WO2015152062A1 - 改質磁性流体及びこの改質磁性流体を用いた把持機構並びに把持装置 - Google Patents
改質磁性流体及びこの改質磁性流体を用いた把持機構並びに把持装置 Download PDFInfo
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- WO2015152062A1 WO2015152062A1 PCT/JP2015/059671 JP2015059671W WO2015152062A1 WO 2015152062 A1 WO2015152062 A1 WO 2015152062A1 JP 2015059671 W JP2015059671 W JP 2015059671W WO 2015152062 A1 WO2015152062 A1 WO 2015152062A1
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- magnetic fluid
- modified
- magnetic
- gripping mechanism
- gripping
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F1/00—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties
- H01F1/44—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of magnetic liquids, e.g. ferrofluids
- H01F1/445—Magnets or magnetic bodies characterised by the magnetic materials therefor; Selection of materials for their magnetic properties of magnetic liquids, e.g. ferrofluids the magnetic component being a compound, e.g. Fe3O4
Definitions
- the present invention relates to a modified magnetic fluid obtained by further improving a magnetic fluid in which fine particles of a ferromagnetic material are dispersed in a liquid, a gripping mechanism and a gripping device using the same.
- Non-Patent Document 1 there is known a magnetic fluid (MR fluid) composed of a colloidal solution in which ferromagnetic ultrafine particles having a size of 10 nm and several ⁇ m are dispersed in a liquid using a surfactant or the like. ing. And it is disclosed that this magnetic fluid is used for a damper, an actuator, a seal, and a clutch.
- Patent Document 1 discloses a metal powder formed of an Fe-based alloy having an average particle size of 0.1 to 25 ⁇ m and a maximum particle size of 50 ⁇ m or less, which is used for a magnetic fluid.
- Patent Document 3 discloses a configuration of such a magnetic fluid and a manufacturing method thereof, and Patent Document 4 proposes an article gripping device using the magnetic fluid.
- the gripper 70 includes a support member 71 attached to the front portion of the robot arm, a rubber sphere 72 attached to the lower portion of the support member 71, and the rubber sphere 72. It has a fastening ring 73 that is removably attached to the lower part, coffee bean powder 74 housed in the rubber sphere 72, and a vacuum pump (not shown) connected to the exhaust ports 75, 76 of the support member 71.
- a vacuum pump (not shown) connected to the exhaust ports 75, 76 of the support member 71.
- the gripper 70 1) the rubber sphere 72 is pressed against the object to cause the rubber sphere 72 to follow the shape of the object, and 2) the vacuum pump is operated to extract air from the rubber sphere 72.
- the rubber sphere 72 is solidified by a jamming phenomenon. 3)
- the robot arm is operated to lift the object.
- Japanese Patent No. 5660099 (Claims 5 to 9) Japanese Patent No. 522296 (claim 1) JP 2006-505957 A JP 2004-154909 A
- Non-Patent Document 1 since the magnetic fluids described in Non-Patent Document 1, Patent Document 1, and Patent Document 2 use a metal magnetic material such as iron powder as the fine particles of the ferromagnetic material, the relative specific gravity of the magnetic fluid is large. There was a problem of becoming.
- the conventional magnetic fluid alone has a problem that the viscosity and shear strength of the magnetic fluid when magnetized are relatively small.
- the gripper 70 described in Non-Patent Document 2 has an advantage that it is relatively light in weight and can easily grip an object, but the gripping force is relatively small, and the jamming phenomenon that generates the gripping force is a vacuum generation. Since the low atmospheric pressure generated by the vessel is used, there is a problem that it is difficult to use in the case where the ambient atmospheric pressure fluctuates, in a place where the pressure is high such as underwater, or in an environment where the temperature easily changes.
- the present invention has been made in view of such circumstances, and provides a modified magnetic fluid having a relative specific gravity smaller than that of a conventional magnetic fluid and having a large gripping force (shear strength) when used in a gripper, and the like. It is an object of the present invention to provide a gripping mechanism and a gripping device using a modified magnetic fluid.
- the modified ferrofluid according to the first invention that meets the above object is a magnetic fluid having a base liquid and ferromagnetic fine particles present in a dispersed state in the base liquid, and larger than the size of the ferromagnetic fine particles.
- a nonmagnetic powder smaller than the specific gravity of the ferromagnetic fine particles is mixed to improve the holding strength during magnetization.
- the nonmagnetic powder is preferably made of glass, plastic, or ceramic powder. Furthermore, in the modified magnetic fluid according to the first invention, the nonmagnetic powder is preferably made of foamed plastic. Of course, the non-magnetic powder does not dissolve or react with the base fluid of the magnetic fluid.
- the nonmagnetic powder preferably has a particle size of 2 mm or less.
- the ratio of the magnetic fluid in the modified magnetic fluid is preferably in the range of 40 to 80%.
- MR fluid can also be used as the magnetic fluid.
- a gripping mechanism uses the modified magnetic fluid according to the first invention described above, and has a flexible bag body containing the modified magnetic fluid, and one side of the bag body And an electromagnet capable of applying a magnetic field to the bag.
- the electromagnet has a central magnetic pole part, a bottomed cylindrical yoke part around the center magnetic pole part, and a coil wound around the magnetic pole part, and the open end of the yoke part It is preferable that the bag body filled with the modified magnetic fluid is attached in a sealed state.
- a filling rate of the modified magnetic fluid into the bag body is 40 to 70%.
- the bag body has a hemispherical shape with a flange.
- the gripping mechanism according to the second invention described above is attached to the front side of the robot arm.
- the gripping mechanism according to the second aspect of the present invention described above is provided in the holding portion of the robot that can control the interval, and is opposed to each other.
- the non-magnetic powder larger than the size of the ferromagnetic fine particles and smaller than the specific gravity of the ferromagnetic fine particles is mixed in the conventional magnetic fluid. Smaller than magnetic fluid.
- the non-magnetic powder having a large size acts as an aggregate, and the retention force and shear strength during magnetization of the modified magnetic fluid increase.
- the non-magnetic powder when the non-magnetic powder is composed of glass, plastic or ceramic powder, the non-magnetic powder becomes lighter and the non-magnetic powder with uniform grains can be easily obtained. And the physical properties of the modified ferrofluid are made more uniform. Further, when the nonmagnetic powder is spherical, and the nonmagnetic powder is made of foamed plastic, the specific gravity of the modified magnetic fluid is further reduced and the physical properties are made uniform.
- a gripping mechanism uses the modified magnetic fluid according to the first invention described above, and has a flexible bag body in which the modified magnetic fluid is stored, and is disposed on one side of the bag body. Since the bag body has an electromagnet capable of applying a magnetic field, a part or all of the object can be held in the bag body while maintaining its shape.
- the gripping mechanism according to the second invention when the filling rate of the modified magnetic fluid into the bag body is 40 to 70%, the surface of the bag body is uneven, so that the object can be easily fitted and large. If the length is within a certain range, an arbitrary object can be gripped.
- the gripping mechanism according to the second invention described above since the gripping mechanism according to the second invention described above is attached to the front side of the robot arm, the gripping mechanism can be freely moved and its posture can be changed. .
- (A) is a perspective view of a gripping mechanism according to an embodiment of the present invention, and (B) is a main sectional view of the gripping mechanism.
- (A) is a perspective view of the electromagnet of the gripping mechanism, and (B) is a cross-sectional view of the electromagnet of the gripping mechanism.
- It is a perspective view of the holding device which attached the holding mechanism to the robot arm of an articulated robot.
- (A) is a graph showing the relationship between the ratio of the magnetic fluid (MR fluid) in the modified magnetic fluid and the gripping force
- (B) is a graph showing the relationship between the particle size of the nonmagnetic powder and the holding force.
- (A) is operation
- (B) is operation
- a gripping mechanism 10 includes a flexible bag body 12 in which a modified magnetic fluid 11 is stored, and a bag body 12. And an electromagnet 13 for applying a magnetic field to the bag body 12.
- the electromagnet 13 includes a magnetic pole portion 15 made of a magnetic material disposed in the center and a yoke portion 16 made of a bottomed cylindrical magnetic material around the magnetic pole portion 15. And a coil 17 wound around the magnetic pole part 15 and a magnetic pole plate part 15 a having a diameter larger than that of the magnetic pole part 15 provided at the open end of the magnetic pole part 15.
- the bag body 12 is made of a rubber sheet or plastic sheet having oil resistance, non-magnetism, and flexibility such as silicon rubber, and has a hemispherical portion 18 and a flange portion 19 integrally provided at the end of the hemispherical portion 18. It has a hemispherical sheet with a flange.
- the diameter D of the hemispherical portion 18 is preferably about 30 to 80 mm, but the present invention is not limited to this number because it varies depending on the object to be grasped.
- the bag body 12 has a thickness of about 0.3 to 2 mm, for example.
- the bag body 12 is provided in the lower part of the electromagnet 13 by the 1st, 2nd attachment members 22 and 23 which clamp the flange part 19. As shown in FIG. That is, the first attachment member 22 is screwed to the lower end of the yoke portion 16, and the first attachment member 22 and the second attachment member 23 are connected by the plurality of bolts 24 via the flange portion 19. As a result, the bag 12 is attached to the open end of the yoke portion 16 in a sealed state.
- the bag body 12 contains a modified magnetic fluid 11 according to an embodiment of the present invention.
- the amount of the modified magnetic fluid 11 is smaller than this range, the total amount of the modified magnetic fluid 11 is insufficient, and when the amount of the modified magnetic fluid 11 is larger than this range, the holding space for the bag 12 is small.
- the amount of the modified magnetic fluid 11 may exceed this range depending on the application.
- the modified magnetic fluid 11 is made by mixing a nonmagnetic powder with a normal magnetic fluid in which ferromagnetic fine particles exist in a dispersed state in a base liquid.
- a normal magnetic fluid is composed of ferromagnetic fine particles such as magnetite and manganese zinc ferrite, a surfactant covering the surface, and a base liquid (for example, water, isoparaffin, alkylnaphthalene or other oil).
- a base liquid for example, water, isoparaffin, alkylnaphthalene or other oil.
- the diameter of the ferromagnetic fine particles is about 10 nm, 10 nm to 200 ⁇ m, more preferably about 100 to 200 ⁇ m.
- the non-magnetic powder is larger in size and smaller in specific gravity than the ferromagnetic fine particles.
- particles of expanded polystyrene which is an example of expanded plastic, were used.
- FIG. 4A shows the holding force of the bag 12 when the volume ratio of the magnetic fluid (using MR fluid) and the nonmagnetic powder is changed
- FIG. 4B shows the magnetic fluid and the nonmagnetic material.
- the relationship between the size of the nonmagnetic powder and the gripping force of the bag body 12 when the ratio to the powder is 1: 1 is shown.
- the volume of the nonmagnetic powder is an apparent volume.
- FIG. 4 (A) shows that the retention force of the modified magnetic fluid is large when the proportion of the magnetic fluid in the modified magnetic fluid is in the range of 40 to 80%.
- FIG. 4B shows that the nonmagnetic powder has a large holding force when the particle diameter is 2 mm or less. From FIG.
- the holding force shows the maximum value when the particle diameter of the nonmagnetic powder is 0.5 mm, but it is sufficient if it is larger than the diameter of the ferromagnetic fine particles (for example, 5 times or more, that is, 50 nm or more). It is considered that the gripping force is demonstrated.
- FIG. 5A shows a non-magnetic field state and a magnetic field state using the modified magnetic fluid 11.
- the magnetic fluid 27 mixed liquid of the base liquid and the ferromagnetic fine particles 25
- the nonmagnetic powder 26 acts as an aggregate, and its holding strength and shear strength are increased.
- FIG. 5B shows the behavior of the non-magnetic field state and the magnetic field state when the conventional magnetic fluid 27 is used.
- the ferromagnetic fine particles 25 freely move, and in the magnetic field state, the ferromagnetic fine particles 25 are connected.
- the 5A and 5B are schematic diagrams for explanation, and the densities of the ferromagnetic fine particles 25 and the nonmagnetic powder 26 are actually denser.
- FIG. 6 shows the gripping force when the type and size of the non-magnetic powder of the modified magnetic fluid using magnetic fluid (MR fluid) are changed.
- Nika beads (trade name, carbon microbeads) 0.0221 mm have a strong holding force, but even foamed polystyrene 0.5 mm shows a sufficient holding force.
- FIG. 3 shows a gripping device 30 using the gripping mechanism 10 described above, and the gripping mechanism 10 is attached to the front side of the robot arm 32 of the articulated robot 31.
- the gripping mechanism 10 is freely moved at a specific position and angle to grip the object. That is, the bag body 12 of the gripping mechanism 10 is placed on the object, a part or all of the object is placed in the recess of the bag body 12, the electromagnet 13 is energized, and the modified magnetic fluid 11 is magnetized.
- the electromagnet 13 is preferably a strong magnet (eg, 0.05 to 0.3 T) that does not cause magnetic saturation of the ferromagnetic fine particles, but can be applied from a weak magnetic field to a strong magnetic field depending on the application.
- the modified magnetic fluid 11 holds the gripped state, and the object can be moved by the robot arm 32.
- the electromagnet 13 is de-energized, the shape of the bag 12 is freed, and the object can be placed at a predetermined position.
- FIG. 7 shows a gripping device 36 in which the gripping mechanism 10 is attached to the holding portions 34 and 35 of the robot whose distance can be changed by a motor or a hydraulic cylinder, and the gripping mechanism 10 is opposed to the gripping mechanism 10.
- the object By sandwiching the object from both sides with the bag body 12 of the gripping mechanism 10 and energizing the electromagnet 13, the object can be held between the paired gripping mechanisms 10.
- reference numeral 37 denotes a mounting flange for attaching the gripping device 36 to a robot arm or the like
- 38 denotes a casing
- 39 denotes an operation handle.
- the present invention is not limited to the above-described embodiments, and the configuration thereof can be changed without changing the gist of the present invention.
- foamed polystyrene is used as the nonmagnetic powder, but other foamed plastics, nonfoamed plastics, glass, ceramic powders (accurately, aggregated particles), carbon particles, and the like can be used.
- the shape of the electromagnet and the shape of the bag can be freely changed according to the application.
- the modified magnetic fluid according to the present invention can be used for a magnetic fluid seal (rotary shaft seal), a damper, a speaker, a sensor, a specific gravity difference separation, and the like in addition to the gripping mechanism as described above.
- the gripping mechanism and the gripping device can be used for a transporter, an actuator, and the like in a special place such as a factory.
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Abstract
Description
特許文献3には、このような磁性流体の構成及びその製造方法が開示され、特許文献4には、この磁性流体を用いた物品の把持装置も提案されている。
非特許文献2に記載されているグリッパ70は、比較的重量も軽く、対象物を簡単に把持できるという利点はあるが、把持力は比較的小さく、更に把持力を発生させるジャミング現象は真空発生器によって発生する低気圧を利用するため、周囲の気圧が変動する場合や、水中などの圧力の高い場所、気温が変化しやすい環境などでは、利用が困難であるという問題が存在する。
また、第1の発明に係る改質磁性流体において、該改質磁性流体中の前記磁性流体の割合は、40~80%の範囲にあるのが好ましい。更に前記磁性流体として、MR流体を使用することもできる。
また、第2の発明に係る把持機構において、前記袋体はフランジ付きの半球状となっているのが好ましい。
また、非磁性粉体を球状とした場合、非磁性粉体を発泡プラスチックから構成した場合は、より改質磁性流体の比重が軽減し、物理的性質も均一化する。
袋体12は、シリコンゴム等の耐油性、非磁性、かつ柔軟性を有するゴムシート又はプラスチックシートからなって、半球部18と半球部18の端部に一体的に設けられたフランジ部19を有して、フランジ付きの半球状シートとなっている。半球部18の直径Dは30~80mm程度が好ましいが、把持する対象物によって異なるので、本発明はこの数字には限定されない。なお、袋体12の厚みは例えば0.3~2mm程度である。
非磁性粉体は、強磁性体微粒子よりサイズが大きくて比重の小さい、この実施例では、発泡プラスチックの一例である発泡ポリスチレンの粒子を用いた。
図4(B)から非磁性粉体の粒子径が0.5mmのとき保持力が最大値を示すが、強磁性体微粒子の径より大きければ(例えば、5倍以上、即ち50nm以上)、十分な把持力を発揮するものと考えられる。
なお、図5(A)、(B)は説明のための模式図であって、実際は強磁性体微粒子25、非磁性粉体26の密度はより密である。
また、電磁石の形状、袋体の形状も用途に応じて自由に変えることができる。
Claims (12)
- ベース液と、該ベース液中に分散状態で存在する強磁性体微粒子とを有する磁性流体に、前記強磁性体微粒子のサイズより大きく該強磁性体微粒子の比重より小さい非磁性粉体を混入し、磁化時の保持強度を向上したことを特徴とする改質磁性流体。
- 請求項1記載の改質磁性流体において、前記非磁性粉体は、ガラス、プラスチック又はセラミックのパウダーからなることを特徴とする改質磁性流体。
- 請求項1記載の改質磁性流体において、前記非磁性粉体は発泡プラスチックからなることを特徴とする改質磁性流体。
- 請求項1~3のいずれか1記載の改質磁性流体において、前記非磁性粉体の粒径は2mm以下であることを特徴とする改質磁性流体。
- 請求項1~4のいずれか1記載の改質磁性流体において、該改質磁性流体中の前記磁性流体の割合は、40~80%の範囲にあることを特徴とする改質磁性流体。
- 請求項1~5のいずれか1記載の改質磁気流体において,前記磁性流体はMR流体であることを特徴とする改質磁気流体。
- 請求項1~6のいずれか1記載の改質磁性流体を用いる把持機構であって、前記改質磁性流体が収納された柔軟性を有する袋体と、該袋体の一側に配置され前記袋体に磁場をかけることが可能な電磁石とを有する把持機構。
- 請求項7記載の把持機構において、前記電磁石は中央の磁極部とその周囲にある有底円筒状のヨーク部と前記磁極部に巻回されたコイルとを有し、前記ヨーク部の開放端に前記改質磁性流体が充填された前記袋体が密封状態で取付けられていることを特徴とする把持機構。
- 請求項8記載の把持機構において、前記袋体への前記改質磁性流体の充填率は40~70%であることを特徴とする把持機構。
- 請求項7~9のいずれか1記載の把持機構において、前記袋体はフランジ付きの半球状となっていることを特徴とする把持機構。
- 請求項7~10のいずれか1記載の把持機構を、ロボットアームの先側に取付けたことを特徴とする把持装置。
- 請求項7~10のいずれか1記載の把持機構を、間隔を制御できるロボットの挟持部にそれぞれ設けて、対向させたことを特徴とする把持装置。
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DE112015001563.9T DE112015001563T5 (de) | 2014-03-31 | 2015-03-27 | Modifiziertes magnetisches Fluid und Greifmechanismus und Greifvorrichtung unter Verwendung dieses modifizierten magnetischen Fluids |
JP2016511626A JP6385014B2 (ja) | 2014-03-31 | 2015-03-27 | 改質磁性流体及びこの改質磁性流体を用いた把持機構並びに把持装置 |
CN201580017568.7A CN106165029B (zh) | 2014-03-31 | 2015-03-27 | 改性磁性流体、使用了该改性磁性流体的把持机构以及把持装置 |
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JP2017116266A (ja) * | 2015-12-21 | 2017-06-29 | 三菱電機株式会社 | 測定装置、測定方法 |
JP2018202575A (ja) * | 2017-06-08 | 2018-12-27 | 国立大学法人東北大学 | 変形装置 |
JP7142897B2 (ja) | 2018-06-01 | 2022-09-28 | 国立大学法人東北大学 | ジャミンググリッパ |
US11571779B2 (en) | 2018-06-21 | 2023-02-07 | University Of Florida Research Foundation, Incorporated | Magnetic-field-guidance system |
CN109230524A (zh) * | 2018-07-19 | 2019-01-18 | 中国科学院长春光学精密机械与物理研究所 | 一种柔性抓捕机构 |
WO2020032158A1 (ja) * | 2018-08-08 | 2020-02-13 | ユニプレス株式会社 | 把持装置、及びロボット装置 |
JP7403130B2 (ja) | 2018-08-08 | 2023-12-22 | ユニプレス株式会社 | 把持装置、及びロボット装置 |
FR3092513A1 (fr) * | 2019-02-13 | 2020-08-14 | Psa Automobiles Sa | Dispositif de préhension à membrane et électroaimants |
FR3103724A1 (fr) * | 2019-11-28 | 2021-06-04 | Psa Automobiles Sa | Outil de prehension electromagnetique polyvalent et deformable |
JP7403763B2 (ja) | 2019-12-09 | 2023-12-25 | 国立大学法人東京工業大学 | 吸着装置及びその制御プログラム |
US20220195883A1 (en) * | 2020-12-18 | 2022-06-23 | General Electric Company | Turbomachine clearance control using magnetically responsive particles |
US11434777B2 (en) * | 2020-12-18 | 2022-09-06 | General Electric Company | Turbomachine clearance control using magnetically responsive particles |
CN113172600A (zh) * | 2021-04-28 | 2021-07-27 | 苏州大学 | 一种磁性液态金属制备方法、微夹持器及夹持方法 |
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JP6385014B2 (ja) | 2018-09-05 |
JPWO2015152062A1 (ja) | 2017-04-13 |
CN106165029B (zh) | 2018-06-15 |
DE112015001563T5 (de) | 2017-02-23 |
CN106165029A (zh) | 2016-11-23 |
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