CN209364623U - A kind of flexible manipulator - Google Patents
A kind of flexible manipulator Download PDFInfo
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- CN209364623U CN209364623U CN201822101471.8U CN201822101471U CN209364623U CN 209364623 U CN209364623 U CN 209364623U CN 201822101471 U CN201822101471 U CN 201822101471U CN 209364623 U CN209364623 U CN 209364623U
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- gel
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- grasping part
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- flexible manipulator
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- 239000000463 material Substances 0.000 claims abstract description 12
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 4
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- DOIRQSBPFJWKBE-UHFFFAOYSA-N dibutyl phthalate Chemical compound CCCCOC(=O)C1=CC=CC=C1C(=O)OCCCC DOIRQSBPFJWKBE-UHFFFAOYSA-N 0.000 description 4
- 230000005684 electric field Effects 0.000 description 4
- 239000004014 plasticizer Substances 0.000 description 4
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- 239000004372 Polyvinyl alcohol Substances 0.000 description 3
- BJQHLKABXJIVAM-UHFFFAOYSA-N bis(2-ethylhexyl) phthalate Chemical compound CCCCC(CC)COC(=O)C1=CC=CC=C1C(=O)OCC(CC)CCCC BJQHLKABXJIVAM-UHFFFAOYSA-N 0.000 description 3
- 238000009413 insulation Methods 0.000 description 3
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- MQIUGAXCHLFZKX-UHFFFAOYSA-N Di-n-octyl phthalate Natural products CCCCCCCCOC(=O)C1=CC=CC=C1C(=O)OCCCCCCCC MQIUGAXCHLFZKX-UHFFFAOYSA-N 0.000 description 2
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- WNLRTRBMVRJNCN-UHFFFAOYSA-N adipic acid Chemical compound OC(=O)CCCCC(O)=O WNLRTRBMVRJNCN-UHFFFAOYSA-N 0.000 description 2
- ZFMQKOWCDKKBIF-UHFFFAOYSA-N bis(3,5-difluorophenyl)phosphane Chemical compound FC1=CC(F)=CC(PC=2C=C(F)C=C(F)C=2)=C1 ZFMQKOWCDKKBIF-UHFFFAOYSA-N 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- ZBCBWPMODOFKDW-UHFFFAOYSA-N diethanolamine Chemical compound OCCNCCO ZBCBWPMODOFKDW-UHFFFAOYSA-N 0.000 description 2
- MIMDHDXOBDPUQW-UHFFFAOYSA-N dioctyl decanedioate Chemical compound CCCCCCCCOC(=O)CCCCCCCCC(=O)OCCCCCCCC MIMDHDXOBDPUQW-UHFFFAOYSA-N 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
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- KSCKTBJJRVPGKM-UHFFFAOYSA-N octan-1-olate;titanium(4+) Chemical compound [Ti+4].CCCCCCCC[O-].CCCCCCCC[O-].CCCCCCCC[O-].CCCCCCCC[O-] KSCKTBJJRVPGKM-UHFFFAOYSA-N 0.000 description 2
- 229920002239 polyacrylonitrile Polymers 0.000 description 2
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- 239000004814 polyurethane Substances 0.000 description 2
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- KKEYFWRCBNTPAC-UHFFFAOYSA-N benzene-dicarboxylic acid Natural products OC(=O)C1=CC=C(C(O)=O)C=C1 KKEYFWRCBNTPAC-UHFFFAOYSA-N 0.000 description 1
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- 229920001746 electroactive polymer Polymers 0.000 description 1
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- LYCAIKOWRPUZTN-UHFFFAOYSA-N ethylene glycol Natural products OCCO LYCAIKOWRPUZTN-UHFFFAOYSA-N 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000010408 film Substances 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- WGCNASOHLSPBMP-UHFFFAOYSA-N hydroxyacetaldehyde Natural products OCC=O WGCNASOHLSPBMP-UHFFFAOYSA-N 0.000 description 1
- 235000015110 jellies Nutrition 0.000 description 1
- 239000008274 jelly Substances 0.000 description 1
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- Toys (AREA)
Abstract
The utility model discloses a kind of flexible manipulators, guide rail is adjusted including gel finger unit body and positioning, the gel finger unit body includes gel driver, grasping part, grasping part is fixed on the inside of the gel driver, the positioning adjusts guide rail and the top of grasping part is slidably connected, several gel finger unit body end flexibility opening and closing.It is firm, accurate that the utility model grabs object, and grasping article range is wide, easy to spread and application.The utility model can grasp regular metal components, such as thin slice, ring-shaped article.The utility model can also grasp regularly or irregularly delicates, such as the cup of band handle；Regular or irregular flexibility/article, such as push toy.The grasping scale of the utility model from bold and unconstrained meter level to meter level, grasping object weight from micron order to meter level, from microgram to kilogram.The utility model makes manipulator reach the anthropomorphic state of height by the grasp mode of finger-type by using gel rubber material, has a wide range of application, and stability is high, is suitable for various occasions.
Description
Technical field
The utility model relates to intellectual materials and intelligence structure field more particularly to a kind of flexible manipulator.
Background technique
PVC gel (poly vinylchloride-ge1, abbreviation PVC) is that there is Large strain to exist for a kind of electroactive polymer
In electric field creeping deformation can be generated to anode.According to this characteristic, PVC gel is suitable for the application of manipulator.
Patent CN201810457179 is disclosed a kind of based on electrically driven (operated) PVC-gel flexible manipulator, including flexible hand
Pawl and PVC-gel driver, one end of flexible gripper are fixed on the drive enclosure of PVC-gel driver, and the other end passes through
Mandril is connect with PVC-gel driver, is provided with spring between mandril and PVC-gel driver, by PVC-gel driver
Applying voltage is subjected to displacement PVC-gel driver and power output in thickness direction, by spring drive flexible gripper open or
Closure.The utility model drives flexible gripper using the driving of PVC-gel lamination, and flexible gripper can grab different surfaces shape
Article, and driver can be made to export different displacement and driving force by adjusting applied voltage.The patent is multilayer
The driver of type is placed in the shell of manipulator, is chained up by way of spring with the compliant mechanism of outside, is utilized driver
It pumps and realizes the opening and closure of the grip hand of outside.The patent plays one kind simply by PVC gel material
The effect of spring-like, there is no the innovations that structure is really carried out to manipulator.The rustic, use is single, can not press from both sides
The article of all size is played, and is grabbed not accurate.It is unable to reach the purpose of flexible clamping, clamping mode is single.
Utility model content
The purpose of this utility model be in view of the drawbacks of the prior art, provide it is a kind of using PVC gel material and crawl essence
Quasi- manipulator.
In order to achieve the goal above, the utility model uses following technical scheme:
A kind of flexible manipulator, including gel finger unit body and positioning adjust guide rail, the gel finger unit body packet
It includes gel driver, grasping part, is fixed with grasping part on the inside of the gel driver, the positioning adjusts guide rail and grasping part
Top is slidably connected, several gel finger unit body end flexibility opening and closing.
Further, the gel driver includes gel layer, the gel layer be single or double layer structure, gel layer it
Between be equipped with flexible electrode.
Further, fibrous layer is equipped in the gel layer.Finger unit bending can be adjusted by adjusting fiber layer structure
The shape of deformation, to adapt to by the shape of grasping article.
Further, the front side and rear side are respectively equipped with cathode and anode.
Further, cathode insulation layer is equipped between the cathode and grasping part.
Further, anode insulating layer is equipped on the outside of anode.
Further, the grasping part top is T shape connector, and the positioning adjusts guide rail and is equipped with sliding slot, the grasping
Portion and positioning are adjusted and are connected between guide rail by connector.
Further, the center that the positioning adjusts guide upper is equipped with external linkage mechanism.
Further, the grasping part is laminated structure, and the laminated structure is equipped with multiple grooves.By adjusting groove
Structure adjusts the shape of finger unit bending deformation with distribution, to adapt to by the shape of grasping article.
Further, flexible electrode includes such as conductive polymer material electrode, and (silicone oil mixes conductive silicone grease with carbon particle
Object) electrode, Signa Gel electrode (gel and carbon and conducting metal particles mixture), graphene membrane electrode, metallic particles plating
Layer film electrode etc., the surface shape of electrode can be plane or concavo-convex.
Technical solutions of the utility model are used, consolidates the utility model has the following beneficial effects: the utility model grabs object, is smart
Standard, and grasping article range is wide, easy to spread and application.The utility model can grasp regular metal components, such as thin slice, ring-type
Part.The utility model can also grasp regularly or irregularly delicates, such as the cup of band handle；Rule is irregular
Flexibility/article, such as push toy.The grasping scale of the utility model from micron order to meter level, from microgram to kilogram.This is practical new
Type makes manipulator reach the anthropomorphic state of height, application range by the grasp mode of finger-type, and by using gel rubber material
Extensively, stability is high, is suitable for various occasions.
Detailed description of the invention
Fig. 1 is PVC gel thin film electric field response theory schematic diagram；
Fig. 2 is that a kind of flexible manipulator two provided by the utility model refers to structure chart；
Fig. 3 is that a kind of flexible manipulator two provided by the utility model refers to Structure explosion diagram；
Fig. 4 is that a kind of flexible manipulator two provided by the utility model refers to structure grasping article schematic diagram；
Fig. 5 is that a kind of flexible manipulator three provided by the utility model refers to structure grasping article schematic diagram；
Fig. 6 is a kind of flexible mechanical hand grip section structural schematic diagram provided by the utility model.
Wherein, 1, grasping part, 2, positioning adjust guide rail, 3, external linkage mechanism, 4, cathode, 5, cathode insulation layer, 6, solidifying
Glue driver, 7, fibrous layer, 8, anode, 9, anode insulating layer, 10, T shape connector, 11, sliding slot, 12, connector, 13, article,
14, gel finger unit body, 15, groove.
Specific embodiment
The utility model concrete scheme specific embodiment is further elaborated in conjunction with attached drawing.
Shown in Fig. 1, PVC gel thin film electric field response theory, gel rubber material wriggles as anode agglomerate in the electric field.
As in Figure 2-4, there are two embodiments for referring to gel finger unit body for manipulator, is illustrated in figure 5 manipulator
The embodiment for referring to gel finger unit body with three, all has with flowering structure.
A kind of flexible manipulator, including gel finger unit body 14 and positioning adjust guide rail 2, the gel finger unit body
14 include gel driver 6, grasping part 1, grasping part 1 is fixed on the inside of the gel driver 6, the positioning adjusts guide rail 2
It is slidably connected with the top of grasping part 1, several 14 end flexibility opening and closing of gel finger unit body.
The center that the positioning adjusts 2 top of guide rail is equipped with external linkage mechanism 3.Wherein two refer to that the positioning of manipulator is adjusted
Guide rail 2 is straight rail, and three to refer to that the position of manipulators adjusts guide rail 2 be Y shape rail, the position of multi-finger manipulator adjust guide rail 2 according to demand into
The adaptable transformation of row.
Fibrous layer 7 is equipped in the gel driver.Gel finger unit body 14 can be adjusted by adjusting 7 structure of fibrous layer
The shape of bending deformation, to adapt to by the shape of grasping article 13.
The front side and rear side are respectively equipped with cathode 4 and anode 8.Cathode insulation is equipped between the cathode 4 and grasping part 1
Layer 5.Anode insulating layer 9 is equipped on the outside of anode 8.
1 top of grasping part is T shape connector 10, and the positioning adjusting guide rail 2 is equipped with to be adapted with T shape connector 10
Sliding slot 11, the grasping part 1 and positioning are adjusted and are connected between guide rail 2 by connector 12.Connector 12 is bolt or spiral shell
Nail, is not limited to the on-link mode (OLM).
As shown in fig. 6, the grasping part 1 is laminated structure.The laminated structure is equipped with multiple grooves 15, and groove 15 can
It is without being limited thereto for structures such as triangle or half slots.Groove 15 generates for grasping part 1 in the different location of vertical direction different
The bending of degree is applicable in different articles to control handgrip shape.
The utility model can also be gone by the proportion of adjusting PVC/CPVC and plasticizer so as to adjust the rigidity of driver
Adapt to the workpiece of different materials and hardness.For example driver can be accomplished to be similar to the same softness of jelly by adjusting proportion
Degree, the thing of de-clamping particularly soft.
The utility model structure can (such as 50% removal 100% removes voltage by adjusting the intensity of voltage removal
(generating maximum pressure at this time)) workpiece for being applicable in unlike material and hardness is removed, it can also be arranged by the shape of gel driver
It goes to be applicable in different shape, and suitable shapes etc. can be gone by individually regulating and controlling the driver in Toe Transplantation for Segmental Finger joint.
Multiple regulative mode makes manipulator height personalize, and crawl range is wide, precision is high, and crawl is flexible.
PVC (polyvinyl chloride) or CPVC (chliorinated polyvinyl chloride) material can be used in the gel driver gel layer,
Polymenthyl methacrylate (polymethyl methacrylate), polyurethane (polyurethane), polystyrene
(polystyrene), polyvinyl acetate (polyvinyl acetate), PA6 (nylon 6), PVA (polyvinyl alcohol,
Polyvinyl alcohol), polycarbonate (polycarbonate), polyethylene terephthalate (PET, poly terephthalic acid
Glycol ester), polyacrylonitrile (polyacrylonitrile) can generate electroluminescent change after silicone (silicone resin) isogel
Shape lures electric material.
Plasticizer used in gel rubber material: in addition to DBA (hexanedioic acid di-n-butyl), also increase such as DMA (dimethylacetamide
Amine), DES (diethyl sebacate), DEA (diethanolamine), DOS (dioctyl sebacate), DOA (dioctyl adipate), DMP
(repefral), DBP (dibutyl phthalate), DOP (dioctyl phthalate), DEHP (O-phthalic
Sour two (2- ethyl) own esters etc. other have the plasticizer of similar effect.
The utility model can also be 1:1 by adjusting the proportion of gel bodies material (such as PVC, CPVC etc.) and plasticizer
To 1:9.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, is able to carry out for a person skilled in the art various bright
Aobvious variation, readjustment and substitution is without departing from the protection scope of the utility model.Therefore, although passing through above embodiments
The utility model is described in further detail, but the utility model is not limited only to above embodiments, is not departing from
It can also include more other equivalent embodiments in the case that the utility model is conceived, and the scope of the utility model is by appended
Scope of the claims determine.
Claims (10)
1. a kind of flexible manipulator, which is characterized in that adjust guide rail, the gel finger including gel finger unit body and positioning
Cell cube includes gel driver, grasping part, is fixed with grasping part on the inside of the gel driver, the positioning adjust guide rail and
The top of grasping part is slidably connected, several gel finger unit body end flexibility opening and closing.
2. a kind of flexible manipulator according to claim 1, which is characterized in that the gel driver includes gel layer,
The gel layer is single or double layer structure, is equipped with flexible electrode between gel layer.
3. a kind of flexible manipulator according to claim 2, which is characterized in that be equipped with fibrous layer in the gel layer.
4. a kind of flexible manipulator according to claim 1 or 2, which is characterized in that on front side of the gel driver with after
Side is respectively equipped with cathode and anode.
5. a kind of flexible manipulator according to claim 4, which is characterized in that be equipped with yin between the cathode and grasping part
Pole insulating layer.
6. a kind of flexible manipulator according to claim 4, which is characterized in that be equipped with anode insulating layer on the outside of anode.
7. a kind of flexible manipulator according to claim 1, which is characterized in that the grasping part top is T shape connector,
The positioning adjusts guide rail and is equipped with sliding slot, and the grasping part and positioning are adjusted and connected between guide rail by connector.
8. a kind of flexible manipulator according to claim 1, which is characterized in that the positioning adjusts the center of guide upper
Equipped with external linkage mechanism.
9. a kind of flexible manipulator according to claim 1, which is characterized in that the grasping part is laminated structure, described
Laminated structure is equipped with multiple grooves.
10. a kind of flexible manipulator according to claim 2, which is characterized in that flexible electrode includes conducting polymer material
Expect electrode, conductive silicone grease electrode, Signa Gel electrode, graphene membrane electrode, metallic particles coating membrane electrode, the table of electrode
Face shape can be plane or concavo-convex.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822101471.8U CN209364623U (en) | 2018-12-14 | 2018-12-14 | A kind of flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822101471.8U CN209364623U (en) | 2018-12-14 | 2018-12-14 | A kind of flexible manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209364623U true CN209364623U (en) | 2019-09-10 |
Family
ID=67832665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822101471.8U Active CN209364623U (en) | 2018-12-14 | 2018-12-14 | A kind of flexible manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209364623U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514542A (en) * | 2018-12-14 | 2019-03-26 | 浙江工业大学 | A kind of flexible manipulator |
-
2018
- 2018-12-14 CN CN201822101471.8U patent/CN209364623U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514542A (en) * | 2018-12-14 | 2019-03-26 | 浙江工业大学 | A kind of flexible manipulator |
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