CN103350423B - The Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer - Google Patents
The Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer Download PDFInfo
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- CN103350423B CN103350423B CN201310291607.5A CN201310291607A CN103350423B CN 103350423 B CN103350423 B CN 103350423B CN 201310291607 A CN201310291607 A CN 201310291607A CN 103350423 B CN103350423 B CN 103350423B
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Abstract
A kind of Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer, it is characterized in that it is primarily of compositions such as hold assembly, securing member, pedestals, whole component part all adopts polymeric material to make, can apply in the adverse circumstances such as strong acid, highly basic, have that structure is simple, quality is light, without oil supply and the advantage such as collapsible, the present invention has expanded the scope of application of manipulator further, significantly can alleviate the labour intensity of operating personnel, ensures the health of human body of operating personnel, realize producing safely and efficiently.
Description
Technical field
The present invention relates to one and grab folder mechanical device, especially a kind of manipulator for special trade, the Anti-corrosion light mechanical arm of the Shape-based interpolation memory polymer of specifically a kind of energy strong alkali-acid resistance corrosion.
Background technology
At high temperature, high pressure, have in the adverse circumstances of radioactivity and toxic pollutant etc., application machine hand can partly or entirely replace operating personnel to produce, thus alleviate operating personnel labour intensity, ensure operating personnel health of human body, realize produce safely and efficiently.But manipulator is in the market mostly metal material, although Qiang Du Gao ﹑ action is accurate and rapidly, its corrosion resistance is limited, use under some special environment (as strong acid, strong alkali environment) can not be suitable for.Such as, in industrial production, often comprehensive acid wash passivation to be carried out to stainless steel, to remove all kinds of greasy dirt, oxide skin, weldering spot etc.; For another example, pickling jeans are that one float stone grinds white goods under chlorine gas environment, and then reach and make it soft and the special visual effect of tool and the processing method taked.Obviously, such as above-mentioned two examples all need operate under strong acid environment, cannot use the manipulator of existing metal material under such conditions.At present, the general thinking solving this problem increases corrosion-resistant finishes on metal material manipulator top layer.But, on the one hand, increase the cost that corrosion-resistant finishes can increase manipulator undoubtedly; On the other hand, corrosion-resistant finishes is generally all thinner, and manipulator is in crawl, the very easily loss of carrying material this coating of process.In addition, also there is many deficiencies such as complex structure, quality weight and shock attenuation difference in the manipulator of existing metal material.
Polymer has extremely strong decay resistance, has become a kind of important new engineering material.And a lot of polymeric material has significant SME, can the change of perception environment, and make response in the mode of deformation, there is large deformation and the high characteristic recovered.Shape-memory polymer, not only mechanical property adjustable range is large, and its type of drive has multiple, as thermal drivers, optical drive, solution driving etc.These features of shape-memory polymer become the highly desirable selection of production machinery hand.At present, it is the most general a kind of type of drive of shape-memory polymer that thermic drives, now sketch the SME of polymer for thermal shape memory polymer: (1) predeformation: the shape-memory polymer giving shape is heated to certain temperature make its by glassy transition to rubbery state or by Solid State Transformation to molten condition, and apply external force and make it be out of shape, cool under maintaining deformation state, polymer becomes the solid-state and all or part of shape kept after distortion again again from rubber transition to glassy state or from molten state.(2) spontaneous shape is recovered: when strained polymer is heated to the initial temperature of initial temperature or the melting transition being not less than glass transition, material is all or part of returns to original shape state.Patent CN102325632A(grab folder refer to, grab folder instrument and for adjusting the method for grabbing folder instrument), be used for shape memory polymer material grabbing folder class mechanical device first; But, this patent is only that some shape-memory polymer film blocks are housed on the clamping surface of grabbing folder instrument, by the SME of shape memory polymer material, adjust and grab folder tool holding surface configuration to be suitable for accurately grabbing the difform object of folder, as difform electronic devices and components.
Described in summary, not yet there is a kind of Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer available at present, limit the scope of application of manipulator to a certain extent.
Summary of the invention
Work under the object of the invention is to be unsuitable for the environment such as strong acid, highly basic for the manipulator of existing metal material and there is the deficiencies such as complex structure, quality weight and shock attenuation difference, inventing a kind of Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer.
One of technical scheme of the present invention is:
An Anti-corrosion light mechanical arm for Shape-based interpolation memory polymer, is characterized in that: it is made up of the hold assembly 1 adopting one-way shape memory polymeric material to make and deformation component 3, the securing member be made up of conventional polymer and pedestal 5; One end of hold assembly 1 is fixed on pedestal 5 by securing member, and one end of deformation component 3 is connected with pedestal 5 by securing member, and the other end and the hold assembly 1 of deformation component 3 are hinged and connected.
One is had at least through pre-treatment in described hold assembly 1 and deformation component 3.
Described predeformation be stretch, bending, distortion, one or more combinations in curling or compression.
Two of technical scheme of the present invention is:
A kind of Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer, it is characterized in that: it is made up of the hold assembly 1 adopting bidirectional shape memory polymer material to make and the securing member be made up of conventional polymer and pedestal 5, and one end of described hold assembly 1 is fixedly linked by securing member and pedestal 5.
Described pedestal 5 is shape-memory polymer body or typical polymerization object.
Described bidirectional shape memory polymer is one or more combinations in straight polymer, foam of polymers or polymer composites.
Described polymer composites is the composite formed by powder or fiber and straight polymer composite, or polymer and elastomeric material hierarchical composite and the composite formed.
The scope of the shape recovery ratio of described hold assembly 1 is 5 ~ 99%.
The type of drive of the shape-memory polymer that described hold assembly 1 uses is variations in temperature, the change of changes of magnetic field, light field, one or more combinations in electric field change or soaking solution change in concentration.
When adopting variations in temperature type of drive, adopt electric drive mode, the deformation rate of hold assembly 1 and shape recovery ratio are controlled by the heating-up temperature controlling its built-in resistor silk.
The invention has the beneficial effects as follows:
(1) Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer of the present invention has good corrosion resistance, can be used for the highly corrosive environments such as strong acid, highly basic, expand the scope of application of manipulator, significantly can alleviate the labour intensity of operating personnel, ensured the health of human body of operating personnel, realized producing safely and efficiently.
(2) Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer of the present invention, has structure simple, collapsible encapsulation, the advantage that quality is light; The density of polymeric material is generally about 2, and steel material is about 8, its weight saving 3 times under same volume.
(3) features such as the Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer of the present invention, has wear-resistant, good damping effect, long service life, and its overall economics is outstanding.
Accompanying drawing explanation
Fig. 1 is one of structural representation based on one-way shape memory polymer machinery hand be under deployed condition of the present invention
Fig. 2 is the manipulator of Fig. 1 structural representation when being in closure state.
Fig. 3 is the structural representation two based on bidirectional shape memory polymer manipulator be under closure state of the present invention.
Fig. 4 is the deployed condition schematic diagram of the manipulator shown in Fig. 3.
In figure: 1, be hold assembly, 3, be deformation component, 5, be pedestal, 2, be securing member, 4, be securing member.
Detailed description of the invention
With specific embodiment, the present invention is further elaborated with reference to the accompanying drawings.Protection scope of the present invention not limited by specific embodiment, is as the criterion with claims.In addition, with without prejudice under the prerequisite of technical solution of the present invention, any change that those of ordinary skill in the art made for the present invention easily realize or change all will fall within right of the present invention.
embodiment one:
As Fig. 1,2.
Based on a robot device for unidirectional thermic shape-memory polymer, comprise hold assembly 1, deformation component 3 and pedestal 5.Hold assembly 1 adopts carbon fiber/epoxy composite material of shape memory to make, deformation component 3 uses styrene shape memory polymer foam material to make, pedestal 5 uses carbon dust/epoxy composite material of shape memory to make, and securing member 2,4 adopts epoxy polymer to make.Wherein, hold assembly 1 is fixed on pedestal 5 by securing member (bolt), and deformation component 3 is connected between pedestal 5 and hold assembly 1 by securing member (bolt), and for the ease of distortion, connecting portion should be able to keep relatively rotating.Deformation component 3 and pedestal 5 inside are embedded with resistance wire, and the carbon fiber in hold assembly 1 is conductor, and three is all connected with power supply.
During concrete enforcement:
One is had at least through pre-treatment in described hold assembly 1 and deformation component 3.Described predeformation can be one or more combinations in stretching, bending, distortion, curling or compression, and described pedestal 5 can be adopted as shape-memory polymer body or typical polymerization object.Described one-way shape memory polymer is one or more combinations in straight polymer, foam of polymers or polymer composites.Described polymer composites is the composite formed by powder or fiber and straight polymer composite, or polymer and elastomeric material hierarchical composite and the composite formed.The scope of described hold assembly 1 and the shape recovery ratio of deformation component 3 is 5 ~ 99%.The type of drive of the shape-memory polymer that described hold assembly 1 and deformation component 3 use is variations in temperature, the change of changes of magnetic field, light field, one or more combinations in electric field change or soaking solution change in concentration.When adopting variations in temperature type of drive, adopt electric drive mode, the deformation rate of hold assembly 1 and deformation component 3 and shape recovery ratio are controlled by the heating-up temperature controlling its built-in resistor silk.For electric drive, operation principle of the present invention is further described below.
Before manipulator is started working, the original shape of hold assembly 1 is as Fig. 2, and deformation component 3 is through overcompression pre-treatment.After resistance wire energising, its resistance heat effect makes hold assembly 1 and deformation component 3 be heated, and deformation component 3 shape occurs and recovers and extend, and its restoring force promotes clamping 1 and predeformation occurs and is in extended configuration.Deenergization, after cooling, manipulator is fixed as open configuration, as shown in Figure 1.
After resistance wire is energized again, its resistance heat effect makes hold assembly 1 and deformation component 3 be heated, and hold assembly 1 shape occurs and recovers and bend, and its restoring force makes deformation component 3 again produce compression predeformation.After cooling, manipulator is fixed as closure state, as shown in Figure 2.
embodiment two:
As Fig. 3,4.
Based on a robot device for bidirectional shape memory polymer, comprise hold assembly 1, securing member 4 and pedestal 5.Hold assembly 1 adopts the carbon fiber/multiphase copolymer ester-urethane copolymers composite with bidirectional shape memory for making, and its glass transition temperature is respectively 35 DEG C and 65 DEG C; Securing member 4 and pedestal 5 adopt epoxy polymer to make.Hold assembly 1 is fixed on pedestal 5 by securing member 4.
During concrete enforcement:
One is had at least through pre-treatment in described hold assembly 1.Described predeformation can be one or more combinations in stretching, bending, distortion, curling or compression, and described pedestal 5 can be adopted as shape-memory polymer body or typical polymerization object.Described bidirectional shape memory polymer is one or more combinations in straight polymer, foam of polymers or polymer composites.Described polymer composites is the composite formed by powder or fiber and straight polymer composite, or polymer and elastomeric material hierarchical composite and the composite formed.The scope of the shape recovery ratio of described hold assembly 1 is 5 ~ 99%.The type of drive of the shape-memory polymer that described hold assembly 1 uses is variations in temperature, the change of changes of magnetic field, light field, one or more combinations in electric field change or soaking solution change in concentration.When adopting variations in temperature type of drive, adopt electric drive mode, the deformation rate of hold assembly 1 and shape recovery ratio are controlled by the heating-up temperature controlling its built-in resistor silk.For electric drive, operation principle of the present invention is further described below.
The inside of the hold assembly 1 of manipulator is embedded with resistance wire, can be connected with power supply, and during energising, the fuel factor of resistance wire can make polymer be heated.During electrified regulation to 55 DEG C, the hold assembly of manipulator bends, and manipulator is in closure state, as shown in Figure 3; Under being cooled to room temperature (25 DEG C), hold assembly 1 launches, and manipulator is in open configuration, as shown in Figure 4.When temperature repeats change between 55 DEG C and 25 DEG C, there is the reversible change of repetition in hold assembly 1 between Fig. 3 and Fig. 4, thus realize the closed of manipulator and open.
The part that the present invention does not relate to prior art that maybe can adopt same as the prior art is realized.
Claims (8)
1. an Anti-corrosion light mechanical arm for Shape-based interpolation memory polymer, is characterized in that: it is made up of the hold assembly adopting one-way shape memory polymeric material to make (1) and deformation component (3), the securing member be made up of conventional polymer and pedestal (5); One end of hold assembly (1) is fixed on pedestal (5) by securing member, and one end of deformation component (3) is connected with pedestal (5) by securing member, and the other end and the hold assembly (1) of deformation component (3) are hinged and connected; One is had at least through pre-treatment in described hold assembly (1) and deformation component (3); The scope of described hold assembly (1) and the shape recovery ratio of deformation component (3) is 5 ~ 99%; The type of drive of the shape-memory polymer that described hold assembly (1) and deformation component (3) use is variations in temperature, the change of changes of magnetic field, light field, one or more combinations in electric field change or soaking solution change in concentration; When adopting variations in temperature type of drive, adopt electric drive mode, the deformation rate of hold assembly (1) and deformation component (3) and shape recovery ratio are controlled by the heating-up temperature controlling its built-in resistor silk.
2. the Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer according to claim 1, it is characterized in that described predeformation be stretch, bending, distortion, one or more combinations in curling or compression.
3. the Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer according to claim 1, is characterized in that described pedestal (5) is for shape-memory polymer body or typical polymerization object.
4. the Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer according to claim 1, is characterized in that described one-way shape memory polymer is one or more combinations in straight polymer, foam of polymers or polymer composites.
5. the Anti-corrosion light mechanical arm of a Shape-based interpolation memory polymer, it is characterized in that: it is made up of the hold assembly adopting bidirectional shape memory polymer material to make (1) and the securing member be made up of conventional polymer and pedestal (5), and one end of described hold assembly (1) is fixedly linked by securing member and pedestal (5); The scope of the shape recovery ratio of described hold assembly (1) is 5 ~ 99%; The type of drive of the shape-memory polymer that described hold assembly (1) uses is variations in temperature, the change of changes of magnetic field, light field, one or more combinations in electric field change or soaking solution change in concentration; When adopting variations in temperature type of drive, adopt electric drive mode, the deformation rate of hold assembly (1) and shape recovery ratio are controlled by the heating-up temperature controlling its built-in resistor silk.
6. the Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer according to claim 5, is characterized in that described pedestal (5) is for shape-memory polymer body or typical polymerization object.
7. the Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer according to claim 5, is characterized in that described bidirectional shape memory polymer is one or more combinations in straight polymer, foam of polymers or polymer composites.
8. the Anti-corrosion light mechanical arm of Shape-based interpolation memory polymer according to claim 7, it is characterized in that described polymer composites is the composite formed by powder or fiber and straight polymer composite, or polymer and elastomeric material hierarchical composite and the composite formed.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3333420A1 (en) * | 2016-12-12 | 2018-06-13 | Industry University Cooperation Foundation of Korea Aerospace University | Reconfigurable structure using dual-matrix composite material |
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| DE102014110954A1 (en) | 2014-08-01 | 2016-02-04 | Eto Magnetic Gmbh | Gripping device and use of a gripping device |
| CN104772761A (en) * | 2015-03-27 | 2015-07-15 | 浙江大学 | Manipulator device driven on basis of photo-induced shape memory polymers and method thereof |
| CN105364914B (en) * | 2015-11-27 | 2016-10-12 | 西安交通大学 | A kind of based on the reusable mechanical hand of thermal shape memory polymer |
| CN110509301A (en) * | 2019-04-30 | 2019-11-29 | 西南交通大学 | A kind of temperature sense manipulator based on shape memory polyurethane material |
| CN110761007A (en) * | 2019-12-17 | 2020-02-07 | 武汉理工大学 | Computer embroidery machine embroidery cloth clamp and using method thereof |
| CN112518732B (en) * | 2020-12-02 | 2022-06-17 | 哈尔滨工业大学 | Grabbing structure with shape memory function and preparation method thereof |
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| US4900078A (en) * | 1986-12-23 | 1990-02-13 | The Boeing Company | Gripping device utilizing a shape memory alloy |
| CN201020715Y (en) * | 2006-12-01 | 2008-02-13 | 华中科技大学 | Combined type human-emulated mechanical hand based on embedded type shape memory alloy motor |
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| JPS61239636A (en) * | 1985-04-17 | 1986-10-24 | Hitachi Ltd | Holding device |
| JPH04300189A (en) * | 1991-03-28 | 1992-10-23 | Toshiba Corp | Holding device |
| JPH11254373A (en) * | 1998-01-09 | 1999-09-21 | Kao Corp | Article handling tool |
| CN102325632B (en) * | 2009-01-31 | 2014-12-24 | Abb股份公司 | Gripper finger, gripper tool and method for adjusting a gripper tool |
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| US4900078A (en) * | 1986-12-23 | 1990-02-13 | The Boeing Company | Gripping device utilizing a shape memory alloy |
| CN201020715Y (en) * | 2006-12-01 | 2008-02-13 | 华中科技大学 | Combined type human-emulated mechanical hand based on embedded type shape memory alloy motor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3333420A1 (en) * | 2016-12-12 | 2018-06-13 | Industry University Cooperation Foundation of Korea Aerospace University | Reconfigurable structure using dual-matrix composite material |
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