CN106926264B - A grasping device for increasing the adhesion of flexible glue - Google Patents

Abstract

The grabbing device for increasing the adhesion force of the flexible glue comprises an electromagnet, wherein a supporting rod is arranged above the electromagnet, the supporting rod is hinged with a supporting column, a spring is arranged between the supporting rod and the electromagnet, and a limiting block is arranged between the supporting column and the supporting rod; a baffle is hinged below the electromagnet and is movably connected with the support rod through a connecting rod; the lower part of the baffle is provided with a composite flexible colloid which consists of a flexible colloid and an embedded elastic iron sheet, and two ends of the composite flexible colloid are connected with two ends of the support rod through pull ropes. When the composite flexible colloid is in a non-working state, the composite flexible colloid is in an arc upward-pulling state; when the composite flexible colloid is in a working state, the composite flexible colloid is in a horizontal state through the attraction of the electromagnet, so that the rigidity of the flexible colloid is increased, the grabbing force of the composite flexible colloid on a grabber is more uniform, and the adhesive force of the composite flexible colloid on the grabber is enhanced.

Description

A grasping device that increases the adhesion of flexible glue

technical field

The invention relates to a material grabbing device, in particular to a grabbing device for increasing the adhesive force of flexible glue.

Background technique

In terms of object grasping, the traditional method is to use a mechanical gripper structure or a vacuum suction cup, but these common techniques have some defects. The mechanical gripper realizes the clamping action of the object through the precise control of each mechanical part. To achieve this action, it needs to mechanically "squeeze" the contact surface of the object. Clamping of damaged objects. Vacuum suction cups also have many limitations when grabbing objects. For example, the application of vacuum suction cups requires the surface of the object to be grasped to be smooth, dry and clean, which also limits the application of vacuum suction cups.

Flexible colloid is a kind of self-adhesive silicone, which not only has the advantages of stable chemical properties, strong mechanical strength, and high elasticity, but also has strong self-adhesiveness, and is not easy to crack and degumming. In addition, thermoplastic polyurethane rubber can also be selected as the flexible colloid. This material is similar to the material of the toy "sticky hand", and has the properties of high elasticity, high toughness, high strength and high viscosity.

Although the flexible colloid has a certain adhesive force, it still needs to improve its adhesive ability when it is applied to material grasping, so as to enhance the reliability of grasping.

Contents of the invention

In order to solve the deficiencies in the prior art, a grasping device for increasing the adhesion of flexible glue is provided. The grasping device has a reasonable structure and can effectively improve the adhesion of flexible glue.

To achieve the above object, the present invention adopts the following technical solutions:

A grasping device for increasing the adhesive force of flexible glue, comprising an electromagnet, the electromagnet is installed on a support column, a support rod is arranged above the electromagnet, the support rod is hinged to the support column, and a spring is arranged between the support rod and the electromagnet , an iron block is provided at the fixed spring on the support rod, and a limit block is provided between the support column and the support rod; a baffle is hinged on the support column below the electromagnet, and the baffle and the support rod are movably connected through a connecting rod; A composite flexible colloid is provided below, and the composite flexible colloid is composed of a flexible colloid and an embedded elastic iron sheet.

The composite flexible colloid is composed of a flexible colloid and an embedded elastic iron sheet. In the non-working state, the composite flexible colloid presents an arc pulling state; while in the working state, it is attracted by the electromagnet through the embedded elastic iron sheet, and Through the blocking of the baffle, the composite flexible colloid is in a horizontal state, the rigidity of the flexible colloid is increased, and the grasping force on the grasping object is more uniform, thereby enhancing the adhesion to the grasping object. Through software simulation, it can be concluded that the adhesion force of the flexible colloid when the stiffness is increased is more than several times that when the stiffness is not increased.

Description of drawings

Figure 1 is a schematic diagram of the overall structure.

Figure 2 is a schematic diagram of the structure in the non-working state.

Figure 3 is a schematic diagram of the structure in the working state.

Figure 4 is a schematic diagram of the structure of the composite flexible colloid.

Marked in the figure: 1 electromagnet, 2 spring, 21 iron sheet, 3 support column, 4 limit block, 5 support rod, 6 baffle plate, 7 composite flexible colloid, 71 flexible colloid, 72 elastic iron piece, 8 drawstring , 9 connecting rods.

Detailed ways

A grasping device for increasing the adhesive force of flexible glue, comprising an electromagnet 1, the electromagnet is installed on a support column 3, a support rod 5 is arranged above the electromagnet, the support rod and the support column are hinged, and the gap between the support rod and the electromagnet is A spring 2 is provided, one end of the spring is fixed on the support bar, the other end of the spring is fixed on the electromagnet, an iron block 21 is arranged at the place where the spring is fixed on the support bar, and a limit block 4 is arranged between the support column and the support bar; A baffle 6 is hinged on the support column of the baffle, and the baffle and the support rod are movably connected through a connecting rod 9; a composite flexible colloid 7 is arranged below the baffle, and the composite flexible colloid is composed of a flexible colloid 71 and an embedded elastic iron sheet 72, and the composite The two ends of the flexible colloid are connected with the two ends of the support rod through the stay cord 8 .

The upper end of the support column is connected with the end of the mechanical arm. When the electromagnet is not energized, the grabbing device is in a non-working state. Due to the elastic force of the spring, the support rod and the pull cord are in a state of pulling up, and the baffle is also in a state of upward folding. The composite flexible colloid and baffle embedded with elastic iron sheets The plates are in a detached state.

When the electromagnet is energized, due to the magnetic force, the electromagnet attracts the iron block on the support rod to press the spring, the support rod moves downward, and the limit block limits the position of the support rod. Through the action of the connecting rod, the stopper under the electromagnet The plate is in a flat state, and at the same time, the electromagnet will also attract the elastic iron sheet in the flexible colloid, so that the composite flexible colloid is firmly attached to the bottom of the baffle, which greatly increases the rigidity of the colloid, thereby increasing its surface adhesion. . At this point, the grabs can be attached.

The mechanical arm moves to move the grasped object to the designated position. At this time, the electromagnetic power is cut off. Due to the action of the electromagnetic force, the spring will instantly push the support rod back to its original position, and the support line will also be pulled up. At this time, the composite flexible colloid is separated from the baffle, and the two ends of the composite flexible colloid are instantly lifted under the action of the pull rope, and the adhesion of the colloid to the grasped object will be instantly reduced, so that the grasping force is successfully unloaded. thing.

Claims (1)

1. A grasping device for increasing the adhesion of flexible glue, comprising an electromagnet, characterized in that the electromagnet is mounted on a support column, and two support rods are arranged above the electromagnet, and the two support rods are symmetrically arranged on the support column Both sides are hinged with the support column, a spring is provided between the support column and the electromagnet, an iron block is provided at the fixed spring on the support column, and a limit block is respectively provided between the support column and the two support columns; the support column below the electromagnet The upper hinge has two baffles arranged symmetrically with respect to the support column, and each baffle is movably connected with the corresponding support rod through a connecting rod; a composite flexible colloid is arranged below the two baffles, and the composite flexible colloid is composed of flexible colloid and inner It is composed of embedded elastic iron sheets, and the two ends of the composite flexible colloid are respectively connected with one end of the support rod through a pull rope.