基于微型泵和颗粒阻塞的通用柔性微夹钳设计  

Design of Universal Flexible Micro-clamp Based on Micro-pump and Particle Blockage

作　　者：洪君 宋小春[2] HONG Jun;SONG Xiaochun(School of Digital Science,Shanghai Lida University,Shanghai 201608,China;School of Mechanical Engineering,Hubei University of Technology,Wuhan Hubei 430068,China)

机构地区：[1]上海立达学院数字科学学院,上海201608 [2]湖北工业大学机械工程学院,湖北武汉430068

出　　处：《机床与液压》2024年第17期150-155,共6页Machine Tool & Hydraulics

基　　金：湖北省科技创新重大专项项目资助(2020ZYYD035)。

摘　　要：针对自动化分拣系统中夹持装置很难实现微型化的问题,提出并制备一种通用柔性微夹钳。研究利用电共轭流体产生的射流和颗粒材料产生的堵塞实现柔性抓取的工作原理。微夹钳的整体结构包括1个带有电共轭流体射流发生器的微型泵和1个小型颗粒阻塞夹持器。通过调节微型泵中薄膜中的气压,颗粒阻塞夹持器可以迅速抓取各种尺寸和形状的物体。通过弹性膜的变形分析,推导出微夹钳数学模型并验证其抓取性能。最后,制备的微夹钳原型的外径为14 mm,总长度为40 mm,末端直径为10 mm。研究结果表明:选取二乙二醇丁醚醋酸酯作为工作液时,在颗粒材料填充率为50%且电压为4 kV的条件下,微夹钳的最大抓取力为93 mN,可在0.6 s内迅速完成多种形状精密件的抓取。Aiming at the problem that it is difficult to realize miniaturization of clamping device in automatic sorting system,a universal flexible micro-clamp was proposed and prepared.The working principle of realizing flexible grasping by using the jet generated by electrically conjugated fluid and the blocking phenomenon of particle materials was studied.The overall structure of the micro-clamp was given,including a micro-pump with an electrically conjugated fluid jet generator and a small particle blocking gripper.By adjusting the air pressure in the film with a micro-pump,the particle blocking gripper could quickly grab objects with various sizes and shapes.Through the deformation of elastic membrane and the change of volume and pressure,the mathematical model of micro-clamp was obtained and the pressure provided by micro-pump was verified to be enough to realize the grasping performance of particle blocking gripper.Finally,the outer diameter of the micro-clamp prototype is 14 mm,the total length is 40 mm,and the end diameter is 10 mm.The results show that when diethylene glycol butyl ether acetate is selected as the working fluid,the maximum grasping force of the micro-clamp is 93 mN when the filling rate of granular material is 50%and the voltage is 4 kV,and the precision parts with various shapes can be grasped quickly in 0.6 s.

关 键 词：微型泵 电共轭流体 微夹钳 颗粒阻塞 射流发生器 

分 类 号：TH138[机械工程—机械制造及自动化]