CN104057461A - Universal gripper using magneto-rheological plastic body - Google Patents
Universal gripper using magneto-rheological plastic body Download PDFInfo
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- CN104057461A CN104057461A CN201410276818.6A CN201410276818A CN104057461A CN 104057461 A CN104057461 A CN 104057461A CN 201410276818 A CN201410276818 A CN 201410276818A CN 104057461 A CN104057461 A CN 104057461A
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- plastic body
- bracing frame
- universal gripper
- gripper
- magnetorheological
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Abstract
The invention relates to an universal gripper using a magneto-rheological plastic body. The universal gripper comprises a U-shaped supporting frame, a coil, a partitioning plate and a partitioning layer, wherein the coil is wound at the middle part of the supporting frame; the partitioning plate is arranged at the middle part of the supporting frame; the partitioning layer is formed among the partitioning plate, the coil and the U-shaped supporting frame; a charging battery and a current control circuit are placed in the partitioning layer; a rubber jacket is tightly coated outside; the high-performance magneto-rheological plastic body is filled between the U-shaped bracket and the rubber jacket. The universal gripper has the advantages that the gripping force can be adjusted; the shape of the gripper can be changed to enable the gripper to be better attached to the surface of an object; in addition, the whole structure is simple and the manufacturing cost is lower.
Description
Technical field
The present invention relates to use the Universal gripper of magnetorheological plastic body, developed specifically a kind of simple for structurely, grasping dynamics is adjustable, captures the Universal gripper of shape variable.
Background technology
In mechanization and automated production, simulation of human body, the field handgrips such as the robot building technology part that is absolutely necessary.
Magnetorheological plastic body is a kind of novel magnetorheological glue, with the difference of the magnetorheological glue of tradition be that magnetorheological plastic body has very strong plasticity, can change easily at normal temperatures shape keeping.Magnetorheological plastic body has good mechanical property, and its magnetic rheology effect can reach 800%, can be by regulating electric current to regulate the soft or hard of magnetorheological plastic body.The magnetostrictive effect of magnetorheological plastic body can make it under magnetic fields, along magnetic induction line direction, stretch simultaneously, if want to fetter this distortion, needs a larger power.The structure relative complex of existing traditional mechanical gripper, crawl dynamics is difficult to regulate, and handgrip shape generally fixes, and can not change with capturing thing profile variation.
Summary of the invention
The technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, a kind of Universal gripper that uses magnetorheological plastic body is provided.Universal gripper dynamics is adjustable, and handgrip surface can change with capturing thing pattern, and the while, it was simple for structure, and cost of manufacture is relatively low.
The technology of the present invention solution: a kind of Universal gripper that uses magnetorheological plastic body, comprise: U-shaped bracing frame, be wrapped in the middle coil of bracing frame, dividing plate in the middle of bracing frame, the interlayer forming between dividing plate and coil, U-shaped bracing frame, inner rechargeable battery and the current control circuit of placing of interlayer, the outside tight coated rubber sleeve of U-shaped bracing frame, is filled in the high-performance magnetorheological plastic body between U-shaped support and rubber sleeve.
Described U-shaped bracing frame is permeability magnetic material steel part.
Described dividing plate is non-magnet material aluminum products, and in interlayer, battery and current control circuit are all non-magnetic.
The rubber sleeve of described parcel need to have elasticity and there is larger coefficient of friction on surface.
The present invention's advantage is compared with prior art; The present invention takes full advantage of the premium properties of magnetorheological plastic body, comprises good plasticity, significant magnetic rheology effect, and high Magnetostriction, has prepared crawl dynamics controlled, the Universal gripper that handgrip is good with capturing thing vindication laminating.Concrete, in the middle of U-shaped steel-made support frame, winding around is for generation of magnetic field, in bracing frame inside, by aluminum spacer plate, isolating interlayer makes the magnetic field concentration of coil generation whole at bracing frame, produced simultaneously interlayer is in order to deposit battery, control circuit etc., with rubber sleeve parcel, high-performance magnetorheological plastic body is filled up in the inside outside.Turn-on current during use, magnetorheological plastic body distortion wrap articles because article produce extruding interaction force to the constraint effect of magnetorheological plastic body deformation under magnetic fields, improve frictional force, magnetorheological plastic body hardening under magnetic fields, helps fixedly article simultaneously.In a word, in assurance function, structure is relatively succinct, and cost of manufacture is relatively low.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention uses magnetorheological plastic body;
The schematic diagram when Universal gripper that Fig. 2 is the magnetorheological plastic body of use captures article;
The schematic diagram when Universal gripper that Fig. 3 is the magnetorheological plastic body of use unclamps article.
The specific embodiment
As shown in Figure 1, use the Universal gripper of magnetorheological plastic body to comprise that steel magnetic conduction framework is simultaneously as the U-shaped bracing frame 2 of support structure, be wrapped in the middle coil 1 of U-shaped bracing frame 2, can produce magnetic field.Across the middle non-magnetic dividing plate 5 of aluminum of U-shaped bracing frame 2, between dividing plate 5 and U-shaped bracing frame 2, be interlayer 3, can make both ends below magnetic conduction framework, magnetic field that coil produces concentrate, simultaneously placement rechargeable battery and control circuit in the middle of interlayer 3.Outermost is a rubber sleeve 6 with certain elasticity and surface roughness, parcel wherein be high-performance magnetorheological plastic body 4.
When handgrip captures article, first handgrip is contacted to be pressed into article 7 and grabbed thing.Participate in Fig. 2, in figure, numeral 7 represents cylindric crawled article, because the magnetorheological plastic body of the inside has good plasticity, so article 7 can easily embed wherein.When article 7 embed in handgrip, be that electric current in closing coil, can form a magnetic field as shown in Figure 2, is with black arrow curve to represent magnetic induction line in figure.Simultaneously, due to magnetic fields, magnetorheological plastic body can be along only fit article 7 limit the further distortion of magnetorheological plastic body of magnetic direction distortion in handgrip, 6 of article 7 and rubber sleeves can produce an interactional interface 8, double-head arrow on interface 8 represents the normal force of mutual squeezing action, because the existence of normal force can produce, stop article and handgrip mobile frictional force mutually, magnetorheological plastic body hardening under magnetic fields simultaneously, helps better fixedly article.The normal force size of size of current on can adjustment interface, namely captures dynamics size in regulating winding.
In the time will unclamping article 7, referring to Fig. 3, cut off electric current in coil, the interaction force between rubber and article also disappears thereupon, and article come off by deadweight, and the depression forming on handgrip is also slowly recovered under magnetorheological plastic body self gravitation and rubber sleeve effect.When concrete use without waiting for that handgrip depression recovers also can capture immediately other article completely because when capturing other article turn-on current, apply magnetic field, under magnetic fields, inner magnet rheology plastic body can produce distortion and wrap article.
In a word, magnetorheological plastic body is a kind of novel intelligent material, has good plasticity, significant magnetic rheology effect and high Magnetostriction.The present invention is based on these premium properties, use the crawl dynamics of the Universal gripper of magnetorheological plastic body conveniently to regulate, and handgrip shape can be with being changed by being grabbed article profile, the article of better fitting, its terminal with compact integral structure simultaneously, cost of manufacture is relatively low.In mechanization and automated production, simulation of human body, the fields such as robot building technology have broad application prospects.
Claims (4)
1. a Universal gripper that uses magnetorheological plastic body, it is characterized in that comprising: U-shaped bracing frame, be wrapped in the middle coil of bracing frame, dividing plate in the middle of bracing frame, the interlayer forming between dividing plate and coil, U-shaped bracing frame, inner rechargeable battery and the current control circuit of placing of interlayer, the outside tight coated rubber sleeve of U-shaped bracing frame, is filled in the high-performance magnetorheological plastic body between U-shaped support and rubber sleeve.
2. the Universal gripper of the magnetorheological plastic body of use according to claim 1, is characterized in that: described U-shaped bracing frame is permeability magnetic material steel part.
3. the Universal gripper of the magnetorheological plastic body of use according to claim 1, is characterized in that: described dividing plate is non-magnet material aluminum products, and in interlayer, battery and current control circuit are all non-magnetic.
4. the Universal gripper of the magnetorheological plastic body of use according to claim 1, is characterized in that: the rubber sleeve of described parcel need to have elasticity and there is larger coefficient of friction on surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410276818.6A CN104057461A (en) | 2014-06-19 | 2014-06-19 | Universal gripper using magneto-rheological plastic body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410276818.6A CN104057461A (en) | 2014-06-19 | 2014-06-19 | Universal gripper using magneto-rheological plastic body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104057461A true CN104057461A (en) | 2014-09-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410276818.6A Pending CN104057461A (en) | 2014-06-19 | 2014-06-19 | Universal gripper using magneto-rheological plastic body |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924315A (en) * | 2015-05-11 | 2015-09-23 | 清华大学 | Magnetorheological fluid auxiliary flexible palm side self-adaption underactuated robot hand device |
| CN105798940A (en) * | 2016-05-19 | 2016-07-27 | 清华大学 | Rope driven magnetorheological fluid particle-reinforced universal grasping device |
| CN105798935A (en) * | 2016-05-19 | 2016-07-27 | 清华大学 | Rope-driven magnetic current self-adaption grasping device |
| CN106379119A (en) * | 2016-11-17 | 2017-02-08 | 中国工程物理研究院总体工程研究所 | Rigidity-variable amphibious propelling device based on magnetorheological materials |
| CN106584491A (en) * | 2017-01-03 | 2017-04-26 | 浙江工业大学 | Mechanical gripper based on magnetorheological effect |
| DE102020134573B3 (en) | 2020-12-22 | 2022-03-03 | Technische Universität Ilmenau | End effector for systems for gripping and manipulating an object, method for its manufacture and method for gripping and manipulating an object |
| CN115477042A (en) * | 2022-09-27 | 2022-12-16 | 王志彬 | Optical lens piece capable of preventing collision of corners |
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| JP2000176875A (en) * | 1998-12-18 | 2000-06-27 | Kawasaki Heavy Ind Ltd | Gripping mechanism |
| CN102825611A (en) * | 2012-08-22 | 2012-12-19 | 溧阳市苏菱机电有限公司 | Mechanical gripper |
| CN103753593A (en) * | 2013-12-24 | 2014-04-30 | 中国矿业大学 | Bionic finger with controllable flexibility |
| CN103831837A (en) * | 2014-03-24 | 2014-06-04 | 中国科学院重庆绿色智能技术研究院 | Flexible clamping device and clamping method based on magnetorheological fluid |
| CN104209953A (en) * | 2014-07-15 | 2014-12-17 | 福州大学 | Robot electric gripper |
| CN204076272U (en) * | 2014-06-19 | 2015-01-07 | 中国科学技术大学 | A kind of Universal gripper using magnetorheological plastic body |
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2014
- 2014-06-19 CN CN201410276818.6A patent/CN104057461A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000176875A (en) * | 1998-12-18 | 2000-06-27 | Kawasaki Heavy Ind Ltd | Gripping mechanism |
| CN102825611A (en) * | 2012-08-22 | 2012-12-19 | 溧阳市苏菱机电有限公司 | Mechanical gripper |
| CN103753593A (en) * | 2013-12-24 | 2014-04-30 | 中国矿业大学 | Bionic finger with controllable flexibility |
| CN103831837A (en) * | 2014-03-24 | 2014-06-04 | 中国科学院重庆绿色智能技术研究院 | Flexible clamping device and clamping method based on magnetorheological fluid |
| CN204076272U (en) * | 2014-06-19 | 2015-01-07 | 中国科学技术大学 | A kind of Universal gripper using magnetorheological plastic body |
| CN104209953A (en) * | 2014-07-15 | 2014-12-17 | 福州大学 | Robot electric gripper |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924315A (en) * | 2015-05-11 | 2015-09-23 | 清华大学 | Magnetorheological fluid auxiliary flexible palm side self-adaption underactuated robot hand device |
| CN104924315B (en) * | 2015-05-11 | 2020-09-25 | 清华大学 | Magnetorheological fluid assisted flexible palm surface self-adaptive under-actuated robot hand device |
| CN105798940A (en) * | 2016-05-19 | 2016-07-27 | 清华大学 | Rope driven magnetorheological fluid particle-reinforced universal grasping device |
| CN105798935A (en) * | 2016-05-19 | 2016-07-27 | 清华大学 | Rope-driven magnetic current self-adaption grasping device |
| CN106379119A (en) * | 2016-11-17 | 2017-02-08 | 中国工程物理研究院总体工程研究所 | Rigidity-variable amphibious propelling device based on magnetorheological materials |
| CN106584491A (en) * | 2017-01-03 | 2017-04-26 | 浙江工业大学 | Mechanical gripper based on magnetorheological effect |
| DE102020134573B3 (en) | 2020-12-22 | 2022-03-03 | Technische Universität Ilmenau | End effector for systems for gripping and manipulating an object, method for its manufacture and method for gripping and manipulating an object |
| CN115477042A (en) * | 2022-09-27 | 2022-12-16 | 王志彬 | Optical lens piece capable of preventing collision of corners |
| CN115477042B (en) * | 2022-09-27 | 2024-02-02 | 东莞全精光学科技有限公司 | Corner anti-collision optical lens |
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Application publication date: 20140924 |