Flexible electrostatic adsorption end effector

Abstract

The invention discloses a flexible electrostatic adsorption end effector, which comprises a limit and guide cylinder, a lifting plate and at least two electrostatic adsorption diaphragms, wherein the lifting plate is in sliding fit with the inner part of the limit and guide cylinder in a way that the lifting plate can be driven to move up and down, and the electrostatic adsorption diaphragms are arranged along the circumference of the lifting plate; when the lifting plate slides upward along the limit and guide cylinder, the electrostatic adsorption diaphragms retract into the limit and guide cylinder, and wrap and cling to an object; when a workpiece needs to be clamped, the lifting plate is driven to move upward along the inner part of the limit and guide cylinder, so that the electrostatic adsorption diaphragms are driven to retract into the limit and guide cylinder, consequently, the electrostatic adsorption diaphragms can wrap the object to be adsorbed, and each electrostatic adsorption film is then electrified and generates static electricity, and thereby clings to the surface of the object to grab the object. The flexible electrostatic adsorption end effector is easy to implement and simple to operate, moreover, the plurality of electrostatic adsorption films arranged along the circumference of the lifting plate can effectively adsorb and clamp the object to be adsorbed, and thereby the stability and safety of operation are guaranteed.

Description

technical field [0001] The invention relates to workpiece adsorption and clamping equipment, in particular to a flexible electrostatic adsorption end effector for electrostatic adsorption of workpieces. Background technique [0002] Electrostatic adsorption refers to the phenomenon that when a tiny non-static object is close to the static object, due to the phenomenon of electrostatic induction, the end close to the static object induces the opposite electric property to the electrostatic object, and is attracted to attach to the electrostatic object. . In the prior art, electrostatic adsorption mostly uses electrostatic adsorption plates or sheets to adsorb smaller objects, which is not suitable for clamping and adsorbing larger workpieces; some existing electrostatic adsorption devices mainly use planar rigid The electrostatic adsorption plate realizes the adsorption of plate-shaped objects, and the requirements for the shape of the adsorbed workpiece are too high. It can...

AI Technical Summary

Problems solved by technology

In the prior art, electrostatic adsorption mostly uses electrostatic adsorption plates or sheets to adsorb smaller objects, which is not suitable for clamping and adsorbing larger workpieces; some existing electrostatic adsorption devices mainly use planar rigid The electrostatic adsorption plate realizes the adsorption of plate-shaped objects, and the requirements for the shape of the adsorbed workpiece are too high. It cannot be used on irregular-shaped workpieces, or round or cylindrical workpieces. The scope of use is limited, and it cannot form effective adsorption. The adsorption effect Can not be guaranteed, work safety cannot be effectively guaranteed, prone to danger

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