CN204076272U - A kind of Universal gripper using magnetorheological plastic body - Google Patents
A kind of Universal gripper using magnetorheological plastic body Download PDFInfo
- Publication number
- CN204076272U CN204076272U CN201420330722.9U CN201420330722U CN204076272U CN 204076272 U CN204076272 U CN 204076272U CN 201420330722 U CN201420330722 U CN 201420330722U CN 204076272 U CN204076272 U CN 204076272U
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- CN
- China
- Prior art keywords
- plastic body
- bracing frame
- magnetorheological
- magnetorheological plastic
- universal gripper
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Abstract
The utility model relates to a kind of Universal gripper using magnetorheological plastic body, comprise U-shaped bracing frame, be wrapped in the coil in the middle of bracing frame, the interlayer formed between dividing plate in the middle of the bracing frame and dividing plate and coil, U-shaped bracing frame, rechargeable battery and current control circuit are placed in interlayer inside, outside tightly coated rubber sleeve and the high-performance magnetorheological plastic body be filled between U-shaped support and rubber sleeve.Above-mentioned Universal gripper can regulate crawl dynamics, changes handgrip pattern and handgrip and object is explained better fit, while terminal with compact integral structure, cost of manufacture is lower.
Description
Technical field
The utility model relates to the Universal gripper using magnetorheological plastic body, have developed a kind of simple for structure specifically, grasps dynamics adjustable, capture the Universal gripper that shape is variable.
Background technology
In mechanization and automated production, simulation of human body, the field handgrips such as robot building technology are absolutely necessary a part.
Magnetorheological plastic body is a kind of novel magnetorheological glue, is that magnetorheological plastic body has very strong plasticity with the difference of traditional magnetorheological glue, namely can change shape at normal temperatures easily and can keep.Magnetorheological plastic body has good mechanical property, and its magnetic rheology effect can reach 800%, can by regulating the soft or hard of the magnetorheological plastic body of Current adjustment.Simultaneously the magnetostrictive effect of magnetorheological plastic body can make it stretch along magnetic induction line direction under magnetic fields, if want to fetter this distortion then need a larger power.The structure relative complex of existing traditional mechanical gripper, crawl dynamics is difficult to regulate, and handgrip shape is generally fixing, can not change with crawl thing profile variation.
Utility model content
The utility model technology is dealt with problems: overcome the deficiencies in the prior art, provides a kind of Universal gripper using magnetorheological plastic body.Universal gripper dynamics is adjustable, and grip surfaces can change with the pattern change of crawl thing, and it is simple for structure simultaneously, and cost of manufacture is relatively low.
The utility model technical solution: a kind of Universal gripper using magnetorheological plastic body, comprise: U-shaped bracing frame, be wrapped in the coil in the middle of bracing frame, dividing plate in the middle of bracing frame, the interlayer formed between dividing plate and coil, U-shaped bracing frame, the rechargeable battery that interlayer inside is placed and current control circuit, the rubber sleeve that U-shaped bracing frame is outside tightly coated, is filled in the high-performance magnetorheological plastic body between U-shaped support and rubber sleeve.
Described U-shaped bracing frame is permeability magnetic material steel part.
Described dividing plate is non-magnet material aluminum products, and in interlayer, battery and current control circuit are all non-magnetic.
The rubber sleeve of described parcel needs to have elasticity and there is larger coefficient of friction on surface.
The utility model advantage is compared with prior art; The utility model takes full advantage of the premium properties of magnetorheological plastic body, comprises good plasticity, significant magnetic rheology effect, and high Magnetostriction has prepared crawl dynamics controlled, and handgrip explains with crawl thing good Universal gripper of fitting.Concrete, at U-shaped steel-made support frame mid-wrap coil for generation of magnetic field, the magnetic field concentration that interlayer makes coil produce is isolated whole at bracing frame in bracing frame inside aluminum spacer plate, the interlayer simultaneously produced is in order to deposit battery, control circuit etc., outside with rubber sleeve parcel, high-performance magnetorheological plastic body is filled up in the inside.Turn-on current during use, magnetorheological plastic body distortion wrap articles under magnetic fields also produces extruding interaction force to the constraint effect of magnetorheological plastic body deformation due to article, improve frictional force, under magnetic fields, magnetorheological plastic body is hardening simultaneously, helps fixing article.In a word, while assurance function, structure is relatively succinct, and cost of manufacture is relatively low.
Accompanying drawing explanation
Fig. 1 is the structural representation that the utility model uses magnetorheological plastic body;
Schematic diagram when Fig. 2 is the Universal gripper crawl article using magnetorheological plastic body;
Fig. 3 is schematic diagram when using the Universal gripper of magnetorheological plastic body to unclamp article.
Detailed description of the invention
As shown in Figure 1, use the Universal gripper of magnetorheological plastic body to comprise steel magnetic conduction framework simultaneously as the U-shaped bracing frame 2 of support structure, be wrapped in the coil 1 in the middle of U-shaped bracing frame 2, can magnetic field be produced.Across the dividing plate 5 that the aluminum in the middle of U-shaped bracing frame 2 is non-magnetic, be interlayer 3 between dividing plate 5 and U-shaped bracing frame 2, both ends below magnetic conduction framework, the magnetic field that coil can be made to produce are concentrated, and place rechargeable battery and control circuit in the middle of interlayer 3 simultaneously.Outermost is a rubber sleeve 6 with certain elasticity and surface roughness, parcel wherein be high-performance magnetorheological plastic body 4.
When handgrip captures article, first handgrip is contacted to be pressed into article 7 and grabbed thing.Participate in numeral 7 in Fig. 2, figure and represent cylindric crawled article, because the magnetorheological plastic body of the inside has good plasticity, so article 7 can easily embed wherein.When article 7 embed in handgrip, electric current in closing coil, can form a magnetic field as shown in Figure 2, is with black arrow curve to represent magnetic induction line in figure.Simultaneously, due to magnetic fields, in handgrip, magnetorheological plastic body only to be fitted article 7 limit the further distortion of magnetorheological plastic body along magnetic direction distortion, an interactional interface 8 can be produced between article 7 and rubber sleeve 6, double-head arrow on interface 8 represents the normal force of mutual squeezing action, existence due to normal force can produce the frictional force stoping the movement mutually of article and handgrip, and under magnetic fields, magnetorheological plastic body is hardening simultaneously, helps better to fix article.In regulating winding, size of current can normal force size on adjustment interface, namely captures dynamics size.
When unclamping article 7, see Fig. 3, cut off electric current in coil, the interaction force between rubber and article also disappears thereupon, and article come off by deadweight, and the depression that handgrip is formed also slowly is recovered under magnetorheological plastic body self gravitation and rubber sleeve effect.When concrete use without the need to waiting for that handgrip depression is recovered also can capture other article immediately completely because when capturing other article turn-on current, apply magnetic field, under magnetic fields, inner magnetorheological plastic body can produce distortion and wrap article.
In a word, magnetorheological plastic body is a kind of novel intelligent material, has good plasticity, significant magnetic rheology effect and high Magnetostriction.The utility model is based on these premium properties, use the crawl dynamics of the Universal gripper of magnetorheological plastic body conveniently to regulate, and handgrip shape can be changed with grabbing article profile, article of better fitting, its terminal with compact integral structure simultaneously, cost of manufacture is relatively low.In mechanization and automated production, simulation of human body, the fields such as robot building technology have broad application prospects.
Claims (4)
1. one kind uses the Universal gripper of magnetorheological plastic body, it is characterized in that comprising: U-shaped bracing frame, be wrapped in the coil in the middle of bracing frame, dividing plate in the middle of bracing frame, the interlayer formed between dividing plate and coil, U-shaped bracing frame, the rechargeable battery that interlayer inside is placed and current control circuit, the rubber sleeve that U-shaped bracing frame is outside tightly coated, is filled in the magnetorheological plastic body between U-shaped support and rubber sleeve.
2. the Universal gripper of the magnetorheological plastic body of use according to claim 1, is characterized in that: described U-shaped bracing frame is permeability magnetic material steel part.
3. the Universal gripper of the magnetorheological plastic body of use according to claim 1, it is characterized in that: described dividing plate is non-magnet material aluminum products, in interlayer, battery and current control circuit are all non-magnetic.
4. the Universal gripper of the magnetorheological plastic body of use according to claim 1, is characterized in that: the rubber sleeve of described parcel has elasticity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420330722.9U CN204076272U (en) | 2014-06-19 | 2014-06-19 | A kind of Universal gripper using magnetorheological plastic body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420330722.9U CN204076272U (en) | 2014-06-19 | 2014-06-19 | A kind of Universal gripper using magnetorheological plastic body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204076272U true CN204076272U (en) | 2015-01-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420330722.9U Expired - Fee Related CN204076272U (en) | 2014-06-19 | 2014-06-19 | A kind of Universal gripper using magnetorheological plastic body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204076272U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057461A (en) * | 2014-06-19 | 2014-09-24 | 中国科学技术大学 | Universal gripper using magneto-rheological plastic body |
| CN110676507A (en) * | 2019-10-29 | 2020-01-10 | 湖北工程学院 | Battery package trigger and contain its battery package board machine of assembling |
| DE102020134573B3 (en) | 2020-12-22 | 2022-03-03 | Technische Universität Ilmenau | End effector for systems for gripping and manipulating an object, method for its manufacture and method for gripping and manipulating an object |
-
2014
- 2014-06-19 CN CN201420330722.9U patent/CN204076272U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057461A (en) * | 2014-06-19 | 2014-09-24 | 中国科学技术大学 | Universal gripper using magneto-rheological plastic body |
| CN110676507A (en) * | 2019-10-29 | 2020-01-10 | 湖北工程学院 | Battery package trigger and contain its battery package board machine of assembling |
| DE102020134573B3 (en) | 2020-12-22 | 2022-03-03 | Technische Universität Ilmenau | End effector for systems for gripping and manipulating an object, method for its manufacture and method for gripping and manipulating an object |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150107 Termination date: 20200619 |