Flexible manipulator with integrated pump valve

Abstract

The application provides a flexible manipulator integrated with a pump valve, and relates to the technical field of flexible robots, and comprises: a flexible clamping mechanism; a liquid outlet end of a magnetic liquid storage mechanism is communicated with a liquid inlet end of the flexible clamping mechanism, and the magnetic liquid storage mechanism is used for outputting high-pressure magnetic liquid to the flexible clamping mechanism; an electromagnetic stop valve is communicated between the liquid outlet end of the magnetic liquid storage mechanism and the liquid inlet end of the flexible clamping mechanism; when the electromagnetic stop valve is powered off, the high-pressure magnetic liquid can flow into the flexible clamping mechanism, so that the flexible clamping mechanism is expanded into a clamping state, and the high-pressure magnetic liquid can also flow back into the magnetic liquid storage mechanism, so that the flexible clamping mechanism is contracted into an open state; when the electromagnetic stop valve is powered on, the high-pressure magnetic liquid is blocked in the magnetic liquid storage mechanism and / or the flexible clamping mechanism. The control valve group is greatly simplified, the pump valve is integrated, the size of the equipment is reduced, the application can be applied to scenes with high requirements for compactness or mobility, and has good application prospects and a wide application range.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flexible robots, in particular to a flexible manipulator with integrated pump and valve. BACKGROUND

[0002] Flexible manipulators can work flexibly in complex spaces and effectively grasp fragile and irregular objects, and are widely used in food processing, medicine and electronic manufacturing.

[0003] Flexible manipulators are usually driven by pressure fluid, such as air or water. Although pressure fluid driving has the advantages of fast response speed and high power density, it usually requires pressure source equipment such as air pumps and hydraulic pumps and complex control valve groups. These devices usually have a certain volume and are difficult to miniaturize, which limits the application of flexible manipulators in some compact or high mobility scenarios.

[0004] Therefore, how to provide a flexible manipulator with integrated pump and valve and reduced overall volume is a problem that needs to be solved by those skilled in the art. SUMMARY

[0005] The purpose of the present application is to provide a flexible manipulator with integrated pump and valve to solve the problems existing in the prior art.

[0006] To achieve the above-mentioned purpose, the present application provides a flexible manipulator with integrated pump and valve, comprising:

[0007] A flexible clamping mechanism;

[0008] A magnetic liquid storage mechanism, the outlet end of which is in communication with the inlet end of the flexible clamping mechanism, and the magnetic liquid storage mechanism is used to output high-pressure magnetic liquid to the flexible clamping mechanism;

[0009] An electromagnetic stop valve, which is in communication between the outlet end of the magnetic liquid storage mechanism and the inlet end of the flexible clamping mechanism; when the electromagnetic stop valve is de-energized, high-pressure magnetic liquid flows out of the outlet end of the magnetic liquid storage mechanism, flows into the flexible clamping mechanism through the electromagnetic stop valve, and the high-pressure magnetic liquid can make the flexible clamping mechanism expand to a clamping state, or the high-pressure magnetic liquid flows out of the inlet end of the flexible clamping mechanism, flows into the magnetic liquid storage mechanism through the electromagnetic stop valve, and the flexible clamping mechanism contracts to an open state; when the electromagnetic stop valve is energized, the high-pressure magnetic liquid is blocked in the magnetic liquid storage mechanism and / or the flexible clamping mechanism.

[0010] Further, the flexible clamping mechanism comprises:

[0011] Two flexible clamping jaws, one end of which is in communication, and the other end of which extends in different directions respectively, and a clamping area is formed between the two flexible clamping jaws;

[0012] A flexible outer wall is integrally connected with the flexible clamping jaw, and a plurality of magnetic liquid chambers are formed between the flexible outer wall and the flexible clamping jaw, and the magnetic liquid chambers are located on the side of the flexible clamping jaw away from the clamping area.

[0013] A communication pipeline is in communication with one end of the plurality of magnetic liquid chambers and the other end of the electromagnetic shut-off valve.

[0014] Further, the flexible clamping mechanism further comprises:

[0015] A base is fixed with the flexible clamping jaw and / or the flexible outer wall, and the communication pipeline is fixed on the base.

[0016] Further, the electromagnetic shut-off valve comprises:

[0017] A valve body defines a serpentine magnetic liquid flow channel in the valve body, one end of the magnetic liquid flow channel is in communication with the liquid outlet end of the magnetic liquid storage mechanism, and the other end is in communication with the liquid inlet end of the flexible clamping mechanism;

[0018] An electromagnet is fixedly arranged on the valve body or adjacent to the valve body, and when the electromagnet is energized, the electromagnet can form a magnetic field in the valve body, the high-pressure magnetic liquid in the magnetic liquid flow channel has increased viscosity and is adsorbed at the bends of the magnetic liquid flow channel, and the high-pressure magnetic liquid outside the magnetic liquid flow channel is blocked in the magnetic liquid storage mechanism and / or the flexible clamping mechanism.

[0019] Further, the magnetic liquid flow channel is serpentine arranged from top to bottom, and the electromagnet is arranged on the upper surface of the valve body.

[0020] Further, the magnetic liquid storage mechanism is a flexible corrugated liquid storage cylinder, which is filled with magnetic liquid, and when the magnetic liquid storage mechanism is pressed, high-pressure magnetic liquid is output to the flexible clamping mechanism.

[0021] The present application discloses the following technical effects:

[0022] The flexible clamping mechanism is driven by magnetic liquid as pressure fluid, and the electromagnetic shut-off valve is used to control the on-off of the pressure fluid, when the electromagnetic shut-off valve is energized, the high-pressure magnetic liquid can be blocked in the flexible clamping mechanism, thereby maintaining the clamping state of the flexible clamping mechanism; when the electromagnetic shut-off valve is de-energized, the high-pressure magnetic liquid can flow into the flexible clamping mechanism or flow back to the magnetic liquid storage mechanism. Compared with the prior art, the control valve group is greatly simplified, and the pump valve integration and the reduction of the equipment size are realized, so that the present application can be applied to compact or high mobility scenes, has good application prospect and wide application range. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description only need to be some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0024] Figure 1 Structure diagram of the present application;

[0025] Figure 2 Structure diagram of the flexible clamping mechanism;

[0026] Figure 3 Structure diagram of the electromagnetic stop valve;

[0027] Figure 4 Structure diagram of the magnetic liquid storage mechanism;

[0028] Figure 5 Structure diagram of the flexible clamping mechanism in the clamping state;

[0029] 1, flexible clamping mechanism; 101, flexible clamping jaw; 102, flexible outer wall; 103, magnetic liquid chamber; 104, communication pipeline; 105, base; 2, magnetic liquid storage mechanism; 201, liquid outlet; 3, electromagnetic stop valve; 301, valve body; 302, magnetic liquid flow channel; 303, electromagnet. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort belong to the scope of protection of the present application.

[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] The present application provides a flexible manipulator with pump-valve integration, comprising:

[0033] Flexible clamping mechanism 1;

[0034] Magnetic liquid storage mechanism 2, the liquid outlet end of which is in communication with the liquid inlet end of the flexible clamping mechanism 1, and the magnetic liquid storage mechanism 2 is used to output high-pressure magnetic liquid to the flexible clamping mechanism 1;

[0035] An electromagnetic stop valve 3 is connected between the liquid outlet of the magnetic liquid storage mechanism 2 and the liquid inlet of the flexible clamping mechanism 1. When the electromagnetic stop valve 3 is de-energized, the high-pressure magnetic liquid flows out of the liquid outlet of the magnetic liquid storage mechanism 2, flows into the flexible clamping mechanism 1 through the electromagnetic stop valve 3, and the flexible clamping mechanism 1 is expanded to a clamping state, or the high-pressure magnetic liquid flows out of the liquid inlet of the flexible clamping mechanism 1, flows into the magnetic liquid storage mechanism 2 through the electromagnetic stop valve 3, and the flexible clamping mechanism 1 is contracted to an open state. When the electromagnetic stop valve 3 is energized, the high-pressure magnetic liquid is blocked in the magnetic liquid storage mechanism 2 and / or the flexible clamping mechanism 1.

[0036] In the embodiment, the flexible clamping mechanism 1 is located at the front end of the device, the magnetic liquid storage mechanism 2 is located at the rear end of the device, and the electromagnetic stop valve 3 is located between the two.

[0037] In the embodiment, the flexible clamping mechanism 1 includes:

[0038] Two flexible clamping jaws 101 are connected at one end and extend in different directions at the other end. The two flexible clamping jaws 101 have a certain included angle between them, forming a clamping area.

[0039] A flexible outer wall 102 is integrally connected with the flexible clamping jaws 101. The flexible outer wall 102 and the flexible clamping jaws 101 surround a plurality of magnetic liquid chambers 103 therebetween. The magnetic liquid chambers 103 are located on the side of the flexible clamping jaws 101 away from the clamping area. Specifically, the magnetic liquid chambers 103 are generally long columnar and are uniformly and spacedly arranged along the length direction of the flexible clamping jaws 101. The bottom of the magnetic liquid chambers 103 is spaced a certain distance from the flexible clamping jaws 101, so that the plurality of magnetic liquid chambers 103 can communicate with each other.

[0040] A communication pipeline 104 is sealed through the flexible outer wall 102 at one end and communicates with the plurality of magnetic liquid chambers 103, and communicates with the electromagnetic stop valve 3 at the other end.

[0041] A base 105 is fixed with the one end of the two flexible clamping jaws 101 connected to each other and the one end of the flexible outer wall 102, and the communication pipeline 104 is also fixed on the base 105.

[0042] In the embodiment, the electromagnetic stop valve 3 includes:

[0043] A valve body 301 defines a magnetic liquid flow channel 302 arranged in a serpentine manner from top to bottom in the valve body 301. One end of the magnetic liquid flow channel 302 communicates with the liquid outlet of the magnetic liquid storage mechanism 2, and the other end communicates with the communication pipeline 104. Both ends of the magnetic liquid flow channel 302 are bidirectional inlets and outlets, and the magnetic liquid flow channel 302 can flow into the magnetic liquid storage mechanism 2 or the communication pipeline 104 in a bidirectional manner. The serpentine arrangement of the magnetic liquid flow channel 302 can reduce the cross-sectional area of the fluid and prolong the flow distance of the magnetic liquid.

[0044] The electromagnet 303 is fixedly arranged on the upper surface of the valve body 301 by adhesion. When the electromagnet 303 is energized, the electromagnet 303 can form a magnetic field in the valve body 301. The high-pressure magnetic liquid in the magnetic liquid flow channel 302 has increased viscosity and is adsorbed at the bending part of the magnetic liquid flow channel 302. The high-pressure magnetic liquid outside the magnetic liquid flow channel 302 is blocked in the magnetic liquid storage mechanism 2 and / or the flexible clamping mechanism 1.

[0045] In the embodiment, the magnetic liquid storage mechanism 2 is a flexible corrugated liquid storage cylinder, which is filled with magnetic liquid. The magnetic liquid is a micro-nano composite magneto-rheological liquid, which is prepared by mixing micron magnetic particles and nano magnetic particles and then dispersing them in a silicon oil-based carrier liquid. The bottom of the magnetic liquid storage mechanism 2 is provided with a liquid outlet 201 (i.e., a liquid outlet end),

[0046] When the magnetic liquid storage mechanism 2 is compressed, the driving mechanism is added to the magnetic liquid storage mechanism 2. The driving mechanism is used to compress the magnetic liquid storage mechanism 2. A base can be arranged adjacent to one side of the magnetic liquid storage mechanism 2, and the driving mechanism is arranged on the base. The driving mechanism can be a micro electric push rod, a stepper motor screw slide, a new type of intelligent response telescopic material, etc. The pressure generated by compression forces the magnetic liquid to be pressurized to form high-pressure magnetic liquid, which flows from the liquid outlet 201 to the magnetic liquid flow channel 302.

[0047] In the embodiment, the flexible clamping mechanism 1 is made of flexible photosensitive resin and is processed by standard photocuring 3D printing equipment and process. The use of flexible photosensitive resin and other flexible materials can make the flexible clamping mechanism 1 meet different environmental requirements and achieve stronger grabbing effect. The photocuring 3D printing processing method ensures the flexibility, environmental friendliness and density of the overall structure, so that the flexible manipulator with pump and valve integrated can well adapt to the surrounding environment and realize flexible grabbing.

[0048] The specific working process is as follows:

[0049] In the initial state, there is no magnetic liquid in the magnetic liquid chamber 103, and the two flexible clamping jaws 101 are in an open state.

[0050] When the clamping action is needed, the magnetic liquid storage mechanism 2 is pressed, so that the internal magnetic liquid is pressurized to form high-pressure magnetic liquid. The high-pressure magnetic liquid flows into the magnetic liquid flow channel 302 of the valve body 301 through the liquid outlet 201 at the bottom, flows downward along the magnetic liquid flow channel 302, and finally flows into the communication pipeline 104, and then enters the magnetic liquid chamber 103 from the communication pipeline 104.

[0051] The flexible gripper 101 and the flexible outer wall 102 have good compression deformation capacity, so that the high-pressure magnetic liquid in the magnetic liquid chamber 103 makes the flexible gripper 101 and the flexible outer wall 102 expand and change from the open state to the clamping state, and the target forms a clamping action (the deformation principle of the flexible gripper 101 belongs to the prior art, and will not be described here).

[0052] If it is necessary to maintain the clamping action, after the flexible gripper 101 and the flexible outer wall 102 change to the clamping state, the electromagnet 303 is energized, the electromagnet 303 generates a magnetic field in the valve body 301, under the action of the magnetic field, the micron magnetic particles and the nanometer magnetic particles in the high-pressure magnetic liquid form a multi-chain structure, the micron magnetic particles build the main part of the chain structure, and the nanometer magnetic particles are adsorbed around the micron magnetic particles, play a role in stabilizing the chain structure, and the overall viscosity of the magnetic liquid is improved. Since the magnetic liquid flow channel 302 is arranged in a meandering manner, the high-pressure magnetic liquid will be aggregated and adsorbed at the bending part, the high-pressure magnetic liquid adsorption will gradually block the magnetic liquid flow channel 302 and reduce the flow of the high-pressure magnetic liquid, and finally the high-pressure magnetic liquid will not flow, at this time, the high-pressure magnetic liquid in the magnetic liquid chamber 103 and the magnetic liquid storage mechanism 2 does not flow, and the high-pressure magnetic liquid pressure in the magnetic liquid chamber 103 and the clamping state can be maintained. After maintaining the clamping state, the pressing force of the magnetic liquid storage mechanism 2 can stop.

[0053] When the clamping action is completed and the target needs to be released, the electromagnet 303 is de-energized, the communication relationship between the magnetic liquid chamber 103 and the magnetic liquid storage mechanism 2 is restored, the magnetic liquid can flow back from the magnetic liquid chamber 103 to the magnetic liquid storage mechanism 2, the flexible gripper 101 and the flexible outer wall 102 lose the expansion power and return to the open state, and the target is released.

[0054] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0055] The above-described embodiments are only preferred modes of the present application, and do not limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A flexible manipulator of pump-valve integration, characterized by, The utility model relates to a flexible clamping mechanism (1); Magnetic liquid storage mechanism (2) liquid outlet with the flexible clamping mechanism (1) liquid inlet communication, the flexible clamping mechanism (1) is filled with magnetic liquid, when magnetic liquid storage mechanism (2) is under pressure, the output high pressure magnetic liquid to flexible clamping mechanism (1); Electromagnetic stop valve (3) communication between the liquid outlet of magnetic liquid storage mechanism (2) and the liquid inlet of flexible clamping mechanism (1);When the electromagnetic stop valve (3) is powered off, high pressure magnetic liquid flows out from the liquid outlet of magnetic liquid storage mechanism (2), and flows into flexible clamping mechanism (1) through electromagnetic stop valve (3), and high pressure magnetic liquid can make the flexible clamping mechanism (1) expand to clamping state, or high pressure magnetic liquid flows out from the liquid inlet of flexible clamping mechanism (1), and flows into magnetic liquid storage mechanism (2) through electromagnetic stop valve (3), and flexible clamping mechanism (1) shrinks to open state;When the electromagnetic stop valve (3) is powered on, high pressure magnetic liquid is blocked in magnetic liquid storage mechanism (2) and / or flexible clamping mechanism (1); The electromagnetic stop valve (3) comprises: Valve body (301), the valve body (301) is defined in from top to bottom serpentine arrangement magnetic liquid flow channel (302), one end of the magnetic liquid flow channel (302) is communicated with the liquid outlet of the magnetic liquid storage mechanism (2), the other end is communicated with the liquid inlet of the flexible clamping mechanism (1); Electromagnet (303) is fixedly arranged on the upper surface of valve body (301), when the electromagnet (303) is powered on, the electromagnet (303) can form a magnetic field in the valve body (301), the high pressure magnetic liquid in the magnetic liquid flow channel (302) is improved in viscosity and is adsorbed in the bending part of the magnetic liquid flow channel (302), and the high pressure magnetic liquid outside the magnetic liquid flow channel (302) is blocked in the magnetic liquid storage mechanism (2) and / or the flexible clamping mechanism (1). The flexible clamping mechanism (1) comprises:

2. The flexible manipulator of claim 1, wherein Two flexible clamping jaws (101) are communicated at one end and extend in different directions at the other end, and a clamping area is formed between the two flexible clamping jaws (101); Flexible outer wall (102) is integrally connected with the flexible clamping jaw (101), a plurality of magnetic liquid chambers (103) are formed between the flexible outer wall (102) and the flexible clamping jaw (101), and the magnetic liquid chambers (103) are located on the side of the flexible clamping jaw (101) away from the clamping area; The communication pipeline (104) is communicated with the plurality of magnetic liquid chambers (103) at one end and is communicated with the electromagnetic stop valve (3) at the other end. The flexible clamping mechanism (1) further comprises:

3. The flexible manipulator of claim 2, wherein Base (105), the flexible clamping jaw (101) and / or the flexible outer wall (102) are fixed on the base (105), and the communication pipeline (104) is fixed on the base (105). ​

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