Bionic flexible clamping jaw device based on magneto-rheology

Abstract

The invention relates to the technical field of magneto-rheological and bionic manipulator grabbing, in particular to a bionic flexible clamping jaw device based on magneto-rheological, which comprises a main body; the flexible clamping jaw part is arranged on the main body and is used for grabbing a target object; the driving mechanism is arranged on the main body and is used for driving the clamping jaw part to grab the target object; magnetorheological fluid is injected into the clamping jaw part; when the clamping jaw part grabs the target object, the contact face, making contact with the target object, of the clamping jaw part can adapt to the appearance of the target object and wrap the target object through the magnetorheological fluid. The magnetorheological fluid in the low-viscosity Newtonian fluid state is injected into the flexible clamping jaw, so that the contact surface of the flexible clamping jaw can be better matched with the appearance of the target object and wrap the target object, the target object can be effectively protected, the flexible clamping jaw can better adapt to and grab the target objects of different sizes and shapes, and the clamping efficiency is improved. Therefore, the safety, the grabbing stability and the self-adaptive capacity of the flexible clamping jaw device are improved.

Description

Technical Field

[0001] The invention relates to the technical field of magnetorheology and bionic robot hand grasping, and in particular to a bionic flexible clamping claw device based on magnetorheology. Background Art

[0002] In marine biological research, scientists need to collect flexible objects such as corals, sponges, mollusks (such as octopus, squid) or fish samples. These objects are usually soft, deformable, smooth or irregular in shape, requiring flexible, precise and reliable grasping and manipulation tools.

[0003] Traditional manipulators (bionic grippers) are usually made of metal or other hard materials, with high structural rigidity. They need manual or preset adjustments to adapt to targets of different shapes, often require complex control systems, and have slow response speeds. This rigid structure is prone to indentation or damage to biological surfaces when grasping targets with complex shapes, smooth surfaces, and soft textures. It cannot adapt well to the surface shape and characteristics of the target and lacks adaptive capabilities, which limits its application in dynamic environments.

[0004] Some flexible manipulator devices use flexible grippers and negative pressure technology to control the grippers to clamp according to the shape of the target surface. For example, the Chinese patent number CN117549341A provides a "Negative Pressure Claw Flexible Claw", which uses negative pressure to open the flexible fingers to achieve internal support clamping. Its structure includes a connecting part made of elastic material and a drive chamber, and the drive chamber has an easily deformed area. When the system is connected to the vacuum equipment, the drive chamber generates negative pressure, and the easily deformed area deforms first, pulling the heel of the flexible finger inward to deflect, so that the flexible finger opens. However, this solution requires a reliable negative pressure system. If there is a lack of a negative pressure air supply system in certain environments, the use of the flexible claw will be limited.

[0005] Some flexible claws based on the principle of mixture particle blocking are also used. For example, the Chinese patent with publication number CN113733134A proposes a variable stiffness flexible clamp based on solid-liquid mixture particle blocking. This clamp is filled with a mixture of solid particles and liquid in the elastic capsule membrane. When clamping an object, the liquid in the elastic capsule membrane is extracted to block and aggregate the solid particles. The elastic membrane capsule adaptively changes its shape according to the surface shape of the object, and clamps the object through the blocking and agglomeration of solid particles. Although this technology based on solid-liquid mixture particle blocking provides a variable stiffness function, its defects are also obvious: slow response speed, low adaptability, violent clamping, and may perform poorly in the face of changes and uncertainties. Especially when grasping flexible targets with complex shapes or irregular surfaces, the particles may not be completely evenly distributed and blocked, resulting in the gripping stability of the clamp being affected.

[0006] Therefore, how to design a simulated flexible gripper that can effectively protect the target and better adapt to and grasp targets of different sizes and shapes is a technical problem that needs to be solved urgently. Summary of the invention

[0007] In view of the deficiencies of the above-mentioned prior art, the technical problem to be solved by the present invention is: how to provide a bionic flexible clamping device based on magnetorheology, by injecting magnetorheological fluid in a low-viscosity Newtonian-like state into the flexible clamping device, so that the contact surface of the flexible clamping device can better adapt to the shape of the target object and wrap the target object, effectively protect the target object, better adapt to and grasp targets of different sizes and shapes, thereby improving the safety, grasping stability and adaptability of the flexible clamping device.

[0008] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0009] A bionic flexible gripper device based on magnetorheological fluid, comprising:

[0010] main body;

[0011] A flexible clamping claw portion, disposed on the main body, for grasping and releasing a target object;

[0012] A driving mechanism, disposed on the main body, for driving the clamping claw to grasp and release the target object;

[0013] Magnetorheological fluid is injected into the clamping jaws; when the clamping jaws grasp a target object, the magnetorheological fluid enables the contact surface of the clamping jaws that contacts the target object to adapt to the shape of the target object and wrap the target object.

[0014] Preferably, the clamping jaw portion comprises two flexible sheet-like clamping jaws arranged opposite to each other; the driving mechanism drives the two sheet-like clamping jaws of the clamping jaw portion to move towards or away from each other to achieve closure or opening, so as to complete the grasping and releasing of the target object.

[0015] Preferably, the two sheet-like clamps each include a flexible inner layer for contacting the target object and having a surface on one side in contact with the target object as a contact surface, and a flexible outer layer arranged on the inner layer on a side away from the contact surface; the inner layers of the two sheet-like clamps are arranged opposite to each other, and the outer layers are arranged opposite to each other;

[0016] The inner and outer layers of the two sheet-shaped clamping jaws are both provided with hollow liquid cavities, and magnetorheological fluid is injected into the liquid cavity of the inner layer;

[0017] When the clamping jaws grasp the target object, the two sheet-shaped clamping jaws are closed, and non-magnetorheological fluid is injected into the liquid cavity of the outer layers of the two sheet-shaped clamping jaws, so that the inner and outer layers of the two sheet-shaped clamping jaws are bent and deformed respectively under the action of the magnetorheological fluid and the non-magnetorheological fluid to wrap the target object;

[0018] When the clamping jaws release the grasped target object, the two sheet-like clamping jaws open, and the non-magnetorheological fluid injected into the liquid cavity of the outer layer of the two sheet-like clamping jaws is discharged, so that the inner layer of the two sheet-like clamping jaws is restored to the initial shape under the action of the magnetorheological fluid.

[0019] Preferably, electromagnetic coils are provided in the inner liquid cavities of the two sheet-shaped clamping jaws;

[0020] When the clamping jaws grasp the target object and the inner and outer layers of the two sheet-shaped clamping jaws are bent and deformed respectively under the action of the magnetorheological fluid and the non-magnetorheological fluid to wrap the target object, the current flowing through the electromagnetic coil is adjusted to change the stiffness of the magnetorheological fluid in the inner layer liquid cavity of the two sheet-shaped clamping jaws, so that the inner and outer layers of the two sheet-shaped clamping jaws can maintain the state of wrapping the target object;

[0021] When the clamping jaws release the grasped object, the current flowing through the electromagnetic coil is adjusted to restore the stiffness of the magnetorheological fluid in the inner liquid cavity of the two sheet-like clamping jaws, so that the inner and outer layers of the two sheet-like clamping jaws can be restored to their initial shapes.

[0022] Preferably, the clamping jaws also include a fixing plate fixedly arranged on the main body; the two sheet-like clamping jaws are respectively rotatably connected to the fixing plate, and the two sheet-like clamping jaws can move toward or away from each other along the rotational connection position on the fixing plate;

[0023] The driving mechanism comprises a driving assembly, a piston rod which is transmission-connected to the driving assembly and is located below a side of a fixed plate away from the two sheet-like clamping claws, a transmission cross bar which is arranged at one end of the piston rod away from the driving assembly and parallel to the fixed plate, and two push rods which are rotationally connected to the transmission cross bar; the first ends of the two push rods are rotationally connected to the transmission cross bar respectively, and the second ends are rotationally connected to the sides which are away from the two sheet-like clamping claws respectively;

[0024] When the driving assembly drives the piston rod to move toward the fixed plate, the piston rod drives the transmission cross bar to move toward the fixed plate, and the transmission cross bar drives the two push rods to push the two sheet-like clamping claws away from the fixed plate, so that the two sheet-like clamping claws move toward each other along the rotating connection position on the fixed plate to achieve folding, thereby completing the grasping of the target object;

[0025] When the driving assembly drives the piston rod to move in the direction away from the fixed plate, the piston rod drives the transmission cross bar to move in the direction away from the fixed plate, and the transmission cross bar drives the two push rods to pull the two sheet-like claws toward the fixed plate respectively, so that the two sheet-like claws move away from each other along the rotating connection position on the fixed plate to open, thereby completing the release of the target object by the claw part.

[0026] Preferably, the main body has a mounting cavity with a closed bottom and an open top;

[0027] The driving assembly includes an elastic member with one end arranged at the bottom of the installation cavity of the main body, and a movable plate fixedly connected to the end of the elastic member away from the bottom of the liquid cavity of the main body; the end of the piston rod away from the transmission cross bar is inserted into the installation cavity through the opening at the top of the main body and fixedly connected to the movable plate;

[0028] When the driving assembly controls the elastic member to be compressed, the movable plate drives the piston rod to move in a direction away from the fixed plate, and the piston rod drives the transmission cross bar to move in a direction away from the fixed plate;

[0029] When the driving assembly controls the compressed elastic member to release, the movable plate drives the piston rod to move toward the direction close to the fixed plate, and the piston rod drives the transmission cross bar to approach the fixed plate.

[0030] Preferably, the driving mechanism further comprises a limit assembly disposed in the mounting cavity of the main body;

[0031] The limiting assembly is used to limit the position of the movable plate when the elastic member is compressed, so that the elastic member remains compressed; and is also used to release the limiting of the position of the movable plate when the elastic member is released, so that the compressed elastic member is released.

[0032] Preferably, the limiting assembly includes a fixed base plate, a motor arranged on the fixed base plate, a first rotating rod arranged on the output shaft of the motor for transmission at the middle position and arranged in parallel with the fixed base plate, two second transmission rods whose first ends are respectively rotatably connected to the two ends of the first transmission rod and arranged in parallel with the fixed base plate, and two limiting columns arranged on both sides of the elastic member, arranged along the movement direction of the elastic member and respectively rotatably connected to the second ends of the two second transmission rods; wherein the fixed base plate, the motor, the first rotating rod and the second transmission rod are all arranged below the side of the elastic member away from the movable plate;

[0033] The two limiting columns are respectively provided with protrusions on one end away from the second transmission rod and extending in a direction close to each other;

[0034] A slide groove is arranged on the fixed bottom plate; a slider is arranged on one end of the two limit columns away from the raised portion, and the two limit columns slide in cooperation with the slide groove on the fixed bottom plate through the slider;

[0035] When the elastic member is compressed, the output shaft of the motor drives the first rotating rod to rotate in the first direction, the first rotating rod pulls the two second transmission rods toward each other, and the two second transmission rods respectively drive the two limiting posts to move toward each other until the protrusions on the two limiting posts abut against the movable plate, thereby limiting the position of the movable plate and keeping the elastic member compressed;

[0036] When the compressed elastic member needs to be released, the output shaft of the motor drives the first rotating rod to rotate in the second direction, the first rotating rod pushes the two second transmission rods away from each other, and the two second transmission rods respectively drive the two limiting columns to move away from each other until the protrusions on the two limiting columns are disengaged from the abutment against the movable plate, thereby releasing the limit on the position of the movable plate and releasing the elastic member.

[0037] Preferably, a limiting plate is fixedly provided in the installation cavity of the main body at a position above the raised portions of the two limiting pillars, and when the elastic member is released, the limiting plate can limit the position of the movable plate.

[0038] Preferably, one end of the piston rod away from the transmission cross bar passes through the opening of the main body and the limit plate in sequence to achieve fixed connection with the movable plate, and the piston rod is in sealing and sliding cooperation with the opening of the main body and the limit plate;

[0039] When the elastic member is compressed, a piston is sleeved on the piston rod between the opening of the main body and the limit plate, and the piston is in sealing and sliding cooperation with the inner wall of the installation cavity of the main body; the space between the piston and the opening of the main body forms a closed oil cavity; the main body is provided with a liquid inlet and outlet connected with the oil cavity;

[0040] The driving mechanism also includes a hydraulic oil control mechanism;

[0041] When the elastic member needs to be compressed, the hydraulic oil control mechanism pumps high-pressure oil into the oil chamber through the inlet and outlet ports, and the high-pressure oil pushes the piston, piston rod and movable plate toward the elastic member to achieve compression of the elastic member;

[0042] When the elastic member needs to be released, the hydraulic oil control mechanism pumps out the high-pressure oil in the oil chamber through the inlet and outlet ports, and the limit assembly releases the limit on the position of the movable plate, so that the compressed elastic member is released.

[0043] Compared with the prior art, the bionic flexible clamping device based on magnetorheological fluid in the present invention has the following beneficial effects:

[0044] When the present invention grasps a target object (such as a flexible organism), the driving mechanism on the main body drives the clamping jaw to grasp the target object, and a magnetorheological fluid is injected into the clamping jaw. When the clamping jaw grasps the target object, the magnetorheological fluid enables the contact surface of the clamping jaw that contacts the target object to adapt to the shape of the target object and wrap the target object. The present invention injects a magnetorheological fluid in a low-viscosity Newtonian state into the clamping jaw, so that the contact surface of the clamping jaw can better adapt to the shape of the target object and wrap the target object, which can not only effectively protect the target object, but also better adapt to and grasp targets of different sizes and shapes, thereby improving the safety, grasping stability and self-adaptability of the flexible clamping jaw device. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to make the purpose, technical solution and advantages of the invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings, in which:

[0046] Figure 1 Schematic diagram of the structure of the bionic flexible gripper device based on magnetorheological fluid.

[0047] Figure 2 It is a schematic diagram of the structure of two sheet-like clamps.

[0048] Figure 3 It is a front cross-sectional view of the lamellar clamp.

[0049] Figure 4 It is a cross-sectional view of the independent interlayer inside the sheet-like clamp.

[0050] Figure 5 It is a structural diagram of the driving mechanism.

[0051] Figure 6 It is a schematic diagram of the structure of the limit component.

[0052] The figure marks in the drawings of the specification include: main body 1, installation cavity 101, lamellar clamp 2, inner layer 201, outer layer 202, liquid cavity 203, electromagnetic coil 204, contact surface 205, magnetorheological fluid 206, main chamber 207, auxiliary chamber 208, liquid inlet 209, fixed plate 3, piston rod 4, transmission cross bar 5, push rod 6, elastic member 7, movable plate 8, fixed bottom plate 9, motor 10, first rotating rod 11, second transmission rod 12, limit column 13, protrusion 14, slide groove 15, slider 16, limit plate 17, piston 18, oil cavity 19, liquid inlet and outlet 20. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but only represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0054] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when used, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In addition, the terms "horizontal", "vertical", etc. do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] The following is a further detailed description through specific implementation methods:

[0056] Example:

[0057] This embodiment discloses a bionic (Flytrap-like) flexible clamping claw device based on magnetorheological fluid.

[0058] like Figure 1 As shown, the bionic flexible gripper device based on magnetorheological fluid comprises:

[0059] The main body 1 has a mounting cavity 101 with a closed bottom and an open top;

[0060] A flexible clamping claw portion, disposed on the main body, for grasping and releasing a target object;

[0061] A driving mechanism, disposed on the main body, for driving the clamping claw to grasp and release the target object;

[0062] Magnetorheological fluid is injected into the clamping jaws; when the clamping jaws grasp the target object, the magnetorheological fluid makes the contact surface 205 of the clamping jaws and the target object adapt to the shape of the target object and wrap the target object.

[0063] When the present invention grasps a target object (such as a flexible organism), the driving mechanism on the main body drives the clamping jaw to grasp the target object, and a magnetorheological fluid is injected into the clamping jaw. When the clamping jaw grasps the target object, the magnetorheological fluid enables the contact surface of the clamping jaw that contacts the target object to adapt to the shape of the target object and wrap the target object. The present invention injects a magnetorheological fluid in a low-viscosity Newtonian state into the clamping jaw, so that the contact surface of the clamping jaw can better adapt to the shape of the target object and wrap the target object, which can not only effectively protect the target object, but also better adapt to and grasp targets of different sizes and shapes, thereby improving the safety, grasping stability and self-adaptability of the flexible clamping jaw device.

[0064] In order to better introduce the technical solution of the present invention, this embodiment is described through the following parts.

[0065] 1. Gripping jaws

[0066] like Figure 2 As shown, the clamping jaw part includes two flexible (can be made of flexible rubber material) sheet-like clamping jaws 2 (left sheet-like clamping jaw and right sheet-like clamping jaw) arranged opposite to each other; the driving mechanism drives the two sheet-like clamping jaws of the clamping jaw part to move closer to or away from each other to achieve contraction or opening, so as to complete the grasping and releasing of the target object.

[0067] The clamping jaw part also includes a fixed plate 4 fixedly arranged on the main body; two sheet-like clamping jaws (the lowermost end of the middle axis of which is the fixed end) are respectively rotatably connected (the rotatable connection in this embodiment is hinged) to the fixed plate 4, and the two sheet-like clamping jaws can move towards or away from each other along the rotatable connection position on the fixed plate 4.

[0068] The two sheet-shaped grippers are shaped like Venus flytrap leaves, including a palm portion and a finger portion, which are interlinked with each other. The finger portions of the two sheet-shaped grippers are staggered, so that the fingers of the two sheet-shaped grippers can intersect with each other during the wrapping stage, thereby wrapping the target object in the grippers.

[0069] Both sheet-like clamps include a flexible inner layer 201 for contacting a target object and having a surface on one side in contact with the target object as a contact surface 205, and a flexible outer layer 202 arranged on the inner layer on a side away from the contact surface; the inner layers 201 of the two sheet-like clamps are arranged opposite to each other, and the outer layers 202 are arranged opposite to each other; the inner layer 201 and the outer layer 202 are composited together.

[0070] The inner layer 201 and the outer layer 202 of the two sheet-shaped clamping jaws are both provided with a hollow liquid cavity 203, and the inner layer liquid cavity 203 is injected with magnetorheological fluid;

[0071] When the clamping jaws grasp the target object, the two sheet-like clamping jaws are closed, and at this time (through the magnetorheological control mechanism) non-magnetorheological fluid is injected into the liquid cavity of the outer layer of the two sheet-like clamping jaws, so that the inner layer and the outer layer of the two sheet-like clamping jaws are bent and deformed (that is, adapted to the shape of the target object) under the action of the magnetorheological fluid and the non-magnetorheological fluid respectively to complete the wrapping of the target object; the non-magnetorheological fluid is silicone oil.

[0072] When the clamping jaws release the grasped target object, the two sheet-like clamps open. At this time, the non-magnetorheological fluid injected into the liquid cavity of the outer layers of the two sheet-like clamps is discharged (through the magnetorheological control mechanism), so that the inner layers of the two sheet-like clamps are restored to their original shape (i.e., sheet) under the action of the magnetorheological fluid.

[0073] It should be noted that although the two sheet-like jaws are flexible (i.e., low stiffness and deformable), they still have a certain stiffness and resilience. When silicone oil is injected into the liquid cavity of the outer layer of the sheet-like jaws, the sheet-like jaws cannot maintain their initial shape (sheet-like) under the action of the silicone oil. At this time, the sheet-like jaws can be deformed to match the shape of the target object; when the silicone oil injected into the liquid cavity of the outer layer of the sheet-like jaws is discharged, the magnetorheological fluid is in a low-viscosity Newtonian fluid state and cannot fix the shape of the sheet-like jaws. At this time, the sheet-like jaws rebound and return to their initial shape (sheet-like).

[0074] like Figure 3 As shown, the liquid cavities of the inner and outer layers of the two sheet-like clamps both include a main chamber 207, a sub-chamber 208 and a liquid inlet 209; the size of the main chamber 207 is larger than that of the sub-chamber 208, and the sub-chamber 208 is relatively thinner, and presents a structural feature of gradually narrowing towards the two ends and towards the fingers, so that a gradient effect is formed during the liquid filling process, achieving graded deformation and step-by-step response, ensuring a smooth and smooth grasping process.

[0075] The shell thickness of the outer layer of the two sheet-like jaws decreases from the center to the sides, so that the jaws can bear a certain load and can more flexibly adapt to targets of different shapes, so that the structure achieves a balance between rigidity and flexibility. The shell of the outer layer of the two sheet-like jaws is provided with a pair of grooves along the central symmetric plane of the jaws to provide deformation space when the jaws are squeezed inward.

[0076] like Figure 4 As shown, an independent interlayer is provided in the inner liquid cavity of the two sheet-like clamps, and an electromagnetic coil 204 is installed in the interlayer to generate a magnetic field to control the rheological properties of the magnetorheological fluid 206. The magnetic field strength of the electromagnetic coil 204 is linearly related to the current, and the direction of the magnetic field is parallel to the axis of the clamps, so that the magnetorheological fluid 206 forms a chain or columnar structure in this direction.

[0077] When the gripper part grasps the target object and the inner and outer layers of the two sheet-like grippers generate bending deformation under the action of magnetorheological fluid and non-magnetorheological fluid respectively to complete the wrapping of the target object, the current flowing through the electromagnetic coil is adjusted to change (increase) the stiffness of the magnetorheological fluid in the inner liquid cavity of the two sheet-like grippers, so that the inner and outer layers of the two sheet-like grippers can maintain the state of wrapping the target object and adapt to the shape of the target object.

[0078] When the gripper part releases the grasped target object, the current flowing through the electromagnetic coil is adjusted (through the magnetorheological control mechanism) to restore the stiffness of the magnetorheological fluid in the inner liquid cavity of the two sheet-like grippers, so that the inner and outer layers of the two sheet-like grippers can be restored to the initial shape.

[0079] During the whole grasping process, the stiffness adjustment of the magnetorheological fluid plays a key role in the clamping stability. After the target object is wrapped by the sheet-like grippers, the magnetic field generated by the electromagnetic coil acts on the magnetorheological fluid, causing it to quickly change from the initial low-viscosity Newtonian fluid state to a high-viscosity or quasi-solid state, thereby enhancing the overall rigidity of the sheet-like grippers, improving the supporting force and shape adaptability to the target object, and thus improving the grasping stability of the flexible gripper device. And by controlling the current magnitude, the stiffness of the magnetorheological fluid can be dynamically adjusted, enabling the gripper to smoothly switch between flexible adaptation and rigid fixation, ensuring the stable grasping of target objects with different shapes, and effectively reducing the risk of sliding or deformation caused by different surface characteristics of the target objects.

[0080] The length of the electromagnetic coil is L and the number of turns is N, and the magnetic field intensity generated by it is:

[0081]

[0082] The magnetorheological fluid includes an elastic matrix and high-permeability low-hysteresis carbonyl iron powder particles distributed in the elastic matrix in a columnar or chain-like structure, ensuring that the magnetorheological fluid can quickly respond and achieve stiffness adjustment under the action of a magnetic field. The three critical magnetic fields for the phase change of the magnetorheological fluid are HC1, HC2, and HC3 respectively:

[0083] When B < HC1, the magnetorheological fluid is completely in a fluid state and the ferromagnetic particles are randomly distributed;

[0084] When HC1 < B < HC2, a chain-like structure begins to form, and the chains and particles coexist and are randomly distributed; when HC2 < B < HC3, a columnar structure begins to form, and the columns and chains coexist;

[0085] When H > HC3, all the particles form a columnar structure. This process has low energy consumption, is reversible, and has a fast occurrence speed.

[0086] II. Driving mechanism

[0087] As Figure 5As shown, the driving mechanism includes a driving assembly, a piston rod 4 which is transmission-connected to the driving assembly and located below the side of the fixed plate away from the two lamellar clamps, a transmission cross bar 5 which is arranged on the piston rod 4 at one end away from the driving assembly and parallel to the fixed plate, and two push rods 6 which are rotationally connected to the transmission cross bar 5; the first ends of the two push rods 6 are rotationally connected to the transmission cross bar 5, respectively, and the second ends are rotationally connected to the sides opposite to the two lamellar clamps 2, respectively; a back plate is provided on the outer layer 202 of the lamellar clamps 2, and the second ends of the push rods are rotationally connected to the back plate on the outer layer 202 of the lamellar clamps 2.

[0088] When the driving assembly drives the piston rod to move toward the fixed plate, the piston rod drives the transmission cross bar to move toward the fixed plate, and the transmission cross bar drives the two push rods to push the two sheet-like clamping claws away from the fixed plate, so that the two sheet-like clamping claws move toward each other along the rotating connection position on the fixed plate to achieve folding, thereby completing the grasping of the target object;

[0089] When the driving assembly drives the piston rod to move away from the fixed plate, the piston rod drives the transmission cross bar to move away from the fixed plate, and the transmission cross bar drives the two push rods to pull the two sheet-like clamps toward the fixed plate, so that the two sheet-like clamps move away from each other along the rotating connection position on the fixed plate to open, and the clamp part releases the target object. The angle between the piston rod and the push rod is less than 90°, while the angle of the push rod itself is greater than 90°, so as to ensure that the push rod can efficiently transmit power during movement.

[0090] It should be noted that the fixing plate 3 is fixed on the main body 1 and remains stationary during the movement of the piston rod 4, the transmission cross bar 5 and the push rod 6.

[0091] The driving mechanism designed in the present invention can effectively drive the two sheet-shaped clamping jaws of the clamping jaw part to move closer to or away from each other to achieve folding or opening, thereby completing the grasping and releasing of the target object. In addition, the driving mechanism has a simple and stable structure, which is conducive to driving the clamping jaw part to move in various scenarios, thereby helping to improve the safety and grasping stability of the flexible clamping jaw device.

[0092] 3. Drive components

[0093] The main body 1 has a mounting cavity 101 with a closed bottom and an open top;

[0094] The driving assembly includes an elastic member 7 with one end arranged at the bottom of the installation cavity of the main body, and a movable plate 8 fixedly connected to the end of the elastic member 7 away from the bottom of the main body liquid cavity; the end of the piston rod 4 away from the transmission cross bar 5 is inserted into the installation cavity 101 of the main body 1 and fixedly connected to the movable plate 8; the elastic member is a rigid spring.

[0095] When the driving assembly controls the elastic member to be compressed, the movable plate drives the piston rod to move in the direction away from the fixed plate, the piston rod drives the transmission cross bar to move in the direction away from the fixed plate, and the transmission cross bar drives the two push rods to pull the two sheet-like clamping claws toward the fixed plate respectively, so that the two sheet-like clamping claws move away from each other along the rotating connection position on the fixed plate to open, thereby completing the release of the clamping claw part from the target object;

[0096] When the driving assembly controls the compressed elastic part to release, the movable plate drives the piston rod to move toward the fixed plate, the piston rod drives the transmission cross bar to approach the fixed plate, and the transmission cross bar drives the two push rods to push the two sheet-like claws away from the fixed plate, so that the two sheet-like claws move toward each other along the rotating connection position on the fixed plate to achieve retraction, thereby completing the grasping of the target object.

[0097] In the present invention, the elastic member releases a driving force to drive the two sheet-shaped clamping jaws of the clamping jaw part to move toward or away from each other to achieve folding or opening, which has the advantages of stable structure and low cost.

[0098] 4. Limiting components

[0099] The driving mechanism also includes a limit assembly arranged in the mounting cavity of the main body;

[0100] The limiting assembly is used to limit the position of the movable plate when the elastic member is compressed, so that the elastic member remains compressed; and is also used to release the limiting of the position of the movable plate when the elastic member is released, so that the compressed elastic member is released.

[0101] like Figure 6 As shown, the limiting assembly includes a fixed base plate 9, a motor 10 arranged on the fixed base plate 9, a first rotating rod 11 arranged on the output shaft of the motor for mid-position transmission and capable of rotating along with the rotation of the motor output shaft and arranged parallel to the fixed base plate, two second transmission rods 12 whose first ends are respectively rotatably connected to the two ends of the first transmission rod 11 and arranged parallel to the fixed base plate, and two limiting columns 13 relatively arranged on both sides of the elastic member 7, arranged along the movement direction of the elastic member and respectively rotatably connected to the second ends of the two second transmission rods 12; the fixed base plate 9, the motor 10, the first rotating rod 11 and the second transmission rod 12 are all arranged below the side of the elastic member 7 away from the movable plate 8; the motor is an ordinary rotating motor.

[0102] The two limiting columns 13 are respectively provided with protrusions 14 extending toward each other on one end away from the second transmission rod;

[0103] A slide groove 15 is provided on the fixed bottom plate; a slider 16 is provided on one end of the two limit columns away from the raised portion, and the two limit columns slide in cooperation with the slide groove 15 on the fixed bottom plate through the slider 16;

[0104] When the elastic member is compressed, the output shaft of the motor drives the first rotating rod to rotate in the first direction (forward rotation), the first rotating rod pulls the two second transmission rods toward each other, and the two second transmission rods respectively drive the two limiting posts to move toward each other until the protrusions on the two limiting posts abut against the movable plate (the height of the protrusions on the limiting posts should be higher than the height of the movable plate after the elastic member is compressed), thereby limiting the position of the movable plate and keeping the elastic member compressed;

[0105] When the compressed elastic member needs to be released, the output shaft of the motor drives the first rotating rod to rotate in the second direction (reverse), the first rotating rod pushes the two second transmission rods away from each other, and the two second transmission rods respectively drive the two limiting posts to move away from each other until the protrusions on the two limiting posts are disengaged from the abutment against the movable plate, thereby releasing the limit on the position of the movable plate and releasing the elastic member.

[0106] A limiting plate 17 is fixedly disposed above the protrusions 14 of the two limiting columns 13 in the installation cavity 101 of the main body 1 . When the elastic member 7 is released, the limiting plate 17 can limit the position of the movable plate 8 .

[0107] The present invention uses a limit assembly to adjust the state of compression and release of the elastic member, so that the elastic member can effectively release a driving force to drive the two sheet-shaped clamping jaws of the clamping jaw part to move closer to or away from each other to achieve folding or opening, thereby assisting in achieving the gripping function of the flexible clamping jaw device. In addition, the limit assembly has a simple and stable structure, which is conducive to adjusting the state of the elastic member in various scenarios, thereby assisting in improving the safety and gripping stability of the flexible clamping jaw device.

[0108] 5. Hydraulic oil control mechanism

[0109] One end of the piston rod 4 away from the transmission cross bar 5 passes through the opening of the main body 1 and the limit plate 17 in sequence to achieve a fixed connection with the movable plate 8, and the piston rod 4 is in sealing and sliding cooperation with the opening of the main body and the limit plate 17;

[0110] When the elastic member 7 is compressed, a piston 18 is sleeved on the piston rod 4 at a position between the opening of the main body 1 and the limit plate 17, and is sealingly and slidingly matched with the inner wall of the mounting cavity 101 of the main body 1; the space between the piston 18 and the opening of the main body 1 forms a closed oil chamber 19; the main body is provided with a liquid inlet and outlet 20 connected to the oil chamber; the liquid inlet and outlet 20 is provided with a two-way controllable solenoid valve to support the switching of the liquid flow direction.

[0111] The driving mechanism also includes a hydraulic oil control mechanism;

[0112] When the elastic member needs to be compressed, the hydraulic oil control mechanism pumps high-pressure oil into the oil chamber through the inlet and outlet ports (to expand the volume of the oil chamber), and the piston, piston rod and movable plate are pushed toward the elastic member by the high-pressure oil to achieve compression of the elastic member;

[0113] When the elastic member needs to be released, the hydraulic oil control mechanism pumps out the high-pressure oil in the oil chamber through the inlet and outlet ports, and the limit assembly releases the limit on the position of the movable plate, so that the compressed elastic member is released.

[0114] The present invention adjusts the compression and release state of the elastic member by controlling the high-pressure oil through a hydraulic oil control mechanism, so that the elastic member can effectively release the driving force to drive the two sheet-like clamping jaws of the clamping jaw part to move towards or away from each other to achieve contraction or opening, thereby assisting in realizing the grasping function of the flexible clamping jaw device.

[0115] 6. Workflow

[0116] In this embodiment, the working process of the bionic flexible gripper device based on magnetorheological fluid is as follows:

[0117] 1. Initial state

[0118] In the initial state, the elastic member is in a compressed state, the movable plate is clamped by the protrusion of the limiting column to form a limit, and the liquid cavity of the sheet-like clamping claw and the oil cavity of the main body are both in a hollow state.

[0119] Magnetorheological fluid is injected into the liquid cavity of the inner layer of the two sheet-like clamps. The magnetorheological fluid is in a low-viscosity Newtonian fluid state, and the sheet-like clamps maintain their initial shape (sheet-like).

[0120] 2. Crawl status

[0121] When the flexible clamping claw device approaches the target object, the microcomputer sends a command to control the motor to reverse (or forward), and the output shaft of the motor drives the first rotating rod to reverse, and the first rotating rod pushes the two second transmission rods away from each other, and the two second transmission rods respectively drive the two limit posts to move away from each other until the protrusions on the two limit posts are disengaged from the abutment against the movable plate, thereby releasing the limit on the position of the movable plate and releasing the elastic member.

[0122] The movable plate drives the piston rod to move toward the fixed plate, the piston rod drives the transmission cross bar to approach the fixed plate, and the transmission cross bar drives two push rods to push the two sheet-like clamps away from the fixed plate, so that the two sheet-like clamps move toward each other along the rotating connection position on the fixed plate to achieve retraction.

[0123] The magnetorheological control mechanism injects non-magnetorheological fluid (silicone liquid) into the liquid cavity of the outer layers of the two sheet-like jaws, so that the inner and outer layers of the two sheet-like jaws are bent and deformed respectively under the action of the magnetorheological fluid and the non-magnetorheological fluid to complete the wrapping of the target object; the current flowing through the electromagnetic coil is adjusted to change the stiffness of the magnetorheological fluid in the inner liquid cavity of the two sheet-like jaws, so that the inner and outer layers of the two sheet-like jaws can maintain the state of wrapping the target object and adapt to the shape of the target object, thereby completing the wrapping and grasping of the target object.

[0124] 3. Release state

[0125] When the target object needs to be released, the magnetorheological control mechanism adjusts the current flowing through the electromagnetic coil to adjust the stiffness of the magnetorheological fluid in the inner liquid cavity of the sheet-like jaws, and the magnetorheological fluid returns to a low-viscosity Newtonian fluid state. At the same time, the non-magnetorheological fluid (silicone liquid) injected into the outer liquid cavity of the jaws is discharged, so that the inner and outer layers of the two sheet-like jaws can be restored to their original form.

[0126] The hydraulic oil control mechanism pumps high-pressure oil into the oil chamber through the inlet and outlet ports, and the high-pressure oil pushes the piston, piston rod and movable plate toward the elastic member, and the elastic member is compressed, driving the piston rod to move in the direction away from the fixed plate; the piston rod drives the transmission cross bar to move in the direction away from the fixed plate, and the transmission cross bar drives the two push rods to pull the two sheet-like clamping claws toward the fixed plate, so that the two sheet-like clamping claws move away from each other along the rotating connection position on the fixed plate to open, thereby completing the release of the clamping claw part to the target object.

[0127] When the elastic member is compressed into place, the microcomputer issues a command, and the output shaft of the motor drives the first rotating rod to rotate forward (or reverse), and the first rotating rod pulls the two second transmission rods toward each other, and the two second transmission rods respectively drive the two limiting posts to move toward each other until the protrusions on the two limiting posts abut against the movable plate, thereby limiting the position of the movable plate, so that the elastic member remains compressed and returns to the initial state.

[0128] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the technical solution. Those skilled in the art should understand that those modifications or equivalent substitutions of the technical solution of the present invention that do not depart from the purpose and scope of the technical solution should be included in the scope of the claims of the present invention.

Claims

1. A bionic flexible gripper device based on magnetorheological fluid, characterized in that: include: main body; A flexible clamping claw portion is provided on the main body and is used to grasp the target object; A driving mechanism is provided on the main body and is used to drive the clamping claw to grasp the target object; Magnetorheological fluid is injected into the clamping jaws; when the clamping jaws grasp a target object, the magnetorheological fluid enables the contact surface of the clamping jaws that contacts the target object to adapt to the shape of the target object and wrap the target object.

2. The bionic flexible gripper device based on magnetorheological fluid as claimed in claim 1, characterized in that: The clamping jaw part comprises two flexible sheet-shaped clamping jaws arranged opposite to each other; the driving mechanism drives the two sheet-shaped clamping jaws of the clamping jaw part to move towards or away from each other to achieve folding or opening, so as to complete the grasping and releasing of the target object.

3. The bionic flexible gripper device based on magnetorheological fluid as claimed in claim 2, characterized in that: The two sheet-shaped clamps each include a flexible inner layer for contacting a target object and having a surface on one side in contact with the target object as a contact surface, and a flexible outer layer arranged on the inner layer and facing away from the contact surface; the inner layers of the two sheet-shaped clamps are arranged opposite to each other, and the outer layers are arranged opposite to each other; The inner and outer layers of the two sheet-shaped clamping jaws are both provided with hollow liquid cavities, and magnetorheological fluid is injected into the liquid cavity of the inner layer; When the clamping jaws grasp the target object, the two sheet-shaped clamping jaws are closed, and non-magnetorheological fluid is injected into the liquid cavity of the outer layers of the two sheet-shaped clamping jaws, so that the inner and outer layers of the two sheet-shaped clamping jaws are bent and deformed respectively under the action of the magnetorheological fluid and the non-magnetorheological fluid to wrap the target object; When the clamping jaws release the grasped target object, the two sheet-like clamping jaws open, and the non-magnetorheological fluid injected into the liquid cavity of the outer layer of the two sheet-like clamping jaws is discharged, so that the inner layer of the two sheet-like clamping jaws is restored to the initial shape under the action of the magnetorheological fluid.

4. The bionic flexible gripper device based on magnetorheological fluid as claimed in claim 3, characterized in that: Electromagnetic coils are arranged in the inner liquid cavities of the two sheet-shaped clamping jaws; When the clamping jaws grasp the target object and the inner and outer layers of the two sheet-shaped clamping jaws are bent and deformed respectively under the action of the magnetorheological fluid and the non-magnetorheological fluid to wrap the target object, the current flowing through the electromagnetic coil is adjusted to change the stiffness of the magnetorheological fluid in the inner layer liquid cavity of the two sheet-shaped clamping jaws, so that the inner and outer layers of the two sheet-shaped clamping jaws can maintain the state of wrapping the target object; When the clamping jaws release the grasped object, the current flowing through the electromagnetic coil is adjusted to restore the stiffness of the magnetorheological fluid in the inner liquid cavity of the two sheet-like clamping jaws, so that the inner and outer layers of the two sheet-like clamping jaws can be restored to their initial shapes.

5. The bionic flexible gripper device based on magnetorheological fluid as claimed in claim 1, characterized in that: The clamping jaw part also includes a fixing plate fixedly arranged on the main body; the two sheet-like clamping jaws are respectively rotatably connected to the fixing plate, and the two sheet-like clamping jaws can move toward or away from each other along the rotational connection position on the fixing plate; The driving mechanism comprises a driving assembly, a piston rod which is transmission-connected to the driving assembly and is located below a side of a fixed plate away from the two sheet-like clamping claws, a transmission cross bar which is arranged at one end of the piston rod away from the driving assembly and parallel to the fixed plate, and two push rods which are rotationally connected to the transmission cross bar; the first ends of the two push rods are rotationally connected to the transmission cross bar respectively, and the second ends are rotationally connected to the sides which are away from the two sheet-like clamping claws respectively; When the driving assembly drives the piston rod to move toward the fixed plate, the piston rod drives the transmission cross bar to move toward the fixed plate, and the transmission cross bar drives the two push rods to push the two sheet-like clamping claws away from the fixed plate, so that the two sheet-like clamping claws move toward each other along the rotating connection position on the fixed plate to achieve folding, thereby completing the gripping of the target object by the clamping claw part; When the driving assembly drives the piston rod to move in the direction away from the fixed plate, the piston rod drives the transmission cross bar to move in the direction away from the fixed plate, and the transmission cross bar drives the two push rods to pull the two sheet-like claws toward the fixed plate respectively, so that the two sheet-like claws move away from each other along the rotating connection position on the fixed plate to open, thereby completing the release of the target object by the claw part.

6. The bionic flexible gripper device based on magnetorheological fluid as claimed in claim 5, characterized in that: The main body has a mounting cavity with a closed bottom and an open top; The driving assembly includes an elastic member with one end arranged at the bottom of the installation cavity of the main body, and a movable plate fixedly connected to the end of the elastic member away from the bottom of the liquid cavity of the main body; the end of the piston rod away from the transmission cross bar is inserted into the installation cavity through the opening at the top of the main body and fixedly connected to the movable plate; When the driving assembly controls the elastic member to be compressed, the movable plate drives the piston rod to move in a direction away from the fixed plate, and the piston rod drives the transmission cross bar to move in a direction away from the fixed plate; When the driving assembly controls the compressed elastic member to release, the movable plate drives the piston rod to move toward the direction close to the fixed plate, and the piston rod drives the transmission cross bar to approach the fixed plate.

7. The bionic flexible gripper device based on magnetorheological fluid as claimed in claim 6, characterized in that: The driving mechanism also includes a limit assembly arranged in the mounting cavity of the main body; The limiting assembly is used to limit the position of the movable plate when the elastic member is compressed, so that the elastic member remains compressed; and is also used to release the limiting of the position of the movable plate when the elastic member is released, so that the compressed elastic member is released.

8. The bionic flexible gripper device based on magnetorheological fluid as claimed in claim 7, characterized in that: The limiting assembly includes a fixed base plate, a motor arranged on the fixed base plate, a first rotating rod arranged on the output shaft of the motor for transmission at the middle position and arranged in parallel with the fixed base plate, two second transmission rods whose first ends are respectively rotatably connected to the two ends of the first transmission rod and arranged in parallel with the fixed base plate, and two limiting columns arranged on both sides of the elastic member, arranged along the movement direction of the elastic member and respectively rotatably connected to the second ends of the two second transmission rods; wherein the fixed base plate, the motor, the first rotating rod and the second transmission rod are all arranged below the side of the elastic member away from the movable plate; The two limiting columns are respectively provided with protrusions on one end away from the second transmission rod and extending in a direction close to each other; A slide groove is arranged on the fixed bottom plate; a slider is arranged on one end of the two limit columns away from the raised portion, and the two limit columns slide in cooperation with the slide groove on the fixed bottom plate through the slider; When the elastic member is compressed, the output shaft of the motor drives the first rotating rod to rotate in the first direction, the first rotating rod pulls the two second transmission rods toward each other, and the two second transmission rods respectively drive the two limiting posts to move toward each other until the protrusions on the two limiting posts abut against the movable plate, thereby limiting the position of the movable plate and keeping the elastic member compressed; When the compressed elastic member needs to be released, the output shaft of the motor drives the first rotating rod to rotate in the second direction, the first rotating rod pushes the two second transmission rods away from each other, and the two second transmission rods respectively drive the two limiting columns to move away from each other until the protrusions on the two limiting columns are disengaged from the abutment against the movable plate, thereby releasing the limit on the position of the movable plate and releasing the elastic member.

9. The bionic flexible gripper device based on magnetorheological fluid as claimed in claim 8, characterized in that: A limiting plate is fixedly arranged in the installation cavity of the main body at a position above the raised portions of the two limiting columns. When the elastic member is released, the limiting plate can limit the position of the movable plate.

10. The bionic flexible gripper device based on magnetorheological fluid as claimed in claim 9, characterized in that: One end of the piston rod away from the transmission crossbar passes through the opening of the main body and the limit plate in sequence to achieve fixed connection with the movable plate, and the piston rod is in sealing and sliding cooperation with the opening of the main body and the limit plate; When the elastic member is compressed, a piston is sleeved on the piston rod between the opening of the main body and the limit plate, and the piston is in sealing and sliding cooperation with the inner wall of the installation cavity of the main body; the space between the piston and the opening of the main body forms a closed oil cavity; the main body is provided with a liquid inlet and outlet connected with the oil cavity; The driving mechanism also includes a hydraulic oil control mechanism; When the elastic member needs to be compressed, the hydraulic oil control mechanism pumps high-pressure oil into the oil chamber through the inlet and outlet ports, and the high-pressure oil pushes the piston, piston rod and movable plate toward the elastic member to achieve compression of the elastic member; When the elastic member needs to be released, the hydraulic oil control mechanism pumps out the high-pressure oil in the oil chamber through the inlet and outlet ports, and the limit assembly releases the limit on the position of the movable plate, so that the compressed elastic member is released.

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