CN110125972A - A kind of grabbing device of stiffness variable and preparation method thereof - Google Patents
A kind of grabbing device of stiffness variable and preparation method thereof Download PDFInfo
- Publication number
- CN110125972A CN110125972A CN201910378714.9A CN201910378714A CN110125972A CN 110125972 A CN110125972 A CN 110125972A CN 201910378714 A CN201910378714 A CN 201910378714A CN 110125972 A CN110125972 A CN 110125972A
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- shape
- thin film
- memory polymer
- grasping mechanism
- flexible electrode
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses grabbing devices of a kind of stiffness variable and preparation method thereof, belong to robotic technology field, the grabbing device of stiffness variable, including support construction interconnected and grasping mechanism, grasping mechanism include shape-memory polymer plate and dielectric elastomeric body thin film；Dielectric elastomeric body thin film upper and lower surface is respectively equipped with the flexible electrode connecting with external power supply, and flexible electrode includes the first flexible electrode of dielectric elastomeric body thin film upper surface being arranged in and the second flexible electrode shape-memory polymer plate of dielectric elastomeric body thin film lower surface is arranged in be bonded in the first flexible electrode upper surface, and shape-memory polymer intralamellar part is provided with the conductive network connecting with external world's power supply.The rigidity that the present invention can change the grasping mechanism of stiffness variable itself by changing temperature, the lesser flexible article of quality can also be grabbed by so that grasping mechanism is grabbed the biggish rigid objects of quality.Structure simple operations are convenient, meet the needs of grasping mechanism different-stiffness.
Description
Technical field
The present invention relates to robotic technology fields, grabbing device and its preparation in particular to a kind of stiffness variable
Method.
Background technique
Current existing robot can be divided into traditional robot and soft robot.Traditional robot uses traditional steel
Making machines people's structure such as iron, aluminium alloy, is driven using motor etc., is widely used in the fields such as industry manufacture, production, but
It is that this kind of robot rigidity itself is larger, is not suitable for the operation such as pick-and-place with some soft materials.Soft robot is emerging
A kind of robot is made using soft materials such as thermoplastic polyurethane elastomer rubber, silicon rubber, these material matter are soft,
It is not easy to damage object when in use, especially some frangible or soft object, thus is also widely studied and answers
With.But soft robot rigidity itself is smaller, it is not applicable pick and place etc. operation to the biggish object of quality.
In view of the above drawbacks, creator of the present invention proposes the present invention by prolonged research and practice.
Summary of the invention
Problems solved by the invention is that transmission machinery robot mechanism can not be according to object rigidity itself when grabbing article
It is grabbed using suitable grasping mechanism, on the one hand is easy to make with the small flexible article of the big grasping mechanism crawl quality of rigidity
At physical damage；On the other hand, the big rigid objects of quality can not be grabbed with the small grasping mechanism of rigidity.
To solve the above problems, the present invention provides a kind of grabbing device of stiffness variable, including support interconnected
Structure and grasping mechanism, the grasping mechanism include shape-memory polymer plate and dielectric elastomeric body thin film；The dielectric elastomeric
Body thin film upper and lower surface is respectively equipped with the flexible electrode connecting with external power supply, and the flexible electrode includes that setting is being given an account of
First flexible electrode of electric elastomer thin film upper surface and the second flexible electrical that dielectric elastomeric body thin film lower surface is set
Pole, the shape-memory polymer plate are bonded in first flexible electrode upper surface, and in the shape-memory polymer plate
Portion is provided with the conductive network connecting with extraneous power supply.
Optionally, the support construction includes support plate and connecting plate, and the one end of the connection board is connect with the support plate,
The connecting plate other end setting is fluted, and the grasping mechanism fixed setting is in the groove.
Optionally, the grasping mechanism further includes insulating protective layer, and the insulating protective layer setting is flexible described second
Electrode lower surface.
Optionally, the shape-memory polymer plate is made of thermotropic shape-memory polymer.The thermotropic shape
Shape memory polymer includes styrene shape-memory polymer or epoxy shape-memory polymer.
Optionally, the conductive network is S-shaped horizontal networks structure or the vertical contiguous network structure of S-shaped.
The grabbing device of stiffness variable of the present invention, rigidity is adjustable, can be of different sizes according to crawl object rigidity, from
Row adjusts the rigidity of the grabbing device, can satisfy the demand of the crawl object of different-stiffness.
The present invention also provides a kind of preparation methods of grabbing device, include the following steps:
Step S1 makes shape-memory polymer plate；
Step S2 makes dielectric elastomeric body thin film；
Step S3, the dielectric elastomer of the shape-memory polymer plate prepared by step S1 and step S2 preparation
Film is assembled, and covers one layer of insulating protective layer on the electric elastomer thin film, makes grasping mechanism；
Step S4 makes support construction；
The grasping mechanism of step S5, the support construction that step S4 is made and step S3 production assembles, and production is variable
The grabbing device of rigidity.
Optionally, the step S1 includes:
Step S11 prints network structure substrate, the network structure using water-soluble printed material using 3D printer
Substrate is S-shaped arrangement；
The substrate is put into container by step S12, and configured thermotropic shape-memory polymer solution is poured into
In the container, solidify 10-12 hours under conditions of 70 DEG C -80 DEG C；
Step S13, the substrate that step S12 is cured take out, are put into 50 DEG C -60 DEG C of water-bath, to the water
It takes out and dries after soluble materials dissolution；
Low-melting alloy is injected into the gap of the substrate by step S14, forms conductive network, and draw heating and lead
Line is encapsulated and is solidified using dimethyl silicone polymer.
Preferably, the step S1 includes:
Step S11 prints network structure substrate using shape-memory polymer printed material using 3D printer, described
Network structure substrate includes the cavity of S-shaped arrangement；
Step S12 injects low-melting alloy in the cavity, forms conductive network, and draw heating wires, and encapsulation is simultaneously
Solidified.
Optionally, the step S2 includes:
The dielectric elastomeric body thin film is uniaxially stretched 1-2 times by step S21；By the release paper covering with electrode shape
In the upper and lower surface of the dielectric elastomeric body thin film；
Electrode is worked at the electrode shape of the release paper by the way of bat printing, is then removed by step S22
The release paper forms first flexible electrode and second flexible electrode and draws driving conducting wire.
Optionally, step S3 is specifically included:
Step S31, the shape-memory polymer plate that step S1 is made are covered on described in step S2 makes
On dielectric elastomeric body thin film, carried out with first flexible electrode upper surface be bonded；
Step S32 cuts the bonding shape-memory polymer plate from dielectric elastomeric body thin film described in monolith
Get off；
Step S33 solidifies the insulating protective layer on second flexible electrode surface, and the cured solution is poly-
Dimethyl siloxane solution, the cured temperature are 60 DEG C -80 DEG C, and the cured time is 30-40min.
Optionally, the step S4 includes:
Step S41 prints the reeded support construction of tool using 3D printer；
Step S42, will be described in the grasping mechanism inserting step S41 of the stiffness variable that made in step S3 production
In groove, and it is fixed.
Compared with the prior art, the beneficial effects of the present invention are:
1, embedded conductive network can be used to be heated for the thermotropic shape-memory polymer used in the present invention；
2, grasping mechanism variable rigidity used in grabbing device of the invention；
3, grabbing device of the invention can grab the big rigid objects of quality under rigid state；
4, grabbing device of the invention can grab the small flexible article of quality under flexible state.
Detailed description of the invention
Fig. 1 is overall schematic when a kind of grabbing device opens in the present invention；
Overall schematic when Fig. 2 is a kind of grabbing device crawl object in the present invention；
Fig. 3 is a kind of grasping mechanism internal view of stiffness variable in the present invention；
Fig. 4 is the front view of dielectric elastomeric body thin film；
Fig. 5 is the side view of dielectric elastomeric body thin film；
Fig. 6 is the front view of the first flexible electrode；
Fig. 7 is the front view of the second flexible electrode；
Fig. 8 is overall schematic when a kind of grabbing device of another embodiment of the present invention opens；
Overall schematic when Fig. 9 is a kind of grabbing device crawl object of another embodiment of the present invention；
Figure 10 is the cross-sectional view of the shape-memory polymer plate of another embodiment of the present invention.
Description of symbols:
1- support construction；11- protrusion；12- support base；121- support plate；122- connecting plate；2- grasping mechanism；21- shape
Memory polymer plate；211- conductive network；212- draws endpoint；213- heating wires；22 dielectric elastomeric body thin films；221- first
Flexible electrode；The second flexible electrode of 222-；223- drives conducting wire.
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
In the description of the present invention, it is to be understood that, the orientation or positional relationship of the instructions such as term " on ", "lower" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.
Term " first ", " second " be used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance or
Implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or imply
Ground includes at least one this feature.
The present invention provides a kind of grabbing devices of stiffness variable, including support construction interconnected 1 and grasping mechanism
2, the grasping mechanism 2 includes shape-memory polymer plate 21 and dielectric elastomeric body thin film 22；The dielectric elastomeric body thin film 22
Upper and lower surface is respectively equipped with the flexible electrode connecting with external power supply, and the flexible electrode includes being arranged in the dielectric elastomeric
First flexible electrode 221 of 22 upper surface of body thin film and the second flexible electrical that 22 lower surface of dielectric elastomeric body thin film is set
Pole 222；The shape-memory polymer plate 21 is bonded in 221 upper surface of the first flexible electrode, and the shape memory is poly-
It closes object plate 21 and is internally provided with the conductive network 211 connecting with extraneous power supply.
Below in conjunction with attached drawing 1-7, the present invention provides a kind of embodiment, it is to provide a kind of crawl dress of stiffness variable
It sets, including grasping mechanism 2 and support construction 1, the support construction 1 is fixedly connected with three grasping mechanisms 2, the support
Structure 1 includes protrusion 11 and support base 12, and 12 center of support base is fixedly connected with raised 11 lower surface, described
Grasping mechanism 2 is fixedly connected on the outside of the support base 12 respectively.The support base 12 includes two pawl support bases 12, three-jaw support
Seat 12 and four paws support base 12, using three-jaw support base 12 in present embodiment, the support base 12 includes support plate 121
With connecting plate 122, described 122 one end of connecting plate is connect with the support base 12, the support plate 121 and the connecting plate 122
Certain angle is presented, the angle includes 120 ° to 180 °, and angle described in this real mode is 120 °.The connecting plate 122
Other end setting is fluted, and three grasping mechanisms 2 are respectively fixedly connected with portion in the groove.
The grasping mechanism 2 includes shape-memory polymer plate 21, dielectric elastomeric body thin film 22 and insulating protective layer, described
Shape-memory polymer plate 21, the dielectric elastomeric body thin film 22 and the insulating protective layer are sequentially connected from top to bottom, described
Dielectric elastomeric body thin film 22 is transparent membrane, and 22 upper and lower surface of dielectric elastomeric body thin film is respectively arranged with flexible electrode, institute
It states flexible electrode to connect with driving conducting wire 223, the flexible electrode includes the of 22 upper surface of dielectric elastomeric body thin film
One flexible electrode 221 and the second flexible electrode 222 in 22 lower surface of dielectric elastomeric body thin film, first flexible electrode
221 and second flexible electrode 222 with driving conducting wire 223 connect, the driving conducting wire 223 is connect with external power supply, is used for
Driving the grasping mechanism 2, deformation occurs.The shape-memory polymer plate 21 is bonded in table on first flexible electrode 221
Face, the insulating protective layer are arranged in 222 lower surface of the second flexible electrode.The shape-memory polymer plate 21 is benzene second
Alkene shape-memory polymer plate.The reversible change for softening and hardening can occur according to temperature change.The shape memory is poly-
It closes object plate 21 and is internally provided with conductive network 211, the conductive network 211 is the conductive network made of low-melting alloy
211 include the network structure of S-shaped arrangement, and the reticular structure of the S-shaped arrangement includes that S-shaped horizontal networks structure or S-shaped connect vertically
Continuous network structure.Using being S-shaped horizontal networks structure in present embodiment, the S-shaped horizontal networks structure includes first by institute
State conductive network 211 from left to right, then from right to left, S-shaped arranges from bottom to top, then top-down reversed S-shaped arrangement again,
In the left side of the shape-memory polymer plate 21, endpoint 212, the extraction are drawn in setting to the last conductive network 211
Endpoint 212 is connect with heating wires 213.The heating wires 213 are used for electric power connection poly- in heating the shape memory with the external world
Close object plate 21.
Working principle:
The grabbing device can voluntarily adjust the rigidity of the grasping mechanism 2 according to the rigidity of the crawl object, when
When to be crawled object be quality biggish rigid objects, the heating wires 213 are connected to external power supply, the conductive network
211 begin to warm up, when the shape-memory polymer plate 21 is heated to glass transition temperature, the shape-memory polymer plate
21 soften, and are in flexible state, and the grasping mechanism 2 buckles, and grab object at this time, but due to mass of object is larger can not be complete
Full crawl is got up, and stops heating, the grasping mechanism 2 is in rigid state, and can maintain the state, the grabbing device
Object can be grabbed completely.When needing to discharge on object, the heating wires 213 are connected to external power supply, the conductive network
211 heating after the shape-memory polymer plate 21 heats, will drive conducting wire 223 to access high-tension circuit, the at this time crawl
Mechanism 2 restPoses, i.e., the described grasping mechanism 2 straightens, and the grabbing device completes release object.The grabbing device can
Voluntarily to change the rigidity of the grabbing device according to the rigidity of crawl object, it is ensured that the grabbing device will not injure described grab
Take object.
When the lesser flexible article of grabbing device crawl quality, the heating wires 213 are connected to external power supply,
The conductive network 211 is begun to warm up, when the shape-memory polymer plate 21 is heated to glass transition temperature, the shape
Memory polymer plate 21 softens, and is in flexible state, and the grasping mechanism 2 buckles, can directly to the flexible article into
Row crawl, when needing to discharge object, it is only necessary to conducting wire 223 will driven to access high-tension circuit, the grasping mechanism 2 is extensive at this time
Multiple original state.
Therefore, the grasping mechanism variable rigidity in grabbing device provided in present embodiment, makes it in rigid state
The big rigid objects of quality can be grabbed down, and the small flexible article of quality can be grabbed under flexible state.
Below in conjunction with attached drawing 4-10, the present invention also provides another embodiment, present embodiment and above embodiment areas
It is not, the support base 12 grabs support base 12 for two, and the network structure of the S-shaped arrangement is the vertical contiguous network structure of S-shaped,
The vertical contiguous network structure of S-shaped be the conductive network 211 be from bottom to top, then from top to bottom, from left to right continuous
The S-shaped reticular structure of distribution is distributed.
The present invention also provides another embodiments, provide a kind of preparation method of grabbing device, include the following steps:
Step S1 makes shape-memory polymer plate 21；
Step S11 prints network structure substrate, the network structure using water-soluble printed material using 3D printer
Substrate is S-shaped arrangement；
The substrate is put into container by step S12, and configured thermotropic shape-memory polymer solution is poured into
In the container, solidify 10-12 hours under conditions of 70-80 DEG C；The thermotropic shape-memory polymer includes styrene
Shape-memory polymer or epoxy shape-memory polymer.
Step S13, the substrate that step S12 is cured take out, are put into 50 DEG C -60 DEG C of waters 4-6 hours, will
It takes out and dries after water-soluble material dissolution in the substrate,
Step S14 injects the low-melting alloy under molten condition in the gap in the substrate, forms conductive network
211, and heating wires 213 are drawn, it encapsulates and is solidified using dimethyl silicone polymer solution.
Step S2 makes dielectric elastomeric body thin film 22；
Step S21, the dielectric elastomeric body thin film 22 are acrylate film, by the uniaxial drawing of the dielectric elastomeric body thin film 22
Stretch 1-2 times；
The silicone rubber solution electrode for mixing carbon dust is worked into the release paper, so by step S22 by the way of bat printing
The release paper is cut into using laser cutting machine the shape of first flexible electrode 221 and second flexible electrode 222 afterwards
Shape, and correspondence is covered on 22 upper and lower surface of dielectric elastomeric body thin film, and draws driving conducting wire 223.
Step S3, the dielectric elastomeric of the shape-memory polymer plate 21 prepared by step S1 and step S2 preparation
Body thin film 22 is assembled, and covers one layer of insulating protective layer in the electric elastomer thin film 22, makes the grasping mechanism 2；
Step S31, the shape-memory polymer plate 21 that step S1 is made are covered on the institute that step S2 makes
It gives an account of on electric elastomer thin film 22, is carried out with 221 upper surface of the first flexible electrode be bonded；
Step S32 cuts the bonding shape-memory polymer plate 21 from the dielectric elastomeric body thin film 22
Get off；
Step S33 covers a strata dimethyl siloxane solution on 222 surface of the second flexible electrode, plate is placed on 60
It is taken out after solidifying 30-40min in DEG C -80 DEG C of sweat box, forms the insulating protective layer, make the grasping mechanism 2；
Step S4 makes support construction 1；
Step S41 carries out the modeling of the support construction 1 using SolidWorks 3 d modeling software, then utilizes 3D
Printer prints the reeded support construction 1 of tool；
Step S42 goes forward side by side in the groove for making 2 inserting step S41 of the grasping mechanism production in step S3
Row is fixed.
2 groups of grasping mechanism of the stiffness variable of step S5, the support construction 1 that step S4 is made and step S3 production
Dress, forms the grabbing device of stiffness variable.
Therefore, embedded conductive network can be used to carry out for thermotropic shape-memory polymer used in present embodiment
Heating；The grasping mechanism variable rigidity in provided grabbing device prepared by this method, makes it can under rigid state
The big rigid objects of quality are grabbed, the small flexible article of quality can be grabbed under flexible state.
A kind of preferable embodiment is that the making step of shape-memory polymer plate 21 includes:
Step S11 prints network structure substrate using shape-memory polymer printed material using 3D printer, described
Network structure substrate includes the cavity of S-shaped arrangement, and the shape memory polymer includes epoxy shape-memory polymer or polylactic acid
Shape-memory polymer；
Step S12 injects low-melting alloy in the cavity, forms conductive network 211, and draw heating wires 213,
It is encapsulated and is solidified using dimethyl silicone polymer.
The manufacturing process for the shape-memory polymer plate 21 that present embodiment provides is simpler, easy to operate, Production Time
It is shorter, it improves work efficiency.
Embodiment 1
A kind of preparation method of grabbing device is provided, is included the following steps:
Step S1 makes shape-memory polymer plate 21；
Step S11 prints network structure substrate, the network structure using water-soluble printed material using 3D printer
Substrate is S-shaped arrangement；
The substrate is put into container by step S12, and configured polyurethane solutions are poured into the container,
Solidify 12 hours under conditions of 70 DEG C；
Step S13, the substrate that step S12 is cured take out, are put into 50 DEG C of waters 6 hours, by the base
It takes out and dries after water-soluble material dissolution in plate,
Step S14 injects the low-melting alloy under molten condition in the gap in the substrate, forms conductive network
211, and heating wires 213 are drawn, it encapsulates and is solidified using dimethyl silicone polymer solution.
Step S2 makes dielectric elastomeric body thin film 22；
Step S21, the dielectric elastomeric body thin film 22 are acrylate film, by the uniaxial drawing of the dielectric elastomeric body thin film 22
Stretch 1 times；
The silicone rubber solution electrode for mixing carbon dust is worked into the release paper, so by step S22 by the way of bat printing
The release paper is cut into using laser cutting machine the shape of first flexible electrode 221 and second flexible electrode 222 afterwards
Shape, and correspondence is covered on 22 upper and lower surface of dielectric elastomeric body thin film, and draws driving conducting wire 223.
Step S3, the dielectric elastomeric of the shape-memory polymer plate 21 prepared by step S1 and step S2 preparation
Body thin film 22 is assembled, and covers one layer of insulating protective layer in the electric elastomer thin film 22, makes the grasping mechanism 2；
Step S31, the shape-memory polymer plate 21 that step S1 is made are covered on the institute that step S2 makes
It gives an account of on electric elastomer thin film 22, is carried out with 221 upper surface of the first flexible electrode be bonded；
Step S32 cuts the bonding shape-memory polymer plate 21 from the dielectric elastomeric body thin film 22
Get off；
Step S33 covers a strata dimethyl siloxane solution on 222 surface of the second flexible electrode, plate is placed on 60
DEG C sweat box in solidify 40min after take out, form the insulating protective layer, make the grasping mechanism 2；
Step S4 makes support construction 1；
Step S41 carries out the modeling of the support construction 1 using SolidWorks 3 d modeling software, then utilizes 3D
Printer prints the reeded support construction 1 of tool；
Step S42 goes forward side by side in the groove for making 2 inserting step S41 of the grasping mechanism production in step S3
Row is fixed.
2 groups of grasping mechanism of the stiffness variable of step S5, the support construction 1 that step S4 is made and step S3 production
Dress, forms the grabbing device of stiffness variable.
Embodiment 2
A kind of preparation method of grabbing device is provided, is included the following steps:
Step S1 makes shape-memory polymer plate 21；
Step S11 prints network structure substrate, the network structure using water-soluble printed material using 3D printer
Substrate is S-shaped arrangement；
The substrate is put into container by step S12, and configured polyamide solution is poured into the container,
Solidify 11 hours under conditions of 75 DEG C；
Step S13, the substrate that step S12 is cured take out, are put into 55 DEG C of waters 5 hours, by the base
It takes out and dries after water-soluble material dissolution in plate,
Step S14 injects the low-melting alloy under molten condition in the gap in the substrate, forms conductive network
211, and heating wires 213 are drawn, it encapsulates and is solidified using dimethyl silicone polymer solution.
Step S2 makes dielectric elastomeric body thin film 22；
Step S21, the dielectric elastomeric body thin film 22 are acrylate film, by the uniaxial drawing of the dielectric elastomeric body thin film 22
Stretch 1.5 times；
The silicone rubber solution electrode for mixing carbon dust is worked into the release paper, so by step S22 by the way of bat printing
The release paper is cut into using laser cutting machine the shape of first flexible electrode 221 and second flexible electrode 222 afterwards
Shape, and correspondence is covered on 22 upper and lower surface of dielectric elastomeric body thin film, and draws driving conducting wire 223.
Step S3, the dielectric elastomeric of the shape-memory polymer plate 21 prepared by step S1 and step S2 preparation
Body thin film 22 is assembled, and covers one layer of insulating protective layer in the electric elastomer thin film 22, makes the grasping mechanism 2；
Step S31, the shape-memory polymer plate 21 that step S1 is made are covered on the institute that step S2 makes
It gives an account of on electric elastomer thin film 22, is carried out with 221 upper surface of the first flexible electrode be bonded；
Step S32 cuts the bonding shape-memory polymer plate 21 from the dielectric elastomeric body thin film 22
Get off；
Step S33 covers a strata dimethyl siloxane solution on 222 surface of the second flexible electrode, plate is placed on 70
DEG C sweat box in solidify 35min after take out, form the insulating protective layer, make the grasping mechanism 2；
Step S4 makes support construction 1；
Step S41 carries out the modeling of the support construction 1 using SolidWorks 3 d modeling software, then utilizes 3D
Printer prints the reeded support construction 1 of tool；
Step S42 goes forward side by side in the groove for making 2 inserting step S41 of the grasping mechanism production in step S3
Row is fixed.
2 groups of grasping mechanism of the stiffness variable of step S5, the support construction 1 that step S4 is made and step S3 production
Dress, forms the grabbing device of stiffness variable.
Embodiment 3
A kind of preparation method of grabbing device is provided, is included the following steps:
Step S1 makes shape-memory polymer plate 21；
Step S11 prints network structure substrate, the network structure using water-soluble printed material using 3D printer
Substrate is S-shaped arrangement；
The substrate is put into container by step S12, and configured polynorbornene solution is poured into the container
In, solidify 10 hours under conditions of 80 DEG C；
Step S13, the substrate that step S12 is cured take out, are put into 60 DEG C of waters 4 hours, by the base
It takes out and dries after water-soluble material dissolution in plate,
Step S14 injects the low-melting alloy under molten condition in the gap in the substrate, forms conductive network
211, and heating wires 213 are drawn, it encapsulates and is solidified using dimethyl silicone polymer solution.
Step S2 makes dielectric elastomeric body thin film 22；
Step S21, the dielectric elastomeric body thin film 22 are acrylate film, by the uniaxial drawing of the dielectric elastomeric body thin film 22
Stretch 2 times；
The silicone rubber solution electrode for mixing carbon dust is worked into the release paper, so by step S22 by the way of bat printing
The release paper is cut into using laser cutting machine the shape of first flexible electrode 221 and second flexible electrode 222 afterwards
Shape, and correspondence is covered on 22 upper and lower surface of dielectric elastomeric body thin film, and draws driving conducting wire 223.
Step S3, the dielectric elastomeric of the shape-memory polymer plate 21 prepared by step S1 and step S2 preparation
Body thin film 22 is assembled, and covers one layer of insulating protective layer in the electric elastomer thin film 22, makes the grasping mechanism 2；
Step S31, the shape-memory polymer plate 21 that step S1 is made are covered on the institute that step S2 makes
It gives an account of on electric elastomer thin film 22, is carried out with 221 upper surface of the first flexible electrode be bonded；
Step S32 cuts the bonding shape-memory polymer plate 21 from the dielectric elastomeric body thin film 22
Get off；
Step S33 covers a strata dimethyl siloxane solution on 222 surface of the second flexible electrode, plate is placed on 80
DEG C sweat box in solidify 30min after take out, form the insulating protective layer, make the grasping mechanism 2；
Step S4 makes support construction 1；
Step S41 carries out the modeling of the support construction 1 using SolidWorks 3 d modeling software, then utilizes 3D
Printer prints the reeded support construction 1 of tool；
Step S42 goes forward side by side in the groove for making 2 inserting step S41 of the grasping mechanism production in step S3
Row is fixed.
2 groups of grasping mechanism of the stiffness variable of step S5, the support construction 1 that step S4 is made and step S3 production
Dress, forms the grabbing device of stiffness variable.
Embodiment 4
The difference of the present embodiment and above-described embodiment is, in step S1, make shape-memory polymer plate 21 the step of
Difference specifically includes
Step S11 prints network structure substrate using shape-memory polymer printed material using 3D printer, described
Network structure substrate includes the cavity of S-shaped arrangement, and the shape memory polymer is polylactic acid shape-memory polymer；
Step S12 injects low-melting alloy in the cavity, forms conductive network 211, and draw heating wires 213,
It is encapsulated and is solidified using dimethyl silicone polymer.
The manufacturing process of shape-memory polymer plate 21 provided in this embodiment is simpler, easy to operate, and Production Time is more
It is short, it improves work efficiency.
Although the disclosure discloses as above, the protection scope of the disclosure is not limited only to this.Those skilled in the art, not
Under the premise of being detached from spirit and scope of the present disclosure, it can make various changes and modify, these changes will fall into this with modification
The protection scope of invention.
Claims (11)
1. a kind of grabbing device of stiffness variable, which is characterized in that including support construction interconnected (1) and grasping mechanism
(2), the grasping mechanism (2) includes shape-memory polymer plate (21) and dielectric elastomeric body thin film (22)；
Dielectric elastomeric body thin film (22) upper and lower surface is respectively equipped with the flexible electrode connecting with external power supply, and the flexibility
Electrode includes setting in the first flexible electrode (221) of dielectric elastomeric body thin film (22) upper surface and is arranged in the dielectric
Second flexible electrode (222) of elastomer thin film (22) lower surface；
The shape-memory polymer plate (21) is bonded in the first flexible electrode (221) upper surface, and the shape memory
Polymer sheet (21) is internally provided with the conductive network (211) connecting with extraneous power supply.
2. the grabbing device of stiffness variable according to claim 1, which is characterized in that the support construction (1) includes branch
Fagging (121) and connecting plate (122), described connecting plate (122) one end are connect with the support plate (121), the connecting plate
(122) other end setting is fluted, and grasping mechanism (2) fixed setting of the stiffness variable is in the groove.
3. the grabbing device of stiffness variable according to claim 1 or 2, which is characterized in that the grasping mechanism (2) is also wrapped
Insulating protective layer is included, the insulating protective layer is arranged in the second flexible electrode (222) lower surface.
4. the grasping mechanism of stiffness variable according to claim 1, which is characterized in that the shape-memory polymer plate
(21) it is made of thermotropic shape-memory polymer.
5. the grasping mechanism of stiffness variable according to claim 1, which is characterized in that the conductive network (211) is S-shaped
Horizontal networks structure or the vertical contiguous network structure of S-shaped.
6. a kind of preparation method of the grabbing device as described in claim 1-5 any one, which is characterized in that including walking as follows
It is rapid:
Step S1 makes shape-memory polymer plate (21)；
Step S2 makes dielectric elastomeric body thin film (22)；
Step S3, the dielectric elastomer of the shape-memory polymer plate (21) prepared by step S1 and step S2 preparation
Film (22) is assembled, and covers one layer of insulating protective layer on the electric elastomer thin film (22), makes grasping mechanism
(2)；
Step S4 makes support construction (1)；
Grasping mechanism (2) group of the stiffness variable of step S5, the support construction that step S4 is made (1) and step S3 production
Dress, forms the grabbing device of stiffness variable.
7. the preparation method of the grabbing device of stiffness variable according to claim 6, which is characterized in that the step S1 packet
It includes:
Step S11 prints network structure substrate, the network structure substrate using water-soluble printed material using 3D printer
For S-shaped arrangement；
The substrate is put into container by step S12, and configured thermotropic shape-memory polymer solution is poured into described
In container, solidify 10-12 hours under conditions of 70 DEG C -80 DEG C；
Step S13, the substrate that step S12 is cured take out, are put into 50 DEG C -60 DEG C of water-bath, to the water solubility
It takes out and dries after material dissolution；
Alloy is injected into the gap of the substrate by step S14, is formed conductive network (211), and draw heating wires
(213), it encapsulates and is solidified.
8. the preparation method of the grabbing device of stiffness variable according to claim 6, which is characterized in that the step S1 packet
It includes:
Step S11 prints network structure substrate, the network using shape-memory polymer printed material using 3D printer
Structure includes the cavity of S-shaped arrangement；
Step S12 injects low-melting alloy in the cavity, is formed conductive network (211), and draw heating wires (213),
It encapsulates and is solidified.
9. the preparation method of the grabbing device of stiffness variable according to claim 6, which is characterized in that the step S2 packet
It includes:
The dielectric elastomeric body thin film (22) is uniaxially stretched 1-2 times by step S21；By the release paper covering with electrode shape
Release paper is covered in the upper and lower surface of the dielectric elastomeric body thin film (22)；
Electrode is worked at the electrode shape of the release paper by step S22 by the way of bat printing, then described in removal
Release paper forms first flexible electrode (221) and second flexible electrode (222) and draws driving conducting wire (223).
10. the preparation method of the grabbing device of stiffness variable according to claim 6, which is characterized in that step S3 is specific
Include:
Step S31, the shape-memory polymer plate (21) that step S1 is made be covered on step S2 make it is described
On dielectric elastomeric body thin film (22), carried out with the first flexible electrode (221) upper surface be bonded；
Step S32 cuts the bonding shape-memory polymer plate (21) from the dielectric elastomeric body thin film (22)
Get off；
Step S33 solidifies the insulating protective layer on the second flexible electrode (222) surface, and the cured solution is
Dimethyl silicone polymer solution, the cured temperature are 60 DEG C -80 DEG C, and the cured time is 30-40min.
11. the preparation method of the grabbing device of stiffness variable according to claim 6, which is characterized in that the step S4
Include:
Step S41 prints the reeded support construction (1) of tool using 3D printer；
Step S42 makes grasping mechanism (2) the inserting step S41 for the stiffness variable made in step S3 described
In groove, and it is fixed.
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| CN111634344A (en) * | 2020-04-20 | 2020-09-08 | 南京航空航天大学 | Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method |
| CN112318494A (en) * | 2020-11-04 | 2021-02-05 | 安徽工程大学 | Active variable stiffness actuator based on adjustable length reed and adjusting method |
| CN112477140A (en) * | 2020-10-15 | 2021-03-12 | 中国科学院微电子研究所 | Electrical heating 4D printing assembly and printing method |
| CN113734420A (en) * | 2021-08-30 | 2021-12-03 | 哈尔滨工业大学 | Electrostatic adsorption type seamless variable-stiffness structure, mechanism and control method |
| CN114988094A (en) * | 2022-06-13 | 2022-09-02 | 上海大学 | Soft tongs subassembly |
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| CN112318494A (en) * | 2020-11-04 | 2021-02-05 | 安徽工程大学 | Active variable stiffness actuator based on adjustable length reed and adjusting method |
| CN113734420A (en) * | 2021-08-30 | 2021-12-03 | 哈尔滨工业大学 | Electrostatic adsorption type seamless variable-stiffness structure, mechanism and control method |
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