Magnetic liquid metal preparation method, micro gripper and clamping method

A liquid metal, micro-grip technology, applied in chucks, manufacturing tools, micro-manipulators, etc., can solve the problems of lack of variable stiffness and inability to directly apply flexible robot grippers

Pending Publication Date: 2021-07-27
SUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Room temperature liquid metal gallium and its eutectic alloys have high electrical / thermal conductivity, large surface tension, good fluidity and low toxicity; but pure liquid metals do not have the characteristics of variable stiffness, so they cannot be directly applied to flexible robot gripping device research

Method used

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  • Magnetic liquid metal preparation method, micro gripper and clamping method
  • Magnetic liquid metal preparation method, micro gripper and clamping method
  • Magnetic liquid metal preparation method, micro gripper and clamping method

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Embodiment Construction

[0031] The technical solution of this patent will be further described in detail below in conjunction with specific embodiments.

[0032] Such as figure 1 Shown, a kind of magnetic liquid metal preparation method of the present invention, it comprises the following steps:

[0033] 1) Take the liquid metal 11 whose weight part is A and put it into the container 12, as shown in figure (a);

[0034] 2) Take the metal powder 13 that is B by weight and put it into the container 12, as shown in figure (b); wherein the optimal value of the ratio of A and B is 10:3; the metal powder 13 is a single non-magnetic ferromagnetic Metals or mixtures of at least one non-magnetic ferromagnetic metal and other metals, such as iron powder, or copper-iron alloy powder, the particle size of the metal powder is about 100nm;

[0035] 3) Add hydrochloric acid 14 into the container until the liquid metal and metal powder are submerged, as shown in figure (c); hydrochloric acid is used to remove the ...

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Abstract

The invention discloses a magnetic liquid metal preparation method, a micro gripper and a clamping method. The magnetic liquid metal preparation method comprises the following steps that (1) liquid metal with the weight part being A is taken and put into a container; (2) metal powder with the weight part being B is taken and put into the container; (3) an acid solution is added into the container till the liquid metal and the metal powder are submerged; (4) stirring is performed until the liquid metal and the metal powder are fully mixed; and (5) water is added to clean the acid solution so as to remove the acid solution to obtain magnetic liquid metal. The preparation method has the following beneficial effects that viscosity and rigidity of the prepared magnetic liquid metal can quickly respond to stimulation of an applied magnetic field, and the magnetic liquid metal has reversible change from liquid to semisolid or solid. By changing the magnetic field intensity, the Young modulus can be adjusted from the kPa level to the MPa level, and when the iron density in the LMMS is higher, the GPa level can be achieved. Therefore, the magnetic liquid metal has the characteristics of magnetic controllability and variable stiffness, and has infinite potential in the field of flexible robots.

Description

technical field [0001] The invention relates to a preparation method of magnetic liquid metal, a micro-clamp using the magnetic liquid metal and a clamping method of the micro-clamp. Background technique [0002] In recent years, flexible robotic grippers have become a research hotspot at home and abroad. Conventional robot grippers are all made of rigid materials, but encounter many limitations under many specific requirements, such as some narrow passages, uneven ground, or targets in liquids. Liquid metal combines the advantages of liquid and metal, and has the characteristics of miniature, light, flexible, etc., and has great potential in the field of flexible robot grippers. Room temperature liquid metal gallium and its eutectic alloys have high electrical / thermal conductivity, large surface tension, good fluidity and low toxicity; but pure liquid metals do not have the characteristics of variable stiffness, so they cannot be directly applied to flexible robot gripping...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J7/00B25J15/06
CPCB25J7/00B25J15/0608B65G47/92H01F1/442
Inventor 李相鹏周江霞王凯威
Owner SUZHOU UNIV
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