颗粒物塑形负压吸盘的设计与研究
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摘要
在气压传动系统中,负压吸盘是实用有效的真空元件。大多数负压吸盘针对平面形接触面而设计,无法保证粗糙表面的气密性。为解决这一问题,提出一种基于颗粒物塑形原理的负压吸盘。该吸盘利用刚度可控的阻塞技术,将颗粒物填充于硅胶软膜内,并在软膜内部镶嵌类软骨结构。当吸盘与平面物体接触时,硅胶气囊充气膨胀并贴合物体表面三维轮廓。完全贴合后固化颗粒物并利用负压实现适形吸附式夹持,适用于多种材质和形状的表面。通过对光滑表面物体和粗糙表面物体的吸附测试,验证了吸盘的气密性和适形能力。负压塑形吸取技术方案可为气动真空元件的设计提供有益参考。
In a pneumatic power system,a negative vacuum pad is an effective vacuum component. Most of vacuum pads are designed for objects with flat surfaces,and air leakage is found in objects with rough surfaces. A negative vacuum pad is proposed on the basis of jamming particle shaping technology. The jamming particles are filled in a membrane of vacuum pad and in which a cartilage-like structure is embedded. When the pad contacts with a gripped object,it conforms to the shape of the object. After the pad and the object are fully contacted,the conformal adsorption type clamping is realized by negative pressure. For objects with rough surfaces,granular materials achieve solid and rigid constraints between the gripper and the target object by application of negative pressure. Through the adsorption tests on objects with rough surfaces and smooth surfaces,the tightness and conformability of pad are validated. The suction principle using granular shaping and negative pressure as well as the proposed prototype provides a reference for designing pneumatic vacuum components.
In a pneumatic power system,a negative vacuum pad is an effective vacuum component. Most of vacuum pads are designed for objects with flat surfaces,and air leakage is found in objects with rough surfaces. A negative vacuum pad is proposed on the basis of jamming particle shaping technology. The jamming particles are filled in a membrane of vacuum pad and in which a cartilage-like structure is embedded. When the pad contacts with a gripped object,it conforms to the shape of the object. After the pad and the object are fully contacted,the conformal adsorption type clamping is realized by negative pressure. For objects with rough surfaces,granular materials achieve solid and rigid constraints between the gripper and the target object by application of negative pressure. Through the adsorption tests on objects with rough surfaces and smooth surfaces,the tightness and conformability of pad are validated. The suction principle using granular shaping and negative pressure as well as the proposed prototype provides a reference for designing pneumatic vacuum components.
引文
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[13]BROWN E,RODENBERG N,AMEND J,et al.Universal Robotic Gripper Based on the Jamming of Granular Material[J].Proceedings of the National Academy of Sciences,2010,107(44):18809-18814.
[2]韩建梅,章琛.真空吸盘的设计与应用[J].机床与液压,1992,(3):143-146.HAN Jianmei,ZHANG Chen.Design and Application of Vacuum Cup[J].Machine Tool&Hydraulics,1992,(3):143-146.
[3]王悦,张惠忠,智明丹,等.基于真空吸盘提升技术实现瓦楞纸箱自动码垛[J].包装工程,2016,(23):111-115.WANG Yue,ZHANG Huizhong,ZHI Mingdan,et al.Automatic Stacking of Corrugated Carton by Lifting Technology with Vacuum Sucker[J].Packing Engineering,2016,(23):111-115.
[4]郭钟华.接触式真空吸取技术研究现状与发展趋势[J].真空,2015,52(2):14-17.GUO Zhonghua.Reasearch Status and Development Trend of the Contact Vacuum Suction Technology[J].Vacuum,2015,52(2):14-17.
[5]岳俊英,刘云飞.真空吸盘技术在搬运薄钛板材中的应用[J].有色设备,2007,(3):17-18.YUE Junying,LIU Yunfei.Application of Vacuum Sucker on Transportation of the Ti Sheet[J].Non-ferrous Metallurgical Equipment,2007,(3):17-18.
[6]钟欣.新型聚氨酯吸盘器寿命长[J].工程塑料应用,2005,33(2):42.ZHONG Xin.The New Polyurethane Suction Cup has Long Service Life[J].Engineering Plastic Application,2005,33(2):42.
[7]ELSAYED Y,VINCENSI A,LEKAKOU C,et al.Finite Element Analysis and Design Optimization of a Pneumatically Actuating Silicone Module for Robotic Surgeryapplications[J].Soft Robotics,2014,1(4):255-262.
[8]赵艳妮,孙东明,许平,等.多唇边式真空吸盘的设计[J].真空,2008,45(6):47-49.ZHAO Yanni,SUN Dongming,XU Ping,et al.Design of a Multi-lip Vacuum Sucker[J].Vacuum,2008,45(6):47-49.
[9]苗登雨,周新,张志伟,等.真空吸盘式多功能抓取装置的设计[J].包装与食品机械,2016,(6):39-42.MIAO Dengyu,ZHOU Xin,ZHANG Zhiwei,et al.Design of Vacuum Cup Multifunctional Grab Device[J].Packing and Food Machinery,2016,(6):39-42.
[10]QIU Kun,LIU Ruyuan,CONG Qian.The Analysis of the Octopus Sucker Non-smooth Surface's Seal Mechanism[C].Proceedings of the 2nd National Conference on Information Technology and Computer Science,2015:457-464.
[11]LIU A J,NAGEL S R.Nonlinear Dynamics:Jamming is Not Just Cool any More[J].Nature,1998,396(6706):21-22.
[12]AMEND JR,BROWN E,RODENBERG N,et al.A Positive Pressure Universal Gripper Based on the Jamming of Granular Material[J].IEEE Transactions on Robotics,2012,28(2):341-350.
[13]BROWN E,RODENBERG N,AMEND J,et al.Universal Robotic Gripper Based on the Jamming of Granular Material[J].Proceedings of the National Academy of Sciences,2010,107(44):18809-18814.