surface of the operating object, or clamp not stable enough. In order to prevent the operating object from being pinched and improve the reliability of the fixture, the contact surface between the fixture and the clamped object is required to have a certain degree of flexibility, thereby reducing the stress concentration on the contact surface. The methods adopted in the prior art mainly use elastic materials, such as rubber, nylon and other elastic materials to cover the contact surface...

Claims

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Application Information

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IPC IPC(8): B25J15/12B25J15/02
Inventor 蔡鹏飞
Owner 蔡鹏飞
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