CN108890680A - A kind of actuator carrying out grasping movement using Electrostatic Absorption effect - Google Patents
A kind of actuator carrying out grasping movement using Electrostatic Absorption effect Download PDFInfo
- Publication number
- CN108890680A CN108890680A CN201810968682.3A CN201810968682A CN108890680A CN 108890680 A CN108890680 A CN 108890680A CN 201810968682 A CN201810968682 A CN 201810968682A CN 108890680 A CN108890680 A CN 108890680A
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- China
- Prior art keywords
- conductive grid
- actuator
- insulating substrate
- absorption effect
- electrostatic
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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
- B25J15/0085—Gripping heads and other end effectors with means for applying an electrostatic force on the object to be gripped
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of actuators that grasping movement is carried out using Electrostatic Absorption effect.Its purpose is to provide the actuator that a kind of structure is simple, stablizes crawl, unloads convenient grasping movement.The present invention includes providing the electrostatic adsorption device of electrostatic adsorption force and providing the support device of installation site for the electrostatic adsorption device, the electrostatic adsorption device includes insulating substrate, positive conductive grid and negative conductive grid, the lower section of the support device is arranged in the insulating substrate, the top surface of the insulating substrate is connect with the bottom of the support device, the bottom surface of the insulating substrate is provided with insulation coating, and the positive conductive grid and the negative conductive grid are arranged between the bottom surface of the insulating substrate and the insulation coating.
Description
Technical field
The present invention relates to a kind of mechanical grabbing devices, carry out grasping movement using Electrostatic Absorption effect more particularly to a kind of
Actuator.
Background technique
When an object with electrostatic is close to another not object of static electrification, due to electrostatic induction, without electrostatic
Interior of articles, close to static electrification object can assemble on one side and the polar charge of opposite charge entrained by charged object, due to
The charges of different polarity attract each other, and will show " Electrostatic Absorption " effect.Using Electrostatic Absorption effect, similar vacuum can be manufactured and inhaled
The grabbing device of disk realizes absorption and transfer to object.
At this stage, electrostatic adsorption device many places grab the stabilization of object in research and development experimental stage degree, electrostatic adsorption device
Property and reliability be unable to reach the requirement of industrial application, and how electrostatic adsorption device crawl object unloads object
It is a great problem in the field, therefore, existing electrostatic adsorption device is unable to satisfy the use demand of industrial application.
It is poor for stability of the electrostatic adsorption device in the related technology to grasping body, the object of crawl is unloaded not
Just the problem of, currently no effective solution has been proposed.
Summary of the invention
Simple, stable crawl that the technical problem to be solved in the present invention is to provide a kind of structures, unloading easily utilize electrostatic
The actuator of adsorption effect progress grasping movement.
A kind of actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention, wherein including providing Electrostatic Absorption
The electrostatic adsorption device of power and the support device of installation site, the electrostatic adsorption device packet are provided for the electrostatic adsorption device
Insulating substrate, positive conductive grid and negative conductive grid are included, the lower section of the support device is arranged in the insulating substrate, described exhausted
The top surface of edge substrate is connect with the bottom of the support device, and the bottom surface of the insulating substrate is provided with insulation coating, it is described just
Conductive grid and the negative conductive grid are uniformly distributed between the bottom surface and the insulation coating of the insulating substrate.
The present invention it is a kind of using Electrostatic Absorption effect carry out grasping movement actuator, wherein the actuator further include for
The electrostatic adsorption device crawl and the elastic telescopic device that object carrier offer buffer function is provided, the one of the elastic telescopic device
End is connect with the support device, the other end and outside robotic arm of the elastic telescopic device or the motion end of motion platform
Connection.
A kind of actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention, wherein the actuator further includes using
In the fixation device of the fixation elastic telescopic device, the elastic telescopic device passes through fixed device and the outside robotic arm
Or the motion end connection of motion platform.
A kind of actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention, wherein the fixed device is installation
Flange.
A kind of actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention, wherein the insulating substrate and described
Offer several gas holes of perforation on insulation coating, the bottom of the support device offers holding part, in the holding part
It is provided with air supply device, the air supply device is located at the top of the insulating substrate, and gas hole described in face.
A kind of actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention, wherein several gas holes open up
Gap location between the positive conductive grid and the negative conductive grid.
A kind of actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention, wherein the positive conductive grid and institute
State the smooth laying on the bottom surface of the insulating substrate of negative conductive grid, the positive terminal of the positive conductive grid and described negative
The negative terminal of conductive grid is arranged on the top surface of the insulating substrate, the positive terminal and the negative terminal
It is connect respectively by conducting wire with external power supply.
A kind of actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention, wherein the positive conductive grid and institute
It states staggered between negative conductive grid.
A kind of actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention, wherein being arranged in the support device
The elastic buffer column of multiple offer buffer functions is provided.
A kind of actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention, wherein the top surface of the insulating substrate
It is Nian Jie with the bottom of the support device.
A kind of actuator difference from prior art for carrying out grasping movement using Electrostatic Absorption effect of the present invention is：
The present invention is provided with insulating substrate below support device, and the bottom surface of insulating substrate is provided with insulation coating, positive conductive grid
And negative conductive grid is uniformly distributed between the bottom surface and insulation coating of insulating substrate, it is logical in positive conductive grid and negative conductive grid
Electrostatic field is generated on the surface of insulation coating in the state of electricity, when uncharged object is adjacent to, Electrostatic Absorption effect can be generated
Object should be adsorbed, since positive conductive grid and negative conductive grid are uniformly distributed, by it is suitable for absorption to have larger put down
The object in face, and can guarantee that adsorption capacity is uniform, stress concentration will not be generated, crawl object stability greatly improves.To object
Object structures and surface will not be caused to damage when absorption, are particularly suitable for the crawl of the flexible products such as cloth.
The actuator for carrying out grasping movement using Electrostatic Absorption effect a kind of to the present invention is made further with reference to the accompanying drawing
Explanation.
Detailed description of the invention
Fig. 1 is a kind of elevational sectional view for the actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention；
Fig. 2 is a kind of bottom view for the actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention；
Fig. 3 is the elevational sectional view of support device in one embodiment of the present of invention.
Specific embodiment
As shown in Figure 1 and Figure 2, a kind of actuator that grasping movement is carried out using Electrostatic Absorption effect of the present invention, including electrostatic
Adsorbent equipment 1 and support device 2, electrostatic adsorption device 1 provide electrostatic adsorption force for grabbing object, and support device 2 is for being
The electrostatic adsorption device 1 provides installation site.Electrostatic adsorption device 1 includes insulating substrate 102, positive conductive grid 104 and bears
Conductive grid 105, insulating substrate 102 are arranged horizontally at the lower section of support device 2, the top surface of insulating substrate 102 and branch
The bottom of support arrangement 2 connects, and the bottom surface of insulating substrate 102 is provided with insulation coating, positive conductive grid 104 and negative conductive grid
105 are folded between the bottom surface of insulating substrate 102 and insulation coating.The lower section of support device 2 is provided with insulating substrate 102,
The bottom surface of insulating substrate 102 is provided with insulation coating, and positive conductive grid 104 and negative conductive grid 105 are uniformly distributed in insulation base
Between the bottom surface and insulation coating of plate 102, covered in the state that positive conductive grid 104 and negative conductive grid 105 are powered in insulation
The surface of layer generates electrostatic field and can generate Electrostatic Absorption effect when uncharged object is adjacent to and adsorb to object, by
It is uniformly distributed in positive conductive grid 104 and negative conductive grid 105, by it is suitable for adsorbing the object with larger plane, and energy
Enough guarantee that adsorption capacity is uniform, stress concentration will not be generated, crawl object stability greatly improves.It will not be to object when to object absorption
Body structure and surface cause to damage, and are particularly suitable for the crawl of the flexible products such as cloth.
In some embodiments of the present invention, the top surface of insulating substrate 102 is Nian Jie with the bottom of support device 2, guarantees electrostatic
Adsorbent equipment 1 and the contact surface of object are smooth, and 1 uniform force of electrostatic adsorption device in adsorption process.
Specifically, the shape and size of electrostatic adsorption device 1 can be adjusted according to the shapes and sizes of object to be adsorbed,
To guarantee to obtain best crawl effect.
As shown in Figure 1, a kind of actuator for carrying out grasping movement using Electrostatic Absorption effect of the present invention, further includes that elasticity is stretched
Compression apparatus 3, elastic telescopic device 3, which is used to grab for electrostatic adsorption device 1 and unload object carrier, provides buffer function.Elastic telescopic dress
It sets 3 one end to connect with support device 2, the other end and outside robotic arm of elastic telescopic device 3 or the movement of motion platform
End connection.Electrostatic adsorption device 1 needs to contact and be bonded the surface for being adsorbed object when carrying out absorption crawl to object, because
This needs a push action to electrostatic adsorption device 1 in adsorption process, and the setting of elastic telescopic device 3 can be in electrostatic
Adsorbent equipment 1 provides buffer function when grabbing object, can not only guarantee that electrostatic adsorption device 1 is not subject to crushing, but also can prevent outer
Stress provided by the motion end of portion's mechanical arm or motion platform is excessive to be caused to damage to actuator itself.
Specifically, elastic telescopic device 3 is to have flexible and runback bit function component, spring buffer can be, but not limited to
Bar and hydraulic damper.
As shown in Figure 1, a kind of actuator for carrying out grasping movement using Electrostatic Absorption effect of the present invention, further includes fixed dress
Set 4, fixed device 4 for fixing elastic telescopic device 3, elastic telescopic device 3 pass through fixed device 4 and outside robotic arm or
The motion end of motion platform connects.
In some embodiments of the present invention, fixed device 4 is mounting flange, and mounting flange can be according to international standard interface ruler
It is very little to be configured, guarantee that actuator can be connect with the motion end stable connection of mainstream mechanical arm or motion platform.
As shown in Figure 1 and Figure 2, staggered between positive conductive grid 104 and negative conductive grid 105,102 He of insulating substrate
Several gas holes 103 of perforation are offered on insulation coating, gas hole 103 is provided with positive conductive grid 104 and negative conductive grid
Gap location between 105, the bottom of support device 2 offer holding part 5, and air supply device 101 is provided in holding part 5, air-supply
Device 102 is located at the top of insulating substrate 102, the air outlet face gas hole 103 of air supply device 102.To the object being adsorbed
When body is unloaded, electrostatic adsorption device 1 can lay down most of charge by electrode discharge, but some lightweight objects due to
Sole mass is lighter, it is difficult to smoothly falls off, and the unloading for being set as object of air supply device 102 and gas hole 103 provides one
Additional breakaway force, by opening air supply device 102, air-flow is blown out outward by gas hole 103, makes to be adsorbed on Electrostatic Absorption dress
The object set on 1 falls off, and ensure that the smooth unloading of object.
In some implementations of the invention, air supply device 102 can be but be not limited to fan, and air supply device 102 can also be air blowing
The device of the offer outer gas stream such as mouth, air-operated solenoid valve, electric inflator or compressing gasbag.
Specifically, the quantity of gas hole 103 and open up position can shape according to insulating substrate 102 or object to be adsorbed
Shape be adjusted.
Specifically, the arrangement shape of positive conductive grid 104 and negative conductive grid 105 can be according to the shape of insulating substrate 102
Or the shape of object to be adsorbed is adjusted.
As shown in Figure 1 and Figure 2, positive conductive grid 104 and negative the conductive grid 105 smooth paving on the bottom surface of insulating substrate 102
If the positive terminal 106 of positive conductive grid 104 and the negative terminal 107 of negative conductive grid 105 are arranged in insulating substrate
On 102 top surface, positive terminal 106 and the negative terminal 107 are connect by conducting wire with external power supply respectively, are guaranteed quiet
Electric adsorption device 1 and the contact surface of object are smooth, can fit closely with the surface of object in absorption, guarantee the stabilization of absorption
Property and reliability.
As shown in figure 3, being uniformly laid with the elastic buffer column 201 of multiple offer buffer functions in support device 2, guarantee
Electrostatic adsorption device 1 has bigger servo-actuated freedom degree, is more effectively bonded the surface of object.
In some embodiments of the present invention, elastic buffer column 201 is made of elastic buffer material.Specifically, its material can
For but be not limited to rubber, silicon rubber and polyurethane.
The present invention in use, when grabbing to object, to positive conductive grid 104 and is born by external power supply
Conductive grid 105 is powered, and in enough voltage, (when being generally possible to generate the electrostatic field of larger adsorption capacity, supply voltage is big
In 1000V) under, electrostatic field can be generated on the surface of electrostatic adsorption device 1 and insulation coating, passes through outside robotic arm or movement
The movement of the motion end of platform drives electrostatic adsorption device 1 close to object to be adsorbed, and will insulate coating and object to be adsorbed
Surface fits closely, and completes the crawl to object；When unloading to object, external power supply stops power supply, positive conductive grid
104 and negative conductive grid 105 to laying down most of charge, the biggish object of quality can Automatic-falling, it is smaller if it is quality
Object, open air supply device 102, air-flow by gas hole 103 outward blow out, make the object being adsorbed on electrostatic adsorption device 1
Body falls off, and ensure that the smooth unloading of object.
Embodiment described above only describe the preferred embodiments of the invention, not to model of the invention
It encloses and is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention
The various changes and improvements that case is made should all be fallen into the protection scope that claims of the present invention determines.
Claims (10)
1. a kind of actuator for carrying out grasping movement using Electrostatic Absorption effect, it is characterised in that：Including providing electrostatic adsorption force
Electrostatic adsorption device (1) and provide the support device (2) of installation site for the electrostatic adsorption device (1), the electrostatic is inhaled
Adsorption device (1) includes insulating substrate (102), positive conductive grid (104) and negative conductive grid (105), the insulating substrate (102)
Lower section in the support device (2) is set, and the top surface of the insulating substrate (102) and the bottom of the support device (2) connect
It connects, the bottom surface of the insulating substrate (102) is provided with insulation coating, the positive conductive grid (104) and the negative conductive grid
(105) it is arranged between the bottom surface and the insulation coating of the insulating substrate (102).
2. a kind of actuator for carrying out grasping movement using Electrostatic Absorption effect according to claim 1, it is characterised in that：
The actuator further includes grabbing for the electrostatic adsorption device (1) and unloading object carrier to provide the elastic telescopic device of buffer function
(3), one end of the elastic telescopic device (3) is connect with the support device (2), the elastic telescopic device (3) it is another
End is connect with the motion end of outside robotic arm or motion platform.
3. a kind of actuator for carrying out grasping movement using Electrostatic Absorption effect according to claim 2, it is characterised in that：
The actuator further includes the fixation device (4) for fixing the elastic telescopic device (3), the elastic telescopic device (3)
It is connect by fixed device (4) with the motion end of the outside robotic arm or motion platform.
4. a kind of actuator for carrying out grasping movement using Electrostatic Absorption effect according to claim 3, it is characterised in that：
The fixed device (4) is mounting flange.
5. a kind of actuator for carrying out grasping movement using Electrostatic Absorption effect according to claim 1, it is characterised in that：
Several gas holes (103) of perforation, the support device (2) are offered on the insulating substrate (102) and the insulation coating
Bottom offer holding part (5), is provided with air supply device (101) in the holding part (5), air supply device (102) position
In the top of the insulating substrate (102), and gas hole described in face (103).
6. a kind of actuator for carrying out grasping movement using Electrostatic Absorption effect according to claim 5, it is characterised in that：
Several gas holes (103) are provided with the gap between the positive conductive grid (104) and the negative conductive grid (105)
Place.
7. a kind of actuator for carrying out grasping movement using Electrostatic Absorption effect according to claim 1, it is characterised in that：
The smooth laying on the bottom surface of the insulating substrate (102) of the positive conductive grid (104) and the negative conductive grid (105),
The positive terminal (106) of the positive conductive grid (104) and the negative terminal (107) of the negative conductive grid (105) are set
It sets on the top surface of the insulating substrate (102), the positive terminal (106) and the negative terminal (107) lead to respectively
Conducting wire is crossed to connect with external power supply.
8. a kind of actuator for carrying out grasping movement using Electrostatic Absorption effect according to claim 1, it is characterised in that：
It is staggered between the positive conductive grid (104) and the negative conductive grid (105).
9. a kind of actuator for carrying out grasping movement using Electrostatic Absorption effect according to claim 1, it is characterised in that：
The elastic buffer column (201) of multiple offer buffer functions is provided on the support device (2).
10. a kind of actuator for being carried out grasping movement using Electrostatic Absorption effect according to claim 1, feature are existed
In：The top surface of the insulating substrate (102) is Nian Jie with the bottom of the support device (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810968682.3A CN108890680A (en) | 2018-08-23 | 2018-08-23 | A kind of actuator carrying out grasping movement using Electrostatic Absorption effect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810968682.3A CN108890680A (en) | 2018-08-23 | 2018-08-23 | A kind of actuator carrying out grasping movement using Electrostatic Absorption effect |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108890680A true CN108890680A (en) | 2018-11-27 |
Family
ID=64358387
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810968682.3A Pending CN108890680A (en) | 2018-08-23 | 2018-08-23 | A kind of actuator carrying out grasping movement using Electrostatic Absorption effect |
Country Status (1)
| Country | Link |
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| CN (1) | CN108890680A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253602A (en) * | 2019-07-12 | 2019-09-20 | 苏州软体机器人科技有限公司 | A kind of inner bearing type fixture |
| CN110696021A (en) * | 2019-09-05 | 2020-01-17 | 厦门清智科技有限公司 | Gripping device for cloth |
| CN112329088A (en) * | 2020-11-10 | 2021-02-05 | 天津工业大学 | Electrostatic adsorption force modeling method for garment fabric |
| CN113562091A (en) * | 2021-06-08 | 2021-10-29 | 浙江大学 | Flexible electrostatic chuck |
| CN116352738A (en) * | 2023-02-10 | 2023-06-30 | 中科合肥技术创新工程院 | Electrostatic adsorption device with custom shape and adsorption method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110253602A (en) * | 2019-07-12 | 2019-09-20 | 苏州软体机器人科技有限公司 | A kind of inner bearing type fixture |
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| CN116352738B (en) * | 2023-02-10 | 2023-10-24 | 中科合肥技术创新工程院 | Electrostatic adsorption device with custom shape and adsorption method thereof |
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