CN110861114A - non-Newtonian fluid phase change flexible clamping jaw - Google Patents
non-Newtonian fluid phase change flexible clamping jaw Download PDFInfo
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- CN110861114A CN110861114A CN201911070552.9A CN201911070552A CN110861114A CN 110861114 A CN110861114 A CN 110861114A CN 201911070552 A CN201911070552 A CN 201911070552A CN 110861114 A CN110861114 A CN 110861114A
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- plunger
- pump cylinder
- cylinder body
- way valve
- eccentric shaft
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
Abstract
The invention discloses a non-Newtonian fluid phase change flexible clamping jaw which comprises a plunger vacuum pump, an air bag, a liquid bag and a fixed seat, wherein a closed cavity is formed between the liquid bag and the air bag; the plunger vacuum pump comprises a driving motor, a plunger pump cylinder body and an eccentric shaft, wherein the plunger pump cylinder body is provided with two symmetrical plunger cavities, plunger bodies are arranged in the two plunger cavities, the two plunger bodies are hinged to the eccentric shaft, two suction channels are arranged on the plunger pump cylinder body corresponding to the two plunger cavities, two ends of each suction channel are respectively communicated with the plunger cavities and the closed cavity, a first one-way valve and a second one-way valve are respectively arranged in the two suction channels, the directions of the first one-way valve and the second one-way valve are opposite, the opening pressure of the first one-way valve is smaller than that of the second one-way valve, the plunger pump cylinder body is further provided with two external communicating pipelines, and combination valves are respectively arranged in the two external communicating pipelines; the invention can solve the problem of clamping force of the existing flexible clamping jaw, and has strong adaptability by using the air bag and the liquid bag to coat the workpiece.
Description
Technical Field
The invention relates to the technical field of clamping jaws, in particular to a non-Newtonian fluid phase change flexible clamping jaw.
Background
The problem that the clamping force of an existing flexible clamping jaw is small when the workpiece is clamped is solved, the workpiece is prone to shifting and even falling off, the processing progress of the workpiece is seriously affected, the adaptability of the existing flexible clamping jaw is poor, and the processing efficiency of the workpiece is low.
Disclosure of Invention
The invention aims to overcome the defects and provide a non-Newtonian fluid phase change flexible clamping jaw.
In order to achieve the purpose, the invention adopts the following specific scheme:
a non-Newtonian fluid phase change flexible clamping jaw comprises a plunger vacuum pump, an air bag, a liquid bag storing non-Newtonian fluid and a fixed seat matched with the appearance of the air bag, wherein the open end of the air bag is fixed on the fixed seat, the liquid bag is embedded in the air bag, the open end of the liquid bag is in sealing fit with the open end of the air bag, and a closed cavity is formed between the liquid bag and the air bag;
the plunger vacuum pump comprises a driving motor, a plunger pump cylinder body and an eccentric shaft, wherein the driving motor is fixed in the middle of the top surface of the plunger pump cylinder body, the eccentric shaft is arranged in the middle of the plunger pump cylinder body, the upper end and the lower end of the eccentric shaft are respectively connected to the plunger pump cylinder body in a rotating manner, the output end of the driving motor is connected with the upper end of the eccentric shaft in a transmission manner, two symmetrical plunger cavities are correspondingly arranged at the left end and the right end of the plunger pump cylinder body, plunger bodies are respectively arranged in the two plunger cavities, the two plunger bodies are respectively hinged to the eccentric shaft, two suction channels are arranged on the plunger pump cylinder body corresponding to the two plunger cavities, one end of each suction channel is communicated with the plunger cavity, the other end of each suction channel is communicated with the closed cavity, a first one-way valve is arranged in the suction channel on the left end of the, the first one-way valve and the second one-way valve are opposite in direction, the opening pressure of the first one-way valve is smaller than that of the second one-way valve, the plunger pump cylinder body is provided with two external communicating pipelines corresponding to the two suction channels, combined valves are respectively arranged in the two external communicating pipelines, and the combined valves are used for controlling the on-off of the plunger cavity and the external air;
the fixing seat is fixed on the bottom surface of the plunger pump cylinder body.
The driving motor is fixed on the plunger pump cylinder body through a motor support.
The two plunger bodies are respectively hinged to the middle of the eccentric shaft through connecting rods.
The invention has the beneficial effects that: through the structure, the problem of the clamping force of the existing flexible clamping jaw can be solved, smooth workpiece machining is guaranteed, the workpiece machining precision is improved, the air bag and the liquid bag are used for coating the workpiece, the workpiece can be attached to the outer shape of the workpiece and changed along with the outer shape of the workpiece, and further the flexible clamping jaw can adapt to workpieces with more shapes, and the adaptability is high.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a cross-sectional view of the present invention;
FIG. 3 is a schematic view showing the construction of the plunger vacuum pump according to the present invention;
FIG. 4 is a cross-sectional view of a plunger vacuum pump of the present invention;
description of reference numerals: 1-a plunger vacuum pump; 11-a drive motor; 12-plunger pump cylinder; 13-an eccentric shaft; 14-a plunger body; 15-a suction channel; 16-a first one-way valve; 17-a second one-way valve; 18-an external communicating pipe; 19-a combination valve; 2-air bag; 3-liquid sac; 4-fixing the base; 5-sealing the cavity.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
The non-Newtonian fluid is a general name of a fluid with a nonlinear relation between shear stress and shear strain rate, when the non-Newtonian fluid is subjected to suddenly applied shear stress, the viscosity of the non-Newtonian fluid is sharply increased, phase transition occurs, and the non-Newtonian fluid is converted from a liquid state to a solid state.
As shown in fig. 1 to 4, the non-newtonian fluid phase change flexible clamping jaw of the present embodiment includes a plunger vacuum pump 1, an air bag 2, a liquid bag 3 storing non-newtonian fluid, and a fixing seat 4 in shape fit with the air bag 2, an open end of the air bag 2 is fixed on the fixing seat 4, the liquid bag 3 is nested in the air bag 2, an open end of the liquid bag 3 is in sealed fit with the open end of the air bag 2, a closed cavity 5 is formed between the liquid bag 3 and the air bag 2, and both the air bag 2 and the liquid bag 3 are made of flexible materials;
the plunger vacuum pump 1 comprises a driving motor 11, a plunger pump cylinder 12 and an eccentric shaft 13, wherein the driving motor 11 is fixed in the middle of the top surface of the plunger pump cylinder 12, the eccentric shaft 13 is arranged in the middle of the plunger pump cylinder 12, the upper end and the lower end of the eccentric shaft 13 are respectively connected to the plunger pump cylinder 12 in a rotating manner, the output end of the driving motor 11 is connected with the upper end of the eccentric shaft 13 in a driving manner, two symmetrical plunger cavities are correspondingly arranged at the left end and the right end of the plunger pump cylinder 12, plunger bodies 14 are respectively arranged in the two plunger cavities, the two plunger bodies 14 are respectively hinged to the eccentric shaft 13, two suction channels 15 are arranged on the plunger pump cylinder 12 corresponding to the two plunger cavities, one end of each suction channel 15 is communicated with the plunger cavity, the other end of each suction channel 15 is communicated with a closed cavity 5, and a first one-way valve 16 is arranged, a second one-way valve 17 is arranged in the suction channel 15 positioned at the right end of the plunger pump cylinder body 12, the directions of the first one-way valve 16 and the second one-way valve 17 are opposite, the opening pressure of the first one-way valve 16 is smaller than that of the second one-way valve 17, the plunger pump cylinder body 12 is provided with two external communicating pipelines 18 corresponding to the two suction channels 15, the two external communicating pipelines 18 are respectively internally provided with a combined valve 19, and the combined valve 19 is used for controlling the on-off of the plunger cavity and the external air; the fixed seat 4 is fixed on the bottom surface of the plunger pump cylinder body 12.
In the non-newtonian fluid phase change flexible clamping jaw of the present embodiment, specifically, the driving motor 11 is fixed on the plunger pump cylinder 12 through a motor bracket, so that the output end of the driving motor 11 is in transmission connection with the upper end of the eccentric shaft 13. In the non-newtonian fluid phase change flexible clamping jaw of the embodiment, specifically, the two plunger bodies 14 are respectively hinged to the middle of the eccentric shaft 13 through a connecting rod, one end of the connecting rod is hinged to the plunger body 14, and the other end of the connecting rod is hinged to the eccentric shaft 13, and when the eccentric shaft 13 rotates, the connecting rod swings along with the eccentric shaft 13, so that the eccentric shaft 13 drives the two plunger bodies 14 to reciprocate simultaneously.
The specific operation principle of this embodiment is as follows: at the initial stage, namely the vacuum degree in the closed cavity 5 is low, firstly, the whole flexible clamping jaw is arranged right above a workpiece, when the flexible clamping jaw works, the whole flexible clamping jaw is downwards extended to be in contact with the workpiece, because the non-Newtonian fluid in the liquid bag 3 is not subjected to the shearing force, the non-Newtonian fluid is in a liquid state and can freely flow, the air bag 2 and the liquid bag 3 can partially coat the workpiece, then the driving motor 11 drives the eccentric shaft 13 to rotate, the eccentric shaft 13 simultaneously drives the two plunger bodies 14 to do reciprocating motion through the connecting rod, when the two plunger bodies 14 move rightwards, the effective volume of the plunger cavity on the left side is increased, the pressure is reduced, the first check valve 16 is sucked away, further, the air in the closed cavity 5 is sucked into the plunger cavity through the suction channel 15, the vacuum pumping treatment on the closed cavity 5 is realized, so that the vacuum state is formed in the closed cavity, the pressure is increased, because the vacuum degree in the closed cavity 5 is low in the initial stage, the second one-way valve 17 is still in a closed state, the air in the plunger cavity on the right side opens the combined valve 19 on the right side, and then is discharged from the lower end of the external communication pipeline 18, the right moving process of the plunger body 14 is completed, in the whole right moving process, vacuum is formed in the closed cavity 5, under the action of atmospheric pressure, the air bag 2 shrinks in volume, and simultaneously the liquid bag 3 is extruded, so that the non-Newtonian fluid in the liquid bag 3 is subjected to a shearing force, the viscosity of the non-Newtonian fluid is rapidly increased and is changed into a fixed state, the workpiece is limited, then the two plunger bodies 14 move towards the left, at the moment, the effective volume of the plunger cavity on the left side is gradually reduced, the pressure is increased, the first one-way valve 16 is in a closed state, and the air in the plunger cavity on the, the effective volume of the plunger cavity on the right side is gradually increased, the pressure intensity is reduced, the second one-way valve 17 is in a closed state, the combination valve 19 on the right side is opened under the pressure of external air, and the external air enters the plunger cavity on the right side from the upper end of the external communicating pipeline 18, so that a reciprocating process is completed, namely, in a reciprocating period of the two plunger bodies 14, the closed cavity 5 is vacuumized, so that the non-Newtonian fluid is subjected to the action of shearing force, the non-Newtonian fluid is converted into a solid state from a liquid state, and a phase change process is completed; then under the continuous drive of the driving motor 11, the two plunger bodies 14 make reciprocating motion continuously, namely the plunger cavity on the left periodically vacuumizes the closed cavity 5, and simultaneously the air bag 2 uniformly extrudes the liquid bag 3, in the process, the non-Newtonian fluid in the liquid bag 3 is subjected to periodic shearing force, so that the non-Newtonian fluid in the liquid bag 3 is ensured to obtain continuous pulsating shearing stress, the solid state is maintained, the workpiece is clamped firmly and stably, the workpiece is not easy to move or fall off, the workpiece is ensured to be machined, and the machining precision of the workpiece is improved;
when the two plunger bodies 14 move rightwards, the first one-way valve 16 is sucked under the action of the plunger body 14 on the left, air in the closed cavity 5 is sucked into the plunger cavity, so that the non-Newtonian fluid is subjected to the action of a shearing force, meanwhile, outside air can push open the combination valve 19 on the left and enter the plunger cavity on the left from the upper end of the outside communication pipeline 18 to achieve balanced supplementation of the plunger cavity on the left, the second one-way valve 17 is opened under the action of the plunger body 14 on the right due to the high vacuum state in the closed cavity 5, and the air in the plunger cavity on the right enters the closed cavity 5 through the suction channel 15, so that the air bag 2 can periodically extrude the liquid bag 3 under the action of atmospheric pressure, and the non-Newtonian fluid in the liquid bag 3 is ensured to maintain a solid state, when the two plunger bodies 14 move leftwards, the first one-way valve 16 is closed, the air in the plunger cavity on the left opens the combined valve 19 on the left and is discharged from the lower end of the external communicating pipeline 18, the second one-way valve 17 is closed, the external air opens the combined valve 19 on the right and then enters the plunger cavity on the right from the upper end of the external communicating pipeline 18, and then air pressure supplement is carried out on the plunger cavity on the right;
when the workpiece needs to be released, the driving motor 11 only needs to stop working, the pressure in the closed cavity 5 is recovered, the air bag 2 extrudes the liquid bag 3 to eliminate, the non-Newtonian fluid in the liquid bag 3 loses the action of shearing force, the non-Newtonian fluid is recovered to be in a liquid state from a solid state, and then the whole flexible clamping jaw rises, so that the workpiece is released.
In this embodiment, the opening pressure of the lower valve body of the combination valve 19 on the left side is smaller than the opening pressure of the lower valve body of the combination valve 19 on the right side, so that the suction of the suction channels 15 on the left and right sides is unbalanced when the closed cavity 5 is in a high vacuum degree, thereby ensuring that the pressure of the closed cavity 5 is in a fluctuating state, and further ensuring that the non-newtonian fluid is in a solid state all the time during operation.
Through the structure, the problem of the clamping force of the existing flexible clamping jaw can be solved, the workpiece can be smoothly machined, the machining precision of the workpiece can be improved, the air bag 2 and the liquid bag 3 are used for coating the workpiece, the workpiece can be attached to the outer shape of the workpiece and can be changed along with the outer shape of the workpiece, and the flexible clamping jaw can adapt to workpieces with more shapes and has high adaptability.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (4)
1. The non-Newtonian fluid phase-change flexible clamping jaw is characterized by comprising a plunger vacuum pump (1), an air bag (2), a liquid bag (3) storing non-Newtonian fluid and a fixing seat (4) matched with the air bag (2) in shape, wherein the open end of the air bag (2) is fixed on the fixing seat (4), the liquid bag (3) is nested in the air bag (2), the open end of the liquid bag (3) is in sealing fit with the open end of the air bag (2), and a closed cavity (5) is formed between the liquid bag (3) and the air bag (2);
the plunger vacuum pump (1) comprises a driving motor (11), a plunger pump cylinder body (12) and an eccentric shaft (13), wherein the driving motor (11) is fixed in the middle of the top surface of the plunger pump cylinder body (12), the eccentric shaft (13) is arranged in the middle of the plunger pump cylinder body (12), the upper end and the lower end of the eccentric shaft are respectively connected to the plunger pump cylinder body (12) in a rotating mode, the output end of the driving motor (11) is connected with the upper end of the eccentric shaft (13) in a transmission mode, two symmetrical plunger cavities are correspondingly arranged at the left end and the right end of the plunger pump cylinder body (12), plunger bodies (14) are respectively arranged in the two plunger cavities, the two plunger bodies (14) are respectively hinged to the eccentric shaft (13), two suction channels (15) are arranged on the plunger pump cylinder body (12) corresponding to the two plunger cavities, one end of each suction channel (15) is communicated with the plunger cavity, and the other end of each, a first one-way valve (16) is arranged in the suction channel (15) positioned at the left end of the plunger pump cylinder body (12), a second one-way valve (17) is arranged in the suction channel (15) positioned at the right end of the plunger pump cylinder body (12), the directions of the first one-way valve (16) and the second one-way valve (17) are opposite, the opening pressure of the first one-way valve (16) is smaller than that of the second one-way valve (17), the plunger pump cylinder body (12) is provided with two external communicating pipelines (18) corresponding to the two suction channels (15), a combination valve (19) is respectively arranged in the two external communicating pipelines (18), and the combination valve (19) is used for controlling the on-off of the plunger cavity and the external air;
the fixed seat (4) is fixed on the bottom surface of the plunger pump cylinder body (12).
2. A non-newtonian fluid phase change flexible jaw according to claim 1, wherein the drive motor (11) is fixed to the plunger pump cylinder (12) by a motor bracket.
3. A non-newtonian fluid phase change flexible jaw according to claim 1, wherein the two plunger bodies (14) are respectively hinged in the middle of the eccentric shaft (13) by connecting rods.
4. A non-newtonian fluid phase change flexible jaw according to claim 1, wherein the two plunger bodies (14) are respectively hinged in the middle of the eccentric shaft (13) by connecting rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911070552.9A CN110861114A (en) | 2019-11-05 | 2019-11-05 | non-Newtonian fluid phase change flexible clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911070552.9A CN110861114A (en) | 2019-11-05 | 2019-11-05 | non-Newtonian fluid phase change flexible clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110861114A true CN110861114A (en) | 2020-03-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911070552.9A Withdrawn CN110861114A (en) | 2019-11-05 | 2019-11-05 | non-Newtonian fluid phase change flexible clamping jaw |
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| Country | Link |
|---|---|
| CN (1) | CN110861114A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500614A (en) * | 2021-07-12 | 2021-10-15 | 洛阳尚奇机器人科技有限公司 | Inflatable flexible clamping jaw system |
| CN117699637A (en) * | 2023-11-15 | 2024-03-15 | 广东伟业铝材有限公司 | Section bar hoist device |
-
2019
- 2019-11-05 CN CN201911070552.9A patent/CN110861114A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500614A (en) * | 2021-07-12 | 2021-10-15 | 洛阳尚奇机器人科技有限公司 | Inflatable flexible clamping jaw system |
| CN113500614B (en) * | 2021-07-12 | 2023-03-14 | 洛阳尚奇机器人科技有限公司 | Inflatable flexible clamping jaw system |
| CN117699637A (en) * | 2023-11-15 | 2024-03-15 | 广东伟业铝材有限公司 | Section bar hoist device |
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Application publication date: 20200306 |