CN106926264B - Grabbing device for increasing adhesion force of flexible glue - Google Patents
Grabbing device for increasing adhesion force of flexible glue Download PDFInfo
- Publication number
- CN106926264B CN106926264B CN201710238275.2A CN201710238275A CN106926264B CN 106926264 B CN106926264 B CN 106926264B CN 201710238275 A CN201710238275 A CN 201710238275A CN 106926264 B CN106926264 B CN 106926264B
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- CN
- China
- Prior art keywords
- electromagnet
- flexible colloid
- colloid
- composite flexible
- composite
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/008—Gripping heads and other end effectors with sticking, gluing or adhesive means
Abstract
The grabbing device for increasing the adhesion force of the flexible glue comprises an electromagnet, wherein a supporting rod is arranged above the electromagnet, the supporting rod is hinged with a supporting column, a spring is arranged between the supporting rod and the electromagnet, and a limiting block is arranged between the supporting column and the supporting rod; a baffle is hinged below the electromagnet and is movably connected with the support rod through a connecting rod; the lower part of the baffle is provided with a composite flexible colloid which consists of a flexible colloid and an embedded elastic iron sheet, and two ends of the composite flexible colloid are connected with two ends of the support rod through pull ropes. When the composite flexible colloid is in a non-working state, the composite flexible colloid is in an arc upward-pulling state; when the composite flexible colloid is in a working state, the composite flexible colloid is in a horizontal state through the attraction of the electromagnet, so that the rigidity of the flexible colloid is increased, the grabbing force of the composite flexible colloid on a grabber is more uniform, and the adhesive force of the composite flexible colloid on the grabber is enhanced.
Description
Technical Field
The invention relates to a material grabbing device, in particular to a grabbing device for increasing adhesion force of flexible glue.
Background
In terms of gripping objects, the conventional method is to use a mechanical gripper structure or a vacuum chuck, but these conventional techniques have several drawbacks. The mechanical gripper achieves the gripping action of the article by precise control of the mechanical parts, which requires mechanical "squeezing" of the article contact surface, which also limits the gripping of fragile, delicate articles by the mechanical gripper. There are also many limitations to the vacuum chuck when gripping objects, such as the application of the vacuum chuck requires that the surface of the object to be gripped be smooth, dry, and clean, which also limits the application of the vacuum chuck.
The flexible colloid is self-adhesive silica gel, has the advantages of stable chemical property, strong mechanical strength, high elasticity and the like, has stronger self-adhesive property, and is not easy to crack and degum. In addition, thermoplastic polyurethane rubber can be selected as a flexible colloid, and the material is similar to the material of the toy 'sticky hand', and has the properties of high elasticity, high toughness, high strength and high viscosity.
Although the flexible colloid has certain adhesive force, when the flexible colloid is applied to material grabbing, the adhesive capability of the flexible colloid is still required to be improved so as to enhance the grabbing reliability.
Disclosure of Invention
In order to solve the defects in the prior art, the grabbing device for increasing the adhesive force of the flexible glue is provided, the grabbing device is reasonable in structure, and the adhesive force of the flexible glue can be effectively improved.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the grabbing device for increasing the adhesion force of the flexible glue comprises an electromagnet, wherein the electromagnet is arranged on a support column, a support rod is arranged above the electromagnet and hinged with the support column, a spring is arranged between the support rod and the electromagnet, an iron block is arranged at a position on the support rod where the spring is fixed, and a limiting block is arranged between the support column and the support rod; a baffle is hinged on the support column below the electromagnet, and the baffle is movably connected with the support rod through a connecting rod; the lower part of the baffle is provided with a composite flexible colloid which consists of a flexible colloid and an embedded elastic iron sheet, and two ends of the composite flexible colloid are connected with two ends of the support rod through pull ropes.
The composite flexible colloid consists of a flexible colloid and an embedded elastic iron sheet, and is in an arc upward-pulling state when the composite flexible colloid is in a non-working state; and when in a working state, the composite flexible colloid is in a horizontal state through the attraction of the embedded elastic iron sheet by the electromagnet and the blocking of the baffle, so that the rigidity of the flexible colloid is increased, the grabbing force of the flexible colloid on the grabber is more uniform, and the adhesive force of the grabber is enhanced. Through software simulation, the adhesion of the flexible colloid when the rigidity is increased can be obtained to be more than a plurality of times of that when the rigidity is not increased.
Drawings
Fig. 1 is a schematic diagram of the overall structure.
Fig. 2 is a schematic structural view in a non-operating state.
Fig. 3 is a schematic view of the structure in the working state.
Fig. 4 is a schematic diagram of a composite flexible gel structure.
Marked in the figure as: the device comprises an electromagnet 1, a spring 2, an iron sheet 21, a supporting column 3, a limiting block 4, a supporting rod 5, a baffle 6, a composite flexible colloid 7, a flexible colloid 71, an elastic iron sheet 72, a pull rope 8 and a connecting rod 9.
Detailed Description
The grabbing device for increasing the adhesion force of the flexible glue comprises an electromagnet 1, wherein the electromagnet is arranged on a support column 3, a support rod 5 is arranged above the electromagnet, the support rod is hinged with the support column, a spring 2 is arranged between the support rod and the electromagnet, one end of the spring is fixed on the support rod, the other end of the spring is fixed on the electromagnet, an iron block 21 is arranged at the position of the fixed spring on the support rod, and a limiting block 4 is arranged between the support column and the support rod; a baffle 6 is hinged on a support column below the electromagnet, and the baffle is movably connected with the support rod through a connecting rod 9; a composite flexible colloid 7 is arranged below the baffle plate and consists of a flexible colloid 71 and an embedded elastic iron sheet 72, and two ends of the composite flexible colloid are connected with two ends of the support rod through pull ropes 8.
The upper end of the support column is connected with the tail end of the mechanical arm. When the electromagnet is not electrified, the grabbing device is in a non-working state, the supporting rod and the pull rope are in an upward pulling state under the action of the elasticity of the spring, the baffle is also in an upward folding state, and the composite flexible colloid embedded with the elastic iron sheet and the baffle are in a separated state.
When the electromagnet is electrified, due to the action of magnetic force, the electromagnet attracts the iron block compression spring on the supporting rod, the supporting rod moves downwards, the limiting block limits the supporting rod, the baffle below the electromagnet is in a paved state under the action of the connecting rod, and meanwhile, the electromagnet also attracts the elastic iron sheet in the flexible colloid, so that the composite flexible colloid is firmly attached to the lower part of the baffle, the rigidity of the colloid is greatly increased, and the surface adhesion force of the colloid is further increased. At this time, the grabber may be adhered.
The mechanical arm moves to the appointed position, at the moment, the electromagnetism is powered off, the supporting rod is jacked back to the original position in the moment by the spring due to the action of pushing the electromagnetic force, the supporting wire is pulled up, the composite flexible colloid and the baffle are separated, two ends of the composite flexible colloid are tilted in the moment under the action of the pull rope, the adhesive force of the colloid to the grabber is lowered in the moment, and therefore the grabber is unloaded successfully.
Claims (1)
1. The grabbing device for increasing the adhesion force of the flexible glue comprises an electromagnet and is characterized in that the electromagnet is arranged on a support column, two support rods are arranged above the electromagnet, the two support rods are symmetrically arranged on two sides of the support column and are hinged with the support column, a spring is arranged between the support rods and the electromagnet, an iron block is arranged at a position where the spring is fixed on the support rods, and limiting blocks are respectively arranged between the support column and the two support rods; two baffles symmetrically arranged relative to the support column are hinged on the support column below the electromagnet, and each baffle is movably connected with the corresponding support rod through a connecting rod; a composite flexible colloid is arranged below the two baffles, the composite flexible colloid consists of a flexible colloid and an embedded elastic iron sheet, and two ends of the composite flexible colloid are respectively connected with one end of the supporting rod through pull ropes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710238275.2A CN106926264B (en) | 2017-04-13 | 2017-04-13 | Grabbing device for increasing adhesion force of flexible glue |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710238275.2A CN106926264B (en) | 2017-04-13 | 2017-04-13 | Grabbing device for increasing adhesion force of flexible glue |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106926264A CN106926264A (en) | 2017-07-07 |
| CN106926264B true CN106926264B (en) | 2023-08-29 |
Family
ID=59436668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710238275.2A Active CN106926264B (en) | 2017-04-13 | 2017-04-13 | Grabbing device for increasing adhesion force of flexible glue |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106926264B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3976324A4 (en) * | 2019-05-26 | 2023-07-05 | B.G. Negev Technologies & Applications Ltd., at Ben-Gurion University | Adhesive based gripping of objects |
| CN112192497B (en) * | 2020-09-30 | 2022-04-29 | 东风富士汤姆森调温器有限公司 | Carbon canister non-woven fabrics assembly devices |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101303996A (en) * | 2007-05-07 | 2008-11-12 | 琳得科株式会社 | Transfer apparatus and transfer method |
| CN101531215A (en) * | 2007-05-23 | 2009-09-16 | 通用汽车环球科技运作公司 | Attachment pad with thermal reversible adhesive and methods of making and using the same |
| WO2012136740A1 (en) * | 2011-04-04 | 2012-10-11 | Buescher Peer | Fixing device |
| DE102012001095A1 (en) * | 2012-01-20 | 2013-07-25 | Festo Ag & Co. Kg | Gripping equipment for gripping e.g. solar cell, has adjusting device attached to system portion for deformation of system portion between resting and function positions and between function and resting positions with action of forces |
| CN206643947U (en) * | 2017-04-13 | 2017-11-17 | 浙江工业大学 | A kind of grabbing device for increasing flexible glue adhesion |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9815261B2 (en) * | 2013-09-25 | 2017-11-14 | GM Global Technology Operations LLC | Applications of a reversible dry adhesive system |
| US10220520B2 (en) * | 2014-05-20 | 2019-03-05 | The Board Of Trustees Of The Leland Stanford Junior University | Surface grasping mechanism using directional adhesives |
| EP2952302B1 (en) * | 2014-06-05 | 2019-03-20 | J. Schmalz GmbH | Gripping or holding device |
-
2017
- 2017-04-13 CN CN201710238275.2A patent/CN106926264B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101303996A (en) * | 2007-05-07 | 2008-11-12 | 琳得科株式会社 | Transfer apparatus and transfer method |
| CN101531215A (en) * | 2007-05-23 | 2009-09-16 | 通用汽车环球科技运作公司 | Attachment pad with thermal reversible adhesive and methods of making and using the same |
| WO2012136740A1 (en) * | 2011-04-04 | 2012-10-11 | Buescher Peer | Fixing device |
| DE102012001095A1 (en) * | 2012-01-20 | 2013-07-25 | Festo Ag & Co. Kg | Gripping equipment for gripping e.g. solar cell, has adjusting device attached to system portion for deformation of system portion between resting and function positions and between function and resting positions with action of forces |
| CN206643947U (en) * | 2017-04-13 | 2017-11-17 | 浙江工业大学 | A kind of grabbing device for increasing flexible glue adhesion |
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| Publication number | Publication date |
|---|---|
| CN106926264A (en) | 2017-07-07 |
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