An adsorption device based on a magnetic dielectric elastomer actuator

Abstract

The present invention discloses an adsorption device based on a magnetic dielectric elastomer actuator, which includes a magnetic dielectric elastomer actuator, a support body, and a telescopic electrostatic adsorption sucker. A dielectric elastomer is hermetically fixed in the cavity of the magnetic dielectric elastomer actuator. A first permanent magnet is provided on the lower end surface of the dielectric elastomer. A second permanent magnet is correspondingly fixed in the cavity of the support body. The first permanent magnet and the second permanent magnet have opposite magnetic properties and are separated from each other. It has the characteristics of large adsorption force per unit area, stable operation, strong adaptability, and no noise. It can adsorb and carry objects with different materials, shapes, hardnesses, and roughnesses, and can meet the adsorption performance requirements under different usage conditions by designing dielectric elastomer actuators with different parameters; the structural design is ingenious and reasonable, the adsorption operation steps are simple, and it will not damage the adsorbed and carried items, with high safety and strong practicability.

Description

Technical Field

[0001] The present invention relates to the technical field of grasping devices, and particularly relates to an adsorption device based on a magnetic dielectric elastomer actuator. Background Art

[0002] Traditional mechanical hard grasping methods cause great damage to the target object, and thus the safe and reliable soft handling grasping methods have attracted the interest of scholars. In many occasions, a new type of adsorption and grasping technology that can adapt to various shapes and materials is required. Especially for precision parts, a safe and non-destructive adsorption, grasping and handling method is more needed.

[0003] At present, common soft handling adsorption and grasping methods include magnetic adsorption technology, negative pressure adsorption technology, electrostatic adsorption technology, etc. These adsorption and grasping methods all have deficiencies: magnetic adsorption technology has problems of difficult control and poor adaptability; negative pressure adsorption devices have problems of large overall size and noise in the working state; electrostatic adsorption technology has problems of being unable to adsorb materials that cannot be polarized, small adsorption force per unit area, and no electrostatic adsorption force in a humid and water-containing environment. The present invention aims to propose an adsorption device based on a magnetic dielectric elastomer actuator in order to solve the above technical problems. Summary of the Invention

[0004] The purpose of the present invention is to overcome the defects existing in the prior art and provide an adsorption device based on a magnetic dielectric elastomer actuator, which has the characteristics of large adsorption force per unit area, stable operation, strong adaptability, and no noise. It can adsorb and handle objects with different materials, shapes, hardnesses and roughnesses, and can meet the adsorption performance requirements under different use conditions by designing dielectric elastomer actuators with different parameters; the structural design is ingenious and reasonable, the adsorption operation steps are simple, and it will not cause damage to the adsorbed and handled articles, with high safety and strong practicability.

[0005] To achieve the above purpose, the technical solution of the present invention is to design an adsorption device based on a magnetic dielectric elastomer actuator, including a magnetic dielectric elastomer actuator, a support body and a telescopic electrostatic adsorption chuck. The magnetic dielectric elastomer actuator is hermetically installed at the upper end of the support body, and the telescopic electrostatic adsorption chuck is hermetically installed at the lower end of the support body. The magnetic dielectric elastomer actuator, the support body and the telescopic electrostatic adsorption chuck respectively have mutually penetrating cavities. A dielectric elastomer is hermetically fixed in the cavity of the magnetic dielectric elastomer actuator. A first permanent magnet is provided on the lower end surface of the dielectric elastomer. A second permanent magnet is correspondingly fixed in the cavity of the support body. The first permanent magnet and the second permanent magnet have opposite magnetic polarities and are separated from each other.

[0006] An adsorption device based on a magnetic dielectric elastomer actuator of the present invention has the characteristics of large adsorption force per unit area, stable operation, strong adaptability, and no noise. It can adsorb and transport objects of different materials, shapes, hardnesses, and roughnesses, and can meet the adsorption performance requirements under different usage conditions by designing dielectric elastomer actuators with different parameters; the structural design is ingenious and reasonable, the adsorption operation steps are simple, and it will not damage the adsorbed and transported items, with high safety and strong practicability.

[0007] The preferred technical solution is that the magnetic dielectric elastomer actuator further includes an upper circular clamping plate, a lower circular clamping plate, an upper round clamping plate, and a lower round clamping plate. The support body includes a main body skeleton and a base. Corresponding mounting holes are provided on the upper circular clamping plate, the lower circular clamping plate, and the main body skeleton. The upper circular clamping plate, the lower circular clamping plate, and the main body skeleton are fixedly locked by bolts and nuts. A sealing ring is also provided between the lower circular clamping plate and the main body skeleton. The outer peripheral side of the dielectric elastomer is tightly clamped between the upper circular clamping plate and the lower circular clamping plate. The upper round clamping plate and the lower round clamping plate are correspondingly and tightly clamped at the central positions of the upper and lower side surfaces of the dielectric elastomer. The first permanent magnet is fixedly arranged on the lower end surface of the lower round clamping plate. The base is installed inside the cavity of the main body skeleton. The second permanent magnet is fixedly arranged on the upper end surface of the base. The structural design of the magnetic dielectric elastomer actuator and the support body is ingenious and reasonable. The fixed connection method between the two is simple and has high stability, ensuring the convenience and high efficiency during the assembly of the magnetic dielectric elastomer actuator and the support body and the skeleton stability of the adsorption device.

[0008] A further preferred technical solution is that the support body further includes a thrust block with a cross-section of a T-shaped structure. The vertical section of the thrust block passes through and is fixedly arranged in the central hole of the second permanent magnet, and the outer diameter of the thrust block < the outer diameter of the second permanent magnet. During the working process, when the magnetic dielectric elastomer actuator undergoes the maximum deformation under the excitation of an external electric field, the thrust block can separate the first permanent magnet and the second permanent magnet to avoid excessive magnetic adsorption force between the first permanent magnet and the second permanent magnet, so as to ensure that when the external electric field is removed from the magnetic dielectric elastomer actuator, the dielectric elastomer can quickly recover its elastic deformation.

[0009] A further preferred technical solution is that the cavity of the main body framework includes a conical cavity at the upper end and a circular cavity at the lower end. A threaded structure adapted to each other is provided on the inner wall surface of the circular cavity and the outer side surface of the base. The base is screwed and installed in the circular cavity of the main body framework. Under the excitation of an external electric field, the dielectric elastomer of the magnetic dielectric elastomer actuator deforms into a conical structure. The upper end of the cavity of the main body framework is designed as a conical cavity, which is adapted to the deformation shape of the dielectric elastomer, so that when the adsorption device of the present invention adsorbs an object, the internal cavity has a sufficiently large negative pressure value to ensure the adsorption stability and handling safety of the adsorption device for the object; the base is screwed and installed in the circular cavity of the main body framework, and the height of the second permanent magnet can be adjusted by adjusting the position of the base in the circular cavity of the main body framework, that is, the distance between the first permanent magnet and the second permanent magnet can be flexibly adjusted according to actual needs, improving the flexible applicability of the adsorption device of the present invention.

[0010] A further preferred technical solution is that the dielectric elastomer is formed by interleaving and laminating a plurality of elastomer layers and a plurality of dielectric elastomer electrode layers into one body.

[0011] A further preferred technical solution is that the retractable electrostatic adsorption chuck is adhesively fixed and installed on the lower end surface of the support body.

[0012] A further preferred technical solution is that the retractable electrostatic adsorption chuck is composed of a soft body liner on the upper side and an electrostatic adsorption layer on the lower side, which are adhered by Ecoflex TM 00-10 silicone rubber solution.

[0013] A further preferred technical solution is that the electrostatic adsorption layer sequentially includes a covering layer, an electrostatic adsorption electrode layer and a base layer from top to bottom, and the three are combined into one body by a casting method.

[0014] A further preferred technical solution is that the positive and negative electrodes of the electrostatic adsorption electrode layer are arranged at intervals and staggered with each other.

[0015] A further preferred technical solution is that the first permanent magnet and the second permanent magnet are neodymium iron boron magnets.

[0016] The advantages and beneficial effects of the present invention are as follows:

[0017] 1. An adsorption device based on a magnetic dielectric elastomer actuator of the present invention has the characteristics of large adsorption force per unit area, stable operation, strong adaptability, and no noise. It can adsorb and transport objects of different materials, shapes, hardnesses, and roughnesses, and can meet the adsorption performance requirements under different usage conditions by designing dielectric elastomer actuators with different parameters. The structure design is ingenious and reasonable, the adsorption operation steps are simple, and it will not damage the adsorbed and transported items, with high safety and strong practicability.

[0018] 2. The structural designs of the magnetic dielectric elastomer actuator and the support are ingenious and reasonable. The fixed connection method between the two is simple and has high stability, ensuring the convenience and efficiency during the assembly of the magnetic dielectric elastomer actuator and the support, as well as the framework stability of the adsorption device.

[0019] 3. During the working process, when the magnetic dielectric elastomer actuator undergoes the maximum deformation under the excitation of an external electric field, the thrust block can separate the first permanent magnet and the second permanent magnet, avoiding excessive magnetic adsorption force between the first permanent magnet and the second permanent magnet, so as to ensure that when the external electric field is removed from the magnetic dielectric elastomer actuator, the dielectric elastomer can quickly recover its elastic deformation.

[0020] 4. Under the excitation of an external electric field, the dielectric elastomer of the magnetic dielectric elastomer actuator deforms into a conical structure. The upper end of the cavity of the main body framework is designed as a conical cavity, which is adapted to the deformation shape of the dielectric elastomer, so that the internal cavity of the adsorption device of the present invention has a sufficiently large negative pressure value when adsorbing an item, ensuring the adsorption stability and handling safety of the adsorption device for the item. The base is screwed and installed in the circular cavity of the main body framework, and the height of the second permanent magnet can be adjusted by adjusting the position of the base in the circular cavity of the main body framework, that is, the distance between the first permanent magnet and the second permanent magnet can be flexibly adjusted according to actual needs, improving the flexible applicability of the adsorption device of the present invention. Description of the Drawings

[0021] Figure 1 is a three-dimensional structural schematic diagram of the adsorption device based on the magnetic dielectric elastomer actuator;

[0022] Figure 2 is a sectional view of the adsorption device based on the magnetic dielectric elastomer actuator at the initial position;

[0023] Figure 3 is a sectional view of the adsorption device based on the magnetic dielectric elastomer actuator at the maximum adsorption deformation position;

[0024] Figure 4 is a sectional view of the adsorption device based on the magnetic dielectric elastomer actuator in the adsorption state;

[0025] Figure 5Top view of an adsorption device based on a magnetic dielectric elastomer actuator

[0026] Figure 6 Exploded structural schematic diagram of a magnetic dielectric elastomer actuator

[0027] Figure 7 Exploded structural schematic diagram of a support body

[0028] Figure 8 Exploded structural schematic diagram of a retractable electrostatic adsorption chuck

[0029] Figure 9 Structural schematic diagram of an electrostatic adsorption electrode layer

[0030] In the figure: 1. Magnetic dielectric elastomer actuator; 2. Upper circular clamping plate; 3. Lower circular clamping plate; 4. Upper round clamping plate; 5. Lower round clamping plate; 6. Dielectric elastomer; 7. First permanent magnet; 8. Second permanent magnet; 9. Thrust block; 10. Sealing ring; 11. Support body; 12. Bolt; 13. Nut; 14. Retractable electrostatic adsorption chuck; 15. Electrostatic adsorption layer; 16. Elastomer layer; 17. Dielectric elastomer electrode layer; 18. Main body skeleton; 19. Base; 20. Base layer; 21. Electrostatic adsorption electrode layer; 22. Cover layer; 23. Soft gasket Specific implementation mode

[0031] The following combines the drawings and embodiments to further describe the specific implementation mode of the present invention. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and cannot be used to limit the protection scope of the present invention

[0032] Embodiment 1

[0033] As Figures 1 to 9 shown, the present invention is an adsorption device based on a magnetic dielectric elastomer actuator, including a magnetic dielectric elastomer actuator 1, a support body 11 and a retractable electrostatic adsorption chuck 14. The magnetic dielectric elastomer actuator 1 is hermetically installed at the upper end of the support body 11, and the retractable electrostatic adsorption chuck 14 is hermetically installed at the lower end of the support body 11. The magnetic dielectric elastomer actuator 1, the support body 11 and the retractable electrostatic adsorption chuck 14 respectively have mutually penetrating cavities. A dielectric elastomer 6 is hermetically fixed in the cavity of the magnetic dielectric elastomer actuator 1. A first permanent magnet 7 is provided on the lower end surface of the dielectric elastomer 6. A second permanent magnet 8 is correspondingly fixed in the cavity of the support body 11. The first permanent magnet 7 and the second permanent magnet 8 have opposite magnetic polarities and are separated from each other

[0034] Preferably, the magnetic dielectric elastomer actuator 1 further includes an upper circular clamping plate 2, a lower circular clamping plate 3, an upper circular clamping plate 4, and a lower circular clamping plate 5. The support body 11 includes a main body frame 18 and a base 19. The upper circular clamping plate 2, the lower circular clamping plate 3, and the main body frame 18 are respectively provided with mounting holes. The upper circular clamping plate 2, the lower circular clamping plate 3, and the main body frame 18 are fixedly locked by bolts 12 and nuts 13. A sealing ring 10 is further provided between the lower circular clamping plate 3 and the main body frame 18. The outer peripheral side of the dielectric elastomer 6 is tightly clamped between the upper circular clamping plate 2 and the lower circular clamping plate 3. The upper circular clamping plate 4 and the lower circular clamping plate 5 are correspondingly and tightly clamped at the central positions of the upper and lower side surfaces of the dielectric elastomer 6. The first permanent magnet 7 is fixedly arranged on the lower end surface of the lower circular clamping plate 5. The base 19 is installed inside the cavity of the main body frame 18. The second permanent magnet 8 is fixedly arranged in the groove on the upper end surface of the base 19.

[0035] Further preferably, the support body 11 further includes a thrust block 9 with a cross-section of a T-shaped structure. The vertical section of the thrust block 9 penetrates and is fixedly arranged in the central hole of the second permanent magnet 8, and the outer diameter of the thrust block 9 < the outer diameter of the second permanent magnet 8.

[0036] Further preferably, the cavity of the main body frame 18 includes a conical cavity at the upper end and a circular cavity at the lower end. The inner wall surface of the circular cavity and the outer side surface of the base 19 are provided with mutually adapted thread structures, and the base 19 is screwed and installed in the circular cavity of the main body frame 18.

[0037] Further preferably, the dielectric elastomer 6 is formed by alternately stacking and pressing a plurality of elastomer layers 16 and a plurality of dielectric elastomer electrode layers 17 into one body. For example, a plurality of elastomer layers 16 and a plurality of dielectric elastomer electrode layers 17 are alternately stacked and hot-pressed into the dielectric elastomer 6 by a hot pressing process.

[0038] Further preferably, the retractable electrostatic adsorption chuck 14 is adhesively fixed and installed on the lower end surface of the support body 11.

[0039] Further preferably, the retractable electrostatic adsorption chuck 14 is composed of a soft body liner 23 on the upper side and an electrostatic adsorption layer 15 on the lower side, which are adhered together by Ecoflex TM 00-10 silicone rubber solution.

[0040] Further preferably, the electrostatic adsorption layer 15 sequentially includes a covering layer 22, an electrostatic adsorption electrode layer 21, and a base layer 20 from top to bottom, and the three are combined into one body by a casting method.

[0041] Further preferably, the positive and negative electrodes of the electrostatic adsorption electrode layer 21 are arranged at intervals and alternately.

[0042] Further preferably, the first permanent magnet 7 and the second permanent magnet 8 are neodymium iron boron magnets.

[0043] The loading and deformation process of the adsorption device based on the magnetic dielectric elastomer actuator of the present invention is as follows: The adsorption device based on the magnetic dielectric elastomer actuator is in the initial position (as Figure 2 shown). At this time, the dielectric elastomer 6 is not subjected to an external voltage, and the pulling force of the dielectric elastomer 6 on the first permanent magnet 7 is balanced with the magnetic force generated by the second permanent magnet 8 on the first permanent magnet 7; Apply a certain voltage value, such as 4500V, to the dielectric elastomer 6. The dielectric elastomer 6 generates an intrinsic strain, resulting in a rapid decrease in the pulling force of the dielectric elastomer 6 on the first permanent magnet 7, causing the first permanent magnet 7 to drive the dielectric elastomer 6 to move downward and stay in the state of the maximum adsorption deformation position (as Figure 3 shown).

[0044] The principle of the adsorption device based on the magnetic dielectric elastomer actuator of the present invention for adsorbing an article is as follows: At the maximum deformation position of the adsorption device based on the magnetic dielectric elastomer actuator (as Figure 3 shown), the dielectric elastomer 6 is connected to a high-voltage power supply, so that a certain amount of charge is distributed on its surface. At this time, the internal pressure of the cavity of the adsorption device is 101 kPa (standard atmospheric pressure); Apply a certain voltage value, such as 3000V, to the retractable electrostatic adsorption chuck 14, so that it is closely attached to the article to be adsorbed by electrostatic adsorption, and assist the adsorption device to form a closed internal cavity environment; Then, the dielectric elastomer 6 is disconnected from the high-voltage power supply, and the external atmospheric pressure pushes the first permanent magnet 7 upward, increasing the internal volume of the cavity of the adsorption device, generating a negative pressure inside the cavity, so that the adsorption device firmly sucks up the article. At this time, the pulling force of the dielectric elastomer 6 on the first permanent magnet 7, the magnetic adsorption force generated by the second permanent magnet 8 on the first permanent magnet 7, and the suction force of the negative pressure on the dielectric elastomer 6 are balanced and stay in the equilibrium state (as Figure 4 shown).

[0045] The principle of the adsorption device based on the magnetic dielectric elastomer actuator of the present invention for desorbing an article is as follows: At the equilibrium state when the adsorption device based on the magnetic dielectric elastomer actuator adsorbs a loaded article (as Figure 4 shown), the dielectric elastomer 6 is not subjected to an external voltage, and the retractable electrostatic adsorption chuck 14 is connected to a high-voltage power supply; Then, apply a certain voltage value, such as 4000V, to the dielectric elastomer 6 and unload the voltage of the retractable electrostatic adsorption chuck 14. The external atmospheric pressure pushes the first permanent magnet 7 downward, releasing the negative pressure inside the cavity of the adsorption device, and the adsorption device disengages the article. At this time, the pulling force of the dielectric elastomer 6 on the first permanent magnet 7 is balanced with the magnetic adsorption force generated by the second permanent magnet 8 on the first permanent magnet 7 and stays in the maximum deformation position of the adsorption device (asFigure 3 as shown

[0046] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An adsorption device based on a magnetic dielectric elastomer actuator, characterized in that, it includes a magnetic dielectric elastomer actuator (1), a support body (11) and a retractable electrostatic adsorption chuck (14). The magnetic dielectric elastomer actuator (1) is hermetically installed at the upper end of the support body (11), and the retractable electrostatic adsorption chuck (14) is hermetically installed at the lower end of the support body (11). The magnetic dielectric elastomer actuator (1), the support body (11) and the retractable electrostatic adsorption chuck (14) respectively have mutually penetrating cavities. A dielectric elastomer (6) is hermetically fixed in the cavity of the magnetic dielectric elastomer actuator (1). A first permanent magnet (7) is provided on the lower end face of the dielectric elastomer (6). A second permanent magnet (8) is correspondingly fixed in the cavity of the support body (11). The first permanent magnet (7) and the second permanent magnet (8) have opposite magnetic polarities and are separated from each other; The magnetic dielectric elastomer actuator (1) further includes an upper circular clamping plate (2), a lower circular clamping plate (3), an upper circular clamping plate (4), and a lower circular clamping plate (5). The support body (11) includes a main body skeleton (18) and a base (19). The upper circular clamping plate (2), the lower circular clamping plate (3) and the main body skeleton (18) are correspondingly provided with mounting holes. The upper circular clamping plate (2), the lower circular clamping plate (3) and the main body skeleton (18) are fixedly locked by bolts (12) and nuts (13). A sealing ring (10) is further provided between the lower circular clamping plate (3) and the main body skeleton (18). The outer peripheral side of the dielectric elastomer (6) is clamped and fixed between the upper circular clamping plate (2) and the lower circular clamping plate (3). The upper circular clamping plate (4) and the lower circular clamping plate (5) are correspondingly clamped and fixed at the central positions of the upper and lower side surfaces of the dielectric elastomer (6). The first permanent magnet (7) is fixed on the lower end face of the lower circular clamping plate (5). The base (19) is installed inside the cavity of the main body skeleton (18). The second permanent magnet (8) is fixed on the upper end face of the base (19).

2. The adsorption device based on a magnetic dielectric elastomer actuator according to claim 1, characterized in that, the support body (11) further includes a thrust block (9) with a cross-section of a T-shaped structure. The vertical section of the thrust block (9) penetrates and is fixed in the central hole of the second permanent magnet (8), and the outer diameter of the thrust block (9) < the outer diameter of the second permanent magnet (8).

3. The adsorption device based on a magnetic dielectric elastomer actuator according to claim 2, characterized in that, the cavity of the main body skeleton (18) includes a conical cavity at the upper end and a circular cavity at the lower end. The inner wall surface of the circular cavity and the outer side surface of the base (19) are provided with mutually adapted thread structures, and the base (19) is screwed and installed in the circular cavity of the main body skeleton (18).

4. The adsorption device based on a magnetic dielectric elastomer actuator according to claim 3, characterized in that, The dielectric elastomer (6) described above is formed by interleaving and laminating a number of elastomer layers (16) and a number of dielectric elastomer electrode layers (17) into an integrated body.

5. The adsorption device based on a magnetic dielectric elastomer actuator according to claim 4, characterized in that, the telescopic electrostatic adsorption chuck (14) is adhesively and fixedly installed on the lower end surface of the support body (11).

6. The adsorption device based on a magnetic dielectric elastomer actuator according to claim 5, characterized in that, The described retractable electrostatic adsorption chuck (14) is formed by adhering a soft pad (23) located on the upper side and an electrostatic adsorption layer (15) located on the lower side through an Ecoflex TM 00-10 silicone rubber solution.

7. The adsorption device based on a magnetic dielectric elastomer actuator according to claim 6, characterized in that, the electrostatic adsorption layer (15) sequentially includes a covering layer (22), an electrostatic adsorption electrode layer (21), and a base layer (20) from top to bottom, and the three are combined into an integrated body by a casting method.

8. The adsorption device based on a magnetic dielectric elastomer actuator according to claim 7, characterized in that, the positive and negative electrodes of the electrostatic adsorption electrode layer (21) are arranged at intervals and interleaved with each other.

9. The adsorption device based on a magnetic dielectric elastomer actuator according to claim 8, characterized in that, the first permanent magnet (7) and the second permanent magnet (8) are neodymium iron boron magnets.

Images