CN206645522U - A kind of adhesion grabbing device based on flexible colloid - Google Patents
A kind of adhesion grabbing device based on flexible colloid Download PDFInfo
- Publication number
- CN206645522U CN206645522U CN201720382826.8U CN201720382826U CN206645522U CN 206645522 U CN206645522 U CN 206645522U CN 201720382826 U CN201720382826 U CN 201720382826U CN 206645522 U CN206645522 U CN 206645522U
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- CN
- China
- Prior art keywords
- flexible colloid
- sliding block
- top shoe
- flexible
- sides
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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.)
- Expired - Fee Related
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- Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)
Abstract
A kind of adhesion grabbing device based on flexible colloid, including guide rail, top shoe is provided with guide rail, top shoe passes through ball-screw and the first motor connection, sliding block is provided with below top shoe, sliding block passes through ball-screw and the second motor connection, pre-bending spring leaf and pin are fixed with below sliding block, pin is among pre-bending spring leaf, flexible colloid both sides are connected with pre-bending spring leaf both sides by bearing pin, flexible colloid both ends are fixed with inelastic drawstring, and inelastic drawstring is fixedly connected with top shoe both sides.By stretching flexible colloid, the rigidity for increasing flexible glue is used to adhere to crawl object the utility model；Clamping of the characteristic realization of flexible colloid this material deformation to frangible rapid wear object is make use of well.
Description
Technical field
It the utility model is related to device for transporting objects, particularly a kind of adhesion grabbing device based on flexible colloid.
Background technology
In terms of the crawl of object, traditional method is to use mechanical gripper structure either vacuum cup, but these are conventional
Some defects be present in technology.Mechanical gripper, by realizing the holding action to object to the accurate control of each machine components
Realize that This move needs to carry out mechanical " extruding " to isoelectric membrane surface, the defect also limit mechanical gripper to frangible, easy
Damage the clamping of object.Vacuum cup also has many limitations when object is captured, as the application requirement of vacuum cup is waited to grab
Take object surface smooth, dry, clean, which also limits the application of vacuum cup.
Flexible colloid is a kind of silica gel of tack, and existing silica gel chemical property is stable, mechanical strength is strong, elasticity is high excellent
Point, possess stronger tack again, be not likely to produce cracking, the phenomenon of degumming.Alternatively, it is also possible to select thermoplastic polyurethane rubber to make
For flexible colloid, the material is similar to the material of toy ' viscous hand ', has high resiliency, high tenacity, high intensity, highly viscous property
Energy.
Following machine can develop to multidimensional, submissive, bionical, high accuracy, micromechanics etc., and compliant mechanism in these fields all
Have wide practical use, so for realizing that China's industry 4.0 has important Research Significance.With traditional grasping body mechanism
Compare, flexible crawl mechanism in the research of past theory of mechanisms, due to the particular advantages of compliant mechanism, compliant mechanism into
For the new focus of theory of mechanisms research field.
The content of the invention
To solve the deficiencies in the prior art, there is provided a kind of adhesion grabbing device based on flexible colloid, this adhesion crawl
Apparatus structure is reasonable, and mechanism is simple, and crawl is convenient.
To achieve the above object, the utility model uses following technical scheme：
A kind of adhesion grabbing device based on flexible colloid, including guide rail, are provided with top shoe on guide rail, and top shoe passes through
Ball-screw and the first motor connection, are provided with sliding block below top shoe, and sliding block is connected by ball-screw and the second motor
Connect, pre-bending spring leaf and pin are fixed with below sliding block, pin is among pre-bending spring leaf, flexible colloid both sides and pre-bending
Spring leaf both sides are connected by bearing pin, and flexible colloid both ends are fixed with inelastic drawstring, inelastic drawstring and top shoe two
Side is fixedly connected.
A kind of above-mentioned adhesion grabbing device based on flexible colloid, sliding block are fixed with cross bar, and cross bar both sides, which are provided with, to be slided
Wheel, inelastic drawstring are fixedly connected with top shoe both sides respectively around pulley.
When increasing the rigidity of flexible article, the cohesive force of flexible article can strengthen therewith.And for mutually cohesive thing
Body, when the rigidity of one of them doubles, the separating force required for it can increase octuple left and right.
By stretching flexible colloid, the rigidity for increasing flexible glue is used to adhere to crawl object the utility model；When unloading loading
During body, flexible colloid is propped up by middle transverse rod and both sides stretch, and flexible glue both sides occur stress concentration, and pin is by flexibility
Colloid ejects, and at this moment capturing thing will be unloaded.
The utility model make use of the characteristic of flexible colloid this material deformation to realize to frangible, rapid wear object well
Clamping.
Brief description of the drawings
Fig. 1 is the utility model in overall structure diagram.
Fig. 2 is structural representation when the utility model discharges material.
In figure mark for：1 guide rail, 11 first motors, 12 first ball-screws, 13 top shoes, 21 second motors, 22 second
Ball-screw, 23 sliding blocks, 3 pulleys, 4 cross bars, 51 pre-bending spring leafs, 52 pins, 53 flexible colloids, 6 inelastic drawstrings.
Embodiment
A kind of adhesion grabbing device based on flexible colloid, including guide rail 1, top shoe 13, top shoe are provided with guide rail
It is connected by ball-screw 12 with the first motor 11, sliding block 23 is provided with below top shoe, sliding block passes through ball-screw 22
It is connected with the second motor 21, sliding block is fixed with cross bar 4, and cross bar both sides are provided with pulley 3, pre-bending spring is fixed with below sliding block
Piece 51 and pin 52, among pre-bending spring leaf, flexible colloid both sides are connected pin with pre-bending spring leaf both sides by bearing pin,
Flexible colloid both ends are fixed with inelastic drawstring 6, and inelastic drawstring is fixedly connected with top shoe both sides respectively around pulley.
In initial position, pre-bending spring leaf struts flexible colloid, and pin is highly less than pre-bending spring leaf bottom
The distance between flexible colloid, pin does not contact with flexible colloid, and now flexible colloid lower surface is plane, available for adhering to
Object.
After flexible colloid bur part, grabbing device movement, by article transfer to specified location, now motor driven rolling
Ballscrew rotates, and top shoe moves upwards, sliding block moves downward for drive respectively, and inelastic drawstring pulls flexible colloid two
Side, while pre-bending spring leaf stress deformation deploys to both sides, the pin below sliding block protrudes from pre-bending spring leaf by flexibility
Colloid ejects, and now flexible colloid produces the angle of departure with object surface so that bonding part cohesive force quick release so that adhesion
Object is rapidly separated with flexible colloid lower surface.Hereafter motor rotates again, drives upper and lower sliding block to reset to by ball-screw
Initial position is in case adhesion next time.
Flexible colloid uses natural rubber material in this example, and natural rubber has good elastic and suitable viscosity, i.e.,
Deformation repeatedly can be born, sticky, repeated multiple times use can be kept for a long time again.
The present apparatus is small to the dynamics for being crawled thing impact, makes its surface stress more uniform, for frangible, rapid wear object
Clamping damage can be minimized.
Claims (2)
1. a kind of adhesion grabbing device based on flexible colloid, including guide rail, it is characterised in that top shoe is provided with guide rail, on
Sliding block is provided with sliding block, sliding block passes through ball-screw and by ball-screw and the first motor connection below top shoe
Two motor connections, sliding block lower section are fixed with pre-bending spring leaf and pin, and pin is among pre-bending spring leaf, flexible colloid two
Side is connected with pre-bending spring leaf both sides by bearing pin, and flexible colloid both ends are fixed with inelastic drawstring, inelastic drawstring with
Top shoe both sides are fixedly connected.
2. a kind of adhesion grabbing device based on flexible colloid as claimed in claim 1, it is characterised in that sliding block is fixed with
Cross bar, cross bar both sides are provided with pulley, and inelastic drawstring is fixedly connected with top shoe both sides respectively around pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720382826.8U CN206645522U (en) | 2017-04-13 | 2017-04-13 | A kind of adhesion grabbing device based on flexible colloid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720382826.8U CN206645522U (en) | 2017-04-13 | 2017-04-13 | A kind of adhesion grabbing device based on flexible colloid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206645522U true CN206645522U (en) | 2017-11-17 |
Family
ID=60275499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720382826.8U Expired - Fee Related CN206645522U (en) | 2017-04-13 | 2017-04-13 | A kind of adhesion grabbing device based on flexible colloid |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206645522U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106946032A (en) * | 2017-04-13 | 2017-07-14 | 浙江工业大学 | A kind of adhesion grabbing device based on flexible colloid |
| CN109665310A (en) * | 2018-12-21 | 2019-04-23 | 季华实验室 | A kind of flexible crawl mechanism of shoe body palletizing apparatus |
-
2017
- 2017-04-13 CN CN201720382826.8U patent/CN206645522U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106946032A (en) * | 2017-04-13 | 2017-07-14 | 浙江工业大学 | A kind of adhesion grabbing device based on flexible colloid |
| CN109665310A (en) * | 2018-12-21 | 2019-04-23 | 季华实验室 | A kind of flexible crawl mechanism of shoe body palletizing apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171117 Termination date: 20200413 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |