Mechanical claw with rigidity controllable flexible surface

Abstract

The invention relates to a method for producing robot, mechanical arm or mechanical clamp, and the application technique of current flowing deformation liquid. It comprises a finger and a flexible surface formed by flexible film. Wherein, the finger comprises a container with a open while expansion flexible electrodes in array are arranged in the chamber of said container; said flexible surface is fixed on the open of container and connected to the upper surface of each electrode; the polarities of the electrodes in one group are same while they are parallel; the electrodes of nearby groups have reverse polarities; the groups in same polarity are paralleled and connected to a outer circuit via lead; the space between each group is filled by current flowing deformation liquid. The invention can realize the deformation of current flowing deformation and the flowing property via regulating the strength of electric field, therefore, it can non-stepped adjust the rigidity of flexible surface to apply the clamped matters in different rigidities and shapes and confirm the clamping stability, without hurting clamped matters.

Description

Technical field: [0001] The invention relates to the manufacturing technology of robots, manipulators or mechanical fixtures, and also relates to the application technical field of electrorheological fluid. Background technique [0002] In the robotics and aerospace industries, it is often necessary to use compliant surfaces with controlled stiffness. When it is necessary to hold an object with an irregular shape, such as the fixture used in industry and the manipulator used by the robot, when it needs to locate and grasp a specific object, in order to reduce the contact stress, increase the contact area and increase the friction force, the contact surface is required Have a certain flexibility. This can prevent the clamped object from being pinched and improve the stability of the clamping. The methods currently used mainly include the use of elastic materials, such as rubber and high molecular polymers, to cover the contact surface and the use of special mechanical struc...

AI Technical Summary

Problems solved by technology

However, the existing methods have the following disadvantages that cannot be overcome: (1) Whether using elastic materials or ordinary spring mechanical structures, the contact stiffness cannot be adjusted arbitrarily according to the actual use requirements and the rigidity of the clamped object. It limits its scope of use; (2) The existing technology uses elastic deformation to achieve the purpose of fitting the shape of the clamped object. Since the pressure on the outer surface of the clamped object is not balanced, the stress of the protruding part is still relatively large. And the concave part may not be able to act on the clamping force

Therefore, it is still possible to clamp the clamped object and clamp it unstable; (3) the deformation of the compliant surface used in the prior art is all produced by the extrusion force, and when it reaches the deformation of the surface shape of the clamped object Finally, if it is disturbed by an external force, it will still change its shape, so it cannot fix the position of the clamped object very firmly.

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