CN114750090A - But clamping device based on tubulose IPMC drive - Google Patents
But clamping device based on tubulose IPMC drive Download PDFInfo
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- CN114750090A CN114750090A CN202210383356.2A CN202210383356A CN114750090A CN 114750090 A CN114750090 A CN 114750090A CN 202210383356 A CN202210383356 A CN 202210383356A CN 114750090 A CN114750090 A CN 114750090A
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- electrode
- base
- clamping
- tubular
- tube body
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- ISRUGXGCCGIOQO-UHFFFAOYSA-N Rhoden Chemical compound CNC(=O)OC1=CC=CC=C1OC(C)C ISRUGXGCCGIOQO-UHFFFAOYSA-N 0.000 title claims abstract description 28
- 239000000463 material Substances 0.000 claims abstract description 12
- 238000005452 bending Methods 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 210000000078 claw Anatomy 0.000 claims description 20
- 239000002184 metal Substances 0.000 claims description 11
- 239000011810 insulating material Substances 0.000 claims description 4
- 230000000452 restraining effect Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 150000001768 cations Chemical class 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
Abstract
The invention relates to a clamping device based on tubular IPMC drive, which comprises a tube body, a clamping device and a clamping device, wherein the outer surface of the tube body is provided with a first electrode, the tube body is made of IPMC materials, and the bending guide motion of the tube body is controlled by changing the electric signal of the first electrode; the clamping jaw is arranged at the front end of the pipe body, a second electrode is attached to the surface, which is overlapped with the outer surface of the pipe body, of the clamping jaw, and the clamping and releasing of the clamping jaw are controlled by controlling an electric signal of the second electrode; the base, the base with the end of body links to each other, the base internal surface inlays has the elasticity sheetmetal. The clamping device based on the tubular IPMC drive adopts an integrated design, has small integral volume and light weight, saves the cost in the manufacturing aspect, can meet the requirements of narrow space work, micro-precision instrument assembly and the like, and has good application prospect in the fields of aerospace, minimally invasive medical treatment and the like.
Description
Technical Field
The invention relates to the field of intelligent material composite application, in particular to a clamping device based on tubular IPMC driving.
Background
With the development of science and technology, clamping devices are widely applied to the fields of industrial production lines, micro-finishing, aerospace and the like, but most of the clamping devices are made of rigid materials, so that the clamping devices are large in size and large in overall weight, and are difficult to meet the application requirements of special spaces. Meanwhile, the device is mostly driven by a motor, driven by hydraulic pressure or operated manually, is greatly influenced by external interference such as magnetic fields, temperature, external force and the like, and is difficult to complete work tasks in many special fields.
The IPMC is an ionic EAP electric actuating polymer, the actuating mechanism of the material is that under the action of an electric signal, water and cations in a basal membrane move to a cathode, so that the cathode side expands, and the electrokinetic bending deformation is generated, and the IPMC has the advantages of low driving voltage, large displacement deformation, good biocompatibility and the like. The tubular IPMC not only has the bending guiding function, but also can be used for material transmission and information transmission due to the hollow structure, and has better application prospect. At present, tubular IPMC is proposed to be used in the field of interventional therapy, but the IPMC has a single function, can only perform bending guidance and cannot realize clamping obstacle clearing movement; in the aspects of micro-finishing and aerospace, the traditional IPMC is mainly applied in a sheet bending deformation mode to realize clamping movement, the guiding function is mostly completed by a mechanical device, the structure is complex, and the cost is high.
The traditional clamping device adopts an external driving mode, has a complex structure and a large volume, cannot meet the application in a micro-space high-precision field, and is greatly interfered by the outside; in the field of interventional therapy, the traditional clamping mode still adopts a mechanical structure, has no guiding function, depends on an interventional catheter and is difficult to operate.
Disclosure of Invention
In view of the above technical problems, the present invention provides a clampable device based on tubular IPMC drive, which avoids the complicated mechanical transmission structure, reduces the volume and mass of the device, and can perform the functions of device guiding, material transferring and clamping transportation in a narrow space.
In order to achieve the purpose, the invention provides the following technical scheme:
a tubular IPMC drive-based clampable device comprising:
the bending guide device comprises a tube body, wherein a first electrode is arranged on the outer surface of the tube body, the tube body is made of an IPMC material, and the bending guide motion of the tube body is controlled by changing an electric signal of the first electrode;
the clamping jaw is arranged at the front end of the pipe body, a second electrode is attached to the surface, which is overlapped with the outer surface of the pipe body, of the clamping jaw, and the clamping and releasing of the clamping jaw are controlled by controlling an electric signal of the second electrode;
the base, the base with the end of body links to each other, the base internal surface inlays has the elasticity sheetmetal.
Preferably, the number of the clamping jaws is three, and the clamping jaws are positioned at the front end of the pipe body and distributed in a circumferential array.
Preferably, the front end of the clamping claw is arc-shaped, and the surface of the clamping claw is smooth.
Preferably, the number of the first electrodes attached to the outer surface of the tube body is four.
Preferably, four elastic metal sheets in a circumferential array are arranged in the base, and four wire holes are formed in the inner side of the bottom of the base and used for restraining wires of the first electrode and the second electrode;
one side of the base, which is far away from the pipe body, is in a flange shape, and the base is provided with a small hole.
Preferably, the elastic metal sheet is folded inwards and points to the bottom of the base, and is used for fixing and transmitting signals to the pipe body after the pipe body is inserted.
Preferably, the base body is made of an insulating material.
Preferably, the first electrode and the second electrode do not overlap with each other.
Compared with the prior art, the invention has the beneficial effects that:
1. through giving the excitation of body surface electrode with corresponding signal of telecommunication, can make the device carry out crooked direction, further, give the gripper jaw surface electrode signal of telecommunication, can realize the centre gripping motion, simple structure.
2. And the device adopts the integrated design, and whole volume is less, light, has practiced thrift the cost in the aspect of manufacturing, can satisfy work and little smart instrument assembly etc. in narrow and small space, has better application prospect in fields such as aerospace and wicresoft medical treatment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is an assembly schematic of the present invention;
FIG. 2 is a schematic cross-sectional view and a schematic left-side view of the present invention;
FIG. 3 is a front view of the tube and the clamping jaw of the present invention;
FIG. 4 is a perspective view of a base of the present invention;
FIG. 5 is a schematic cross-sectional view of a base according to the present invention;
FIG. 6 is a schematic view of the guided motion + gripper jaw opening operation of the present invention;
figure 7 is a schematic view of the guided motion + gripper jaw closing operation of the present invention.
In the figure: the electrode clamp comprises a tube body 1, a first electrode 2, a clamping claw 3, a second electrode 4, a base 5, an elastic metal sheet 6, a wire hole 7 and a small hole 8.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1 to 7, the present invention provides a technical solution:
a tubular IPMC drive-based clampable device comprising:
the device comprises a tube body 1, wherein a first electrode 2 is arranged on the outer surface of the tube body 1, the tube body 1 is made of IPMC materials, and the bending guide motion of the tube body 1 is controlled by changing an electric signal of the first electrode 2;
the clamping jaw 3 is arranged at the front end of the pipe body 1, a second electrode 4 is attached to the surface, overlapped with the outer surface of the pipe body 1, of the clamping jaw 3, and the clamping and releasing of the clamping jaw 3 are controlled by controlling an electric signal of the second electrode 4;
and the base 5 is connected with the tail end of the tube body 1.
As an embodiment of the present invention, the number of the clamping claws 3 is three, and the clamping claws 3 are located at the front end of the tube body 1 and are distributed in a circumferential array.
The clamping device mainly comprises a clamping claw 3, a pipe body 1 and a base 5, wherein the clamping claw 3 is positioned at the front end of the pipe body 1, the length of the clamping claw 3 is not shorter than the diameter of the pipe body 1 and is not longer than 1.5 times of the diameter of the pipe body 1, on one hand, the clamping claw 3 is prevented from being too short, the contact surface area for clamping an object is too small, so that the friction force is insufficient, the object is prevented from sliding off, and on the other hand, the clamping claw 3 is prevented from being too long, so that the clamping is not stable;
the clamping claws 3 are used for processing the front end of the pipe body 1, for example, a precision cutter is used for carrying out region segmentation, and the front end of the pipe body 1 is divided into three independent parts, namely three clamping claws 3; the surfaces of the three clamping claws 3, which are overlapped with the outer surface of the tube body 1, are provided with second electrodes 4, and the opening or clamping of the clamping claws 3 is realized by controlling electric signals of second electrodes, namely by changing the voltage of the three second electrodes 4;
the IPMC material is an artificial muscle material, because the IPMC material can generate larger displacement deformation due to lower driving voltage, the tail end of the tube body 1 is directly connected with the base 5 in an inserting and fixing mode, the first electrode 2 is attached to the outer surface of the tube body 1, and the bending of the tube body 1 can be realized by changing the voltage signal of the first electrode 2 on the surface of the tube body 1 so as to control the guide motion of the tube body 1;
in one embodiment of the present invention, the front end of the holding claw 3 is arc-shaped and has a smooth surface.
In the invention, the front end of the clamping claw 3 is arc-shaped, and the surface is smooth, so that the situation of scratching or scraping is prevented.
In one embodiment of the present invention, the number of the first electrodes 2 attached to the outer surface of the tube 1 is four.
The number of the first electrodes 2 attached to the outer surface of the tube body 1 is four, so that the bending control of the tube body 1 is flexible and quick.
As a specific embodiment of the invention, four elastic metal sheets 6 in a circumferential array are arranged in a base 5, and four wire holes 7 are formed in the inner side of the bottom of the base 5 and used for restraining wires of a first electrode 2 and a second electrode 4;
one side of the base 5, which is far away from the tube body 1, is in a flange shape, and the base 5 is provided with a small hole 8.
As an embodiment of the present invention, the elastic metal sheet 6 is inwardly folded toward the bottom of the base 5 for fixing and transmitting signals to the tube 1 after the tube 1 is inserted.
Firstly, the base 5 is placed at a required fixing position, namely, one disc-shaped side of the flange is placed at the required fixing position, and the flange is fixed by passing a screw through the small hole 8; the elastic metal sheet 6 is provided with a lead, the lead passes through a lead hole 7 and is connected with a signal generating device, the lead hole 7 plays a role in restraining the lead, then one end of the tube body 1, which is far away from the clamping claw 3, is inserted into the base 5, the position of the first electrode 2 on the tube body 1 meets the requirement that when the tube body 1 is connected with the base 5, the four first electrodes 2 are respectively contacted with the four elastic metal sheets 6, and then the connection is completed;
the elastic metal sheet 6 is made of carbon steel.
As an embodiment of the present invention, the base 5 body is made of an insulating material.
In the present invention, the base 5 body is made of an insulating material, for example: the pottery prevents to cause the electric leakage phenomenon at the in-process of work, causes the injury to the staff.
In one embodiment of the present invention, the first electrode 2 and the second electrode 4 do not overlap each other.
In the invention, the first electrode 2 and the second electrode 4 are not crossed and overlapped, so that signal interference is prevented, signals of the first electrode 2 and the second motor are disordered, and the condition that the motor cannot normally work is caused.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A clampable device based on tubular IPMC drive, comprising:
the device comprises a tube body (1), wherein a first electrode (2) is arranged on the outer surface of the tube body (1), the tube body (1) is made of IPMC materials, and the bending guide motion of the tube body (1) is controlled by changing an electric signal of the first electrode (2);
the clamping jaw (3) is arranged at the front end of the pipe body (1), a second electrode (4) is attached to the surface, overlapped with the outer surface of the pipe body (1), of the clamping jaw (3), and the clamping and releasing of the clamping jaw (3) are controlled by controlling an electric signal of the second electrode (4);
base (5), base (5) with the end of body (1) links to each other, base (5) internal surface has inlayed elastic metal piece (6).
2. The tubular IPMC drive based clampable device of claim 1, wherein: the number of the clamping claws (3) is three, and the clamping claws (3) are positioned at the front end of the pipe body (1) and distributed in a circumferential array.
3. The tubular IPMC drive based clampable device of claim 1, wherein: the front end of the clamping claw (3) is arc-shaped, and the surface is smooth.
4. The tubular IPMC drive based clampable device of claim 1, wherein: the number of the first electrodes (2) attached to the outer surface of the tube body (1) is four.
5. The tubular IPMC drive based clampable device of claim 1, wherein: the four elastic metal sheets (6) in a circumferential array are arranged in the base (5), and four wire holes (7) are formed in the inner side of the bottom of the base (5) and used for restraining wires of the first electrode (2) and the second electrode (4);
one side, far away from the pipe body (1), of the base (5) is in a flange disc shape, and a small hole (8) is formed in the base (5).
6. The tubular IPMC drive based clampable device of claim 5, wherein: the elastic metal sheet (6) is inwards folded and points to the bottom of the base (5) and is used for fixing and transmitting signals to the pipe body (1) after the pipe body (1) is inserted.
7. The tubular IPMC drive based clampable device of claim 1, wherein: the base (5) body is made of an insulating material.
8. The tubular IPMC drive based clampable device of claim 1, wherein: the first electrode (2) and the second electrode (4) are not overlapped in a crossing way.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210383356.2A CN114750090A (en) | 2022-04-12 | 2022-04-12 | But clamping device based on tubulose IPMC drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210383356.2A CN114750090A (en) | 2022-04-12 | 2022-04-12 | But clamping device based on tubulose IPMC drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114750090A true CN114750090A (en) | 2022-07-15 |
Family
ID=82330595
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210383356.2A Pending CN114750090A (en) | 2022-04-12 | 2022-04-12 | But clamping device based on tubulose IPMC drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114750090A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB571035A (en) * | 1944-01-20 | 1945-08-02 | Donald Trentham Smout | Improvements in and relating to electrode holders for electric welding |
| CN103963066A (en) * | 2014-04-28 | 2014-08-06 | 哈尔滨工程大学 | Multi-freedom-degree mechanical grabber with simplified structure based on IPMC electric actuation material |
| CN203804999U (en) * | 2014-03-20 | 2014-09-03 | 西北工业大学 | Shape memory alloy spring driven flexible mechanical arm |
| CN108414382A (en) * | 2018-02-08 | 2018-08-17 | 大连理工大学 | A kind of software end effector to the detection of TBM cutting-tool wear states |
| CN109980989A (en) * | 2019-04-09 | 2019-07-05 | 哈尔滨工业大学 | A kind of two-freedom ultraprecise fine content body operator and its motivational techniques |
-
2022
- 2022-04-12 CN CN202210383356.2A patent/CN114750090A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB571035A (en) * | 1944-01-20 | 1945-08-02 | Donald Trentham Smout | Improvements in and relating to electrode holders for electric welding |
| CN203804999U (en) * | 2014-03-20 | 2014-09-03 | 西北工业大学 | Shape memory alloy spring driven flexible mechanical arm |
| CN103963066A (en) * | 2014-04-28 | 2014-08-06 | 哈尔滨工程大学 | Multi-freedom-degree mechanical grabber with simplified structure based on IPMC electric actuation material |
| CN108414382A (en) * | 2018-02-08 | 2018-08-17 | 大连理工大学 | A kind of software end effector to the detection of TBM cutting-tool wear states |
| CN109980989A (en) * | 2019-04-09 | 2019-07-05 | 哈尔滨工业大学 | A kind of two-freedom ultraprecise fine content body operator and its motivational techniques |
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Application publication date: 20220715 |
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| WD01 | Invention patent application deemed withdrawn after publication |