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Variable-rigidity flexible mechanical arm

A technology of changing stiffness and fingers, applied in the field of manipulators, it can solve the problems of small change of elastic modulus and narrow range of stiffness change.

Active Publication Date: 2019-06-14
WUHAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Compared with variable stiffness structures driven by motors and pneumatic hydraulics, this method improves the power density of finger variable stiffness structures, but due to the elastic modulus of low melting point metals, shape memory polymers, and superelastic shape memory alloy wires before and after temperature changes The degree of change is small, so the range of joint stiffness changes is narrow

Method used

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with specific examples and accompanying drawings.

[0036] A variable stiffness drive structure, such as figure 2 with image 3 As shown, the rotating structure 1 is included, and the two ends of the rotating structure 1 are respectively fixed with superelastic shape memory alloy wires, that is, the first superelastic shape memory alloy wire 2-1 and the second superelastic shape memory alloy wire 2-2. The structure 1 is covered with a bellows 3, and the bellows 3 is filled with a low melting point alloy. The two ends of the bellows 3 are sealed by a spring bracket, and the spring bracket is fixedly connected to the superelastic shape memory alloy wire. The first spring bracket 5 A shape memory alloy spring 4 is also fixed between -1 and the second spring bracket 5-2; by heating and cooling the low melting point alloy, the rotating structure 1 is switched between the rotating and locking states.

[0...

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Abstract

The invention provides a variable-rigidity driving structure. The structure comprises a rotating structure, wherein the two ends of the rotating structure are both fixedly provided with super-elasticshape memory alloy wires, the rotating structure is sleeved with a corrugated pipe, a low-melting-point alloy is injected in the corrugated pipe, the two ends of the corrugated pipe are sealed throughspring supports, the spring supports are fixedly connected to the super-elastic shape memory alloy wires, a shape memory alloy spring is further fixed between the two spring supports, the low-melting-point alloy is heated and cooled, so that the rotating structure can be switched between a rotating state and a locked state, and the rigidity change range of the variable-rigidity driving structureis greatly expanded. The invention further provides a finger joint comprising the variable-rigidity driving structure and a variable-rigidity flexible mechanical arm.

Description

technical field [0001] The invention belongs to the field of manipulators, and in particular relates to a soft manipulator with variable stiffness. Background technique [0002] There are many types of methods for varying the stiffness of manipulators, and different driving methods can produce different effects. [0003] The method of motor, air pressure or hydraulic drive, the principle is to drive the stiffness of the finger joints to change through the cooperation of the motor and the rigid spring, or to drive the soft mechanism to change the stiffness through the high and low pressure difference formed by air pressure and hydraulic pressure. However, due to the low power density of the motor, air pressure, and hydraulic drive, the variable stiffness structure is bulky and noisy. [0004] The method driven by low-melting-point metal, shape-memory polymer, and shape-memory alloy wire is to use the change of elastic modulus of low-melting-point metal or shape-memory polyme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/08B25J9/10
Inventor 李军锋熊博王芸
Owner WUHAN UNIV OF TECH
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