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Flexible mechanical arm

A manipulator and flexible technology, applied in the field of flexible manipulators, can solve problems such as inability to achieve flexible gripping, inability to grip objects of various sizes, single gripping method, etc., to achieve easy promotion and application, wide range of gripping objects, Apply a wide range of effects

Pending Publication Date: 2019-03-26
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The structure is rough, single-use, unable to clamp items of various sizes, and the grasping is not precise
The purpose of flexible clamping cannot be achieved, and the clamping method is single

Method used

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Examples

Experimental program
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Embodiment Construction

[0024] The specific embodiment of the specific solution of the present invention will be further elaborated in conjunction with the accompanying drawings.

[0025] figure 1 As shown, the principle of electric field response of PVC gel film, the gel material creeps and condenses like an anode in the electric field.

[0026] Such as Figure 2-4 As shown, the manipulator has an embodiment of a two-finger gel finger unit, such as Figure 5 Shown is an embodiment of a manipulator having a three-finger gel finger unit, each having the following structure.

[0027] A flexible manipulator, including a gel finger unit body 14 and a positioning adjustment guide rail 2, the gel finger unit body 14 includes a gel driver 6, a gripping part 1, and the gripping part 1 is fixed inside the gel driver 6 , the positioning adjustment guide rail 2 is slidably connected to the upper part of the gripping part 1, and the ends of several gel finger unit bodies 14 are flexibly opened and closed.

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PUM

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Abstract

The invention discloses a flexible mechanical arm. The flexible mechanical arm comprises gel finger unit bodies and a positioning adjusting guide rail. Each gel finger unit body comprises a gel driverand a grabbing part, wherein the grabbing part is fixed to the inner side of the gel driver. The positioning adjusting guide rail is in sliding connection with the upper portions of the grabbing parts. The tail ends of the multiple gel finger unit bodies are flexibly opened and closed. The flexible mechanical arm is stable and accurate in object grabbing, wide in object grabbing range and easy toapply and popularize. The flexible mechanical arm can grab regular metal components such as sheets and annular pieces, can also grab regular or irregular fragile objects such as water cups with ringhandles, and can grab regular or irregular flexible objects such as fluffy toys. The grabbing scale of the flexible mechanical arm can be from the millimeter level to the meter level, and grabbed heavy objects are from the micron level to the meter level and are from micrograms to kilograms. According to the flexible mechanical arm, the finger type grabbing manner is adopted, the mechanical arm achieves the high human simulating state through gel materials, the application range is wide, stability is high, and the flexible mechanical arm is suitable for various occasions.

Description

technical field [0001] The invention relates to the field of smart materials and smart structures, in particular to a flexible manipulator. Background technique [0002] PVC gel (poly vinylchloride-ge1, referred to as PVC) is an electroactive polymer with high strain, which will creep and deform toward the anode in the electric field. According to this characteristic, PVC gel is suitable for the application of manipulator. [0003] Patent CN201810457179 discloses a PVC-gel flexible manipulator based on electric drive, including a flexible gripper and a PVC-gel driver. One end of the flexible gripper is fixed on the driver casing of the PVC-gel driver, and the other end is connected to the PVC-gel driver through a push rod. -gel driver connection, there is a spring between the ejector rod and the PVC-gel driver, by applying voltage to the PVC-gel driver, the PVC-gel driver will be displaced in the thickness direction and output force, and the flexible gripper will be driven ...

Claims

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Application Information

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IPC IPC(8): B25J9/12B25J15/00B25J15/10
CPCB25J9/12B25J15/00B25J15/10
Inventor 李毅郭明飞李研彪曾晰
Owner ZHEJIANG UNIV OF TECH
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