72results about How to "Achieve bending deformation" patented technology

The invention discloses a dielectric-varied capacitive flexible three-dimensional force tactile sensor. The dielectric-varied capacitive flexible three-dimensional force tactile sensor is characterized in that a flexible printed circuit board is arranged, wherein a square common electrode and four identical rectangular induction electrodes which are located on the periphery of the edges of the common electrode in an equidistant mode are printed on the printed circuit board; the induction electrodes are in two-to-two symmetry with the center of the common electrode serving as the symmetry point; a composite multi-dielectric layer is fixed to the flexible printed circuit board; the composite multi-dielectric layer is formed by an inversely-concave PDMS dielectric layer and an air dielectric layer located in a groove of the PDMS dielectric layer; the composite multi-dielectric layer is buckled on the upper portion of the flexible printed circuit board, and the common electrode and the four induction electrodes are located in the air dielectric layer; a PDMS hemispheric contactor is arranged on the composite multi-dielectric layer. According to the dielectric-varied capacitive flexible three-dimensional force tactile sensor, the common electrode and the induction electrodes are located on the same plane; compared with a traditional capacitive tactile sensor of an up-down electrode structure, the dielectric-varied capacitive flexible three-dimensional force tactile sensor has the advantages of being simple in manufacturing process and capable of being easily arrayed.

The invention provides a touch sensor based on flexible voltage-sensing conductive rubber. The invention is characterized in that a sensing unit has a structure form that: a flexible circuit board is used as a motherboard, the disc-shaped flexible voltage-sensing conductive rubber is arranged on the flexible circuit board and is electrically connected with an electrode distributed on the flexible circuit board, a stress surface at the top part of the flexible voltage-sensing conductive rubber is covered by a force transmitting hemisphere; the flexible circuit board is in a four-electrode structure, wherein, a public electrode A is a center circle electrode which is positioned on the concentric position together with the disc-shaped flexible voltage-sensing conductive rubber, a signal electrode B, a signal electrode C, and a signal electrode D which are at an angle of 120 degrees between every two are fan-shaped electrodes that are evenly distributed on a same torus of the periphery of the public electrode A. The invention relates to the touch sensor which has the advantages of strong surface suitability, high reliability, simple signal collecting circuit, and convenient manufacture, and also can be used for the three dimensional force detection.

The invention discloses a flexible compound type array sensor used for the artificial sensitive skin of an intelligent robot, which is characterized in that a sensing unit for forming an array takes a flexible polyimide circuit board as a substrate; the same surface of the substrate is respectively provided with a pressure sensor, a temperature sensor and a humidity sensor; and the surface height of the pressure sensor is higher than those of the temperature sensor and the humidity sensor to form a distribution form which is integrally in a male and female mode. According to the flexible compound type array sensor used for the artificial sensitive skin of the intelligent robot, which is disclosed by the invention, pressure, temperature and humidity can be simultaneously measured, and the flexible compound type array sensor used for the artificial sensitive skin of the intelligent robot has the advantages of good flexibility, high precision and stable performance.

The invention discloses an all-flexible resistive touch and pressure perception sensor and a manufacturing method thereof. The all-flexible resistive touch and pressure perception sensor is characterized in that a pressure perception sensor and a touch perception sensor are formed on a lower flexible substrate through a layer-by-layer assembly technology; the pressure perception sensor and the touch perception sensor are connected by an upper flexible substrate, and are shaped as a flat half-sphere as a whole; and the upper touch perception sensor is of an interdigital electrode structure, and the lower pressure perception sensor is of an upper and lower electrode structure. The all-flexible resistive touch and pressure perception sensor of the invention can be used to measure small-range touch force and large-range pressure force, and the accuracy of measurement of different ranges is ensured. Moreover, all the structures of the sensor are flexible, all leads are led to the bottom, and the phenomenon of tedious and ugly leads is avoided.

The invention relates to a complex double-curvature creep aging forming device, wherein a thinking design of adjustable longitudinally-symmetrical multipoint bending deformation is adopted so that the complex single / double-curvature creep aging forming of a ribbed wallboard can be conveniently and easily realized. The complex double-curvature creep aging forming device provided by the invention mainly comprises an upper bracket 5, a lower bracket 12, a pressing plate 6, a guide plate 7, a compression bar 8, support bar 10, a double-head stud 1, four hexagon nuts 3, a flat washer 4, a hexagon bolt 2 and a lower connecting plate 11, wherein wallboards with different shapes and thicknesses are placed at a sample wallboard 9; the symmetrically-arranged hexagon nuts 3 are rotated to passes through the pressing plate 6 and the guide plate 7; load is applied to the wallboard 9 through the compression bar 8 arranged on the guide plate; and four adjustable symmetrically-arranged support bars 10 are arranged below the wallboard to ensure that the wallboard is deformed and various different initial curvature shapes of the wallboard 9 can be obtained through adjusting the positions of the compression bar 8 and the support bar 10 and the different fastening degrees of the hexagon nuts. According to the complex double-curvature creep aging forming device disclosed by the invention, the design of adjustable loading and supporting positions is adopted and suitable for the single / double-curvature bending deformation of a complex ribbed wallboard. Compared with a conventional device, the device provided by the invention has the advantages of simple and reliable structure and convenience for operation and is suitable for various heating devices.

The invention discloses a seabed landslide monitoring device and method based on an MEMS sensor, and belongs to the technical field of seabed monitoring. A monitoring unit consists of a plurality of monitoring subunits which are connected in series. The monitoring unit is placed in a protection cover. The monitoring unit enables a monitored signal to be transmitted to a processing unit. The processing unit enables the processed signal to be transmitted to a computer terminal. A power module supplies a working voltage to a data processor. The MEMS sensor is fixed in a long pipe through a damping piece. One end of the long pipe is connected with one end of a soft connection pipe. The power module is connected with the MEMS sensor, and supplies the working voltage to the MEMS sensor. The MEMS sensor is connected with a data input port of the data processor. The data processor enables the processed data to be transmitted to the computer terminal. The device and method can achieve the monitoring and data recording of the changes of multiple layers of a seabed, achieves the monitoring of a single point to a plurality of points so as to form a three-dimensional monitoring plane, provides visual data for the research of the changes of the stratum of the seabed, and provide information support for the early-warning services of the seabed landslide.

The invention relates to a multi-degree-of-freedom rigidity-adjustable pneumatic flexible operation motion arm comprising large pedestals on upper and lower ends. a central nylon wire traverses a plurality of slices in the center and is fixed on the large pedestals on two ends to form a driving framework, more than three small pneumatic arms are symmetrically distributed and are adhesively fixed on the periphery of the driving framework in the direction being parallel to the central nylon wire, the small pneumatic arms are surrounded by a composite film, annular nylon fibers which can carry out rigidity adjustment through adjusting vacuum are pasted on the outer wall of the composite film from top to bottom, a sealing clamp is fixed on the outer wall of the composite film which surrounds the outer side of the large pedestals, a packaging jacket packaged by a sealing band is fixed on the outer side of the sealing clamp, an enclosed cavity is formed between the packaging jacket and the outer wall of the composite film, the enclosed cavity is provided with a vacuum-pumping port, each small pneumatic arm is a sealing cavity formed in a way that a composite film is wound on a small top pedestal and a small bottom pedestal, and each sealing cavity is provided with a driving gas ingate. The multi-degree-of-freedom rigidity-adjustable pneumatic flexible operation motion arm is advantaged by relatively-large complex deformation and rigidity maintenance and the like.

The invention discloses a flight vehicle deformable nose cone with a parallel mechanism. The deformable nose cone comprises N annular body segments and N-1 deformable driving mechanism. Each deformable driving mechanism comprises a first driving rod assembly and a second driving rod assembly, wherein one end of the first driving rod assembly is connected with the annular body segment behind the first driving rod assembly and can move horizontally in the axial direction of the first driving rod assembly, and the other end of the first driving rod assembly is connected with the annular body segment in front of the first driving rod assembly in a pivoted mode; and one end of the second driving rod assembly is connected with the annular body segment behind the second driving rod assembly, can move horizontally in the axial direction of the second driving rod assembly, and can pivot around the pivoting axis perpendicular to the axial direction of the annular body segment, and the other end of the second driving rod assembly is connected with the annular body segment in front of the second driving rod assembly in a pivoted mode. Stretching out, drawing back and bending of the deformable nose cone are achieved through the annular body segments with matching of translation of the first driving rod assemblies, translation of the second driving rod assemblies and pivoting of the second driving rod assemblies. The deformable nose cone is capable of achieving elongation and bending deformation, large in deformation amount and flexible in deformation posture.

The invention relates to the technical field of bionics, in particular to an inchworm imitated soft robot. The inchworm imitated soft robot can be driven through combination of a pneumatic manner anda shape memory alloy and comprises a head component, a trunk component and a tail component. The head component and the tail component are arranged at the two ends of the trunk component. The trunk component comprises a trunk body, a head installation module and a tail installation module, and the head installation module and the tail installation module are arranged at the two ends of the trunk body. The trunk body is in a regular long strip shape, the cross section of the trunk body is in a semi-circular shape, and the periphery of the semi-circle of the trunk body is provided with a spiralgroove. The head installation module is connected with the head component, the tail installation module is connected with the tail component, and the rectangular bottom of the trunk body is provided with an installation groove used for installing memory metal.

The invention discloses a pneumatic worm-imitating worm soft robot with a ring longitudinal muscle structure. The pneumatic worm-imitating worm soft robot comprises a head body joint and a tail body joint and is divided into an inner layer structure and an outer layer structure. The inner layer is of a longitudinal muscle structure and comprises a left-right symmetric semicircular longitudinal muscle gas cavity and a metal radial limiting ring. The outer layer is of a ring muscle structure and comprises three ring muscle gas cavities located at the bottom, a sliding piece is stuck to the outerportion, and a friction foot with a protruding point is arranged beside the sliding piece. The robot has the following beneficial effects that firstly, inflation and deflation are conducted on all the gas cavities so as to conduct driving control; secondly, the inner layer longitudinal muscle gas cavity can be inflated so that the robot body joints can stretch to deform, and when the inflation pressure intensity of the left gas cavity and the right cavity is not consistent, the body joints are bent and deformed; and thirdly, the outer layer ring muscle gas cavities can be inflated so that thesliding piece can stretch out. Benefit from the above beneficial effects, the robot can have various movement modes such as linear climbing, turning climbing, climbing movement and obstacle striding.By means of the pneumatic worm-imitating worm soft robot, high air tightness specialty rubber and compressed air are applied, environment friendliness and energy conservation are benefited, and the pneumatic worm-imitating worm soft robot has good application prospects in the fields of resource survey, disaster relief and rescue, pipeline detection and military reconnaissance.

The invention discloses a joint rehabilitation device which comprises at least one flexible finger. Each flexible finger comprises a finger baseplate and a finger surface which is connected on one side plate face of the finger baseplate, elastic modulus of each finger baseplate is greater than that of the corresponding finger surface, each finger surface and the corresponding finger baseplate jointly surround to form a driving cavity, a ventilation port is arranged on each finger surface or the corresponding finger baseplate and communicated with an airway system through a pipeline, a fixing structure for fixing the corresponding flexible finger on a first bone section and a second bone section which form a joint is arranged on each finger baseplate, and each flexible finger covers the whole corresponding joint from the corresponding first bone section and extends to the corresponding second bone section. The joint rehabilitation device utilizes own deformation of the flexible fingers to drive the joints to act, in this way, rehabilitation action of bending or unfolding of the joints is comparatively gentle, and damage to the joints is avoided.

The invention discloses a flexible grabbing method of a flexible pneumatic robot. The flexible grabbing method comprises a power air cylinder, a conical sliding table and a guide round pipe seat, wherein the power air cylinder comprises an air cylinder body, a piston rod, an air cylinder end cover, a reset spring, an overflow valve, an air pipe connector and an air inlet one-way valve; the air cylinder end cover is fixed to one end of the air cylinder body; and an air cylinder cavity is formed between the air cylinder end cover and the air cylinder body. According to the flexible grabbing method, the power air cylinder drives the conical sliding table to move, and therefore three sliding block seats are driven to slide, and three pneumatic deformation claws clamp a workpiece; and meanwhile, an exhaust claw ejection piece is arranged on each pneumatic deformation claw, the strokes of the three sliding block seats are large, the moving radiuses of the three pneumatic deformation claws can be adjusted within a larger range, and therefore the flexible grabbing method can adapt to workpieces with larger appearance changes, in other words, the flexible pneumatic mechanical arm of the same type can adapt to more kinds of workpieces, the application range is expanded, and the use cost is reduced.

The invention discloses a torque wrench based on shape memory alloy. The torque wrench comprises a wrench head, a driving device, a wrench handle and a handheld operation mechanism which are connectedsequentially. The driving device is used for driving the wrench head. The wrench handle comprises a first connecting disc and a second connecting disc which are arranged at the two ends of the wrenchhandle correspondingly. The first connecting disc and the second connecting disc are connected through a plurality of handle shape memory alloy (SMA) wires. The handle SMA wires are sleeved with handle reset springs. At least one installing disc is further arranged between the first connecting disc and the second connecting disc and is provided with installing holes, and the handle reset springscan penetrate through the installing holes to be installed. The driving device comprises a first SMA drive. The first SMA drive comprises a first fixed disc, a first installing seat, a first rotary disc I, a first rotary disc II, a first SMA wire I, a first SMA wire II, a first rotary wheel I and a second rotary wheel II. The first installing seat, the first rotary disc I, the first rotary disc II, the first SMA wire I, the first SMA wire II, the first rotary wheel I and the second rotary wheel II are arranged on the first fixed disc. The torque wrench is small in size and weight, large in output power and provided with the wrench handle of a flexible structure, the angle can be adjusted, and the application requirements of pipelines, small spaces and other working conditions are met.

The invention discloses a pneumatic flexible composite bionic mechanical hand. The pneumatic flexible composite bionic mechanical hand is composed of bionic finger parts and a bionic palm part. Each bionic finger part comprises a base body, a first air cavity, a first air cavity channel, a non-extension layer, a second air cavity, a second air cavity channel and a ventilation plug. According to the technical scheme, pneumatic flexible composite bionic mechanical fingers take the index finger structure parameter of which the function ratio is the highest as a reference, and double-joint pneumatic actuators are adopted to replace human hand three-joint fingers so that the effect that the structure is simplified while effective grabbing is achieved can be realized.

The invention provides a magnetofluid-driven inchworm-like soft robot. The robot comprises a head component, a trunk component and a tail component. The head component and the tail component are located at the two ends of the trunk component correspondingly and are centrosymmetric with respect to the truck component. Triangular standing feet in the same direction are arranged on the bottom surfaces of the head component and the tail component correspondingly, and meanwhile, cavities are formed in the head component and the tail component correspondingly so that magnetofluid can be stored. Thetrunk component is divided into two categories which are the solid tubular trunks and the arc-shaped trunk located in the center. One ends of the two solid tubular trunks with circular cross sectionsare in sealed connection with the two ends of the arc-shaped trunk correspondingly, and the trunk component is in an arc shape as a whole. The other ends of the two solid tubular trunks with the circular cross sections are connected and sealed to the head component and the tail component correspondingly. A cavity is formed in the arc-shaped trunk and used for storing magnetofluid. Twisting steering is achieved by applying a transverse electric field to the head or the tail by the outside, and the robot can imitate an inchworm and advances in a stretching-out and drawing-back mode by applying alongitudinal electric field to the trunks by the outside.

The invention discloses a multi-degree-of-freedom palm based on a rod type ultrasonic motor and an operation method thereof. The multi-degree-of-freedom palm based on the rod type ultrasonic motor comprises a palm, a 10 mm ultrasonic motor, a forefinger near finger end, a forefinger middle finger end, a forefinger far finger end, a middle finger near finger end, a middle finger middle finger end,a middle finger far finger end, a ring finger near finger end, a ring finger middle finger end, a ring finger far finger end, a little finger far finger end, a little finger middle finger end, a little finger near finger end, a thumb far finger end, a thumb middle finger end, a thumb near finger end and a spherical hinge. The invention further provides an operation method of the multi-degree-of-freedom palm based on the rod type ultrasonic motor. The multi-degree-of-freedom palm is reasonably arranged at each joint part of a bionic manipulator by using the miniaturization characteristic of therod type ultrasonic motor, so that independence of each joint is guaranteed, and common functions of the bionic manipulator can be realized.

The invention discloses a liquid membrane lens combined zoom optical system, and belongs to the technical field of the zoom optical system. The system is mainly formed by combining multiple liquid membrane lens, and further comprises a lens cone for fixing multiple liquid membrane lens, a liquid injection control system for controlling the liquid membrane lens liquid injection, and an imaging resolution analysis system. The amount and combined arrangement of the liquid membrane lens are determined according to the zoom range, the lens back focal length and an aberration compensation requirement, the liquid injection control system is used for controlling the surface deformation of each liquid membrane lens to realize single liquid membrane lens zoom, and the large-range zoom and aberrationcorrection can be realized through the zoom combination of multiple liquid membrane lens. The imaging of the liquid membrane lens combined zoom optical system is output to the imaging resolution analysis system, the imaging resolution analysis system is used for performing resolution analysis on an imaging result, the feedback control is performed on the liquid injection control system accordingto the resolution analysis result, thereby realizing the automatic zoom and aberration compensation of the liquid membrane lens combined zoom optical system.

The invention provides a flexible composite-type array sensor for the artificial sensitive skin of an intelligent robot, and the array sensor is characterized in that sensing units forming an array take a flexible polyimide circuit board as a substrate; the same surface of the substrate is provided with a pressure sensor, a temperature sensor and a humidity sensor; the surface of the pressure sensor is higher than the surfaces of the temperature sensor and the humidity sensor, thereby forming a concave-convex overall distribution mode. The array sensor can measure the pressure, temperature andhumidity, is good in flexibility, is high in precision, and is stable in performance.

The invention discloses a seabed landslide monitoring device and method based on an MEMS sensor, and belongs to the technical field of seabed monitoring. A monitoring unit consists of a plurality of monitoring subunits which are connected in series. The monitoring unit is placed in a protection cover. The monitoring unit enables a monitored signal to be transmitted to a processing unit. The processing unit enables the processed signal to be transmitted to a computer terminal. A power module supplies a working voltage to a data processor. The MEMS sensor is fixed in a long pipe through a damping piece. One end of the long pipe is connected with one end of a soft connection pipe. The power module is connected with the MEMS sensor, and supplies the working voltage to the MEMS sensor. The MEMS sensor is connected with a data input port of the data processor. The data processor enables the processed data to be transmitted to the computer terminal. The device and method can achieve the monitoring and data recording of the changes of multiple layers of a seabed, achieves the monitoring of a single point to a plurality of points so as to form a three-dimensional monitoring plane, provides visual data for the research of the changes of the stratum of the seabed, and provide information support for the early-warning services of the seabed landslide.

The invention discloses a design method of a flexible bionic robot fish adopting rope redundant actuation. The design method reproduces the uneven distribution of spine stiffness of a fish body by designing different types of flexible fish body spine models, and simulates a unique deformation process of the fish body by adding the redundant actuation. The design method of the flexible bionic robotfish adopting the rope redundant actuation reproduces the uneven distribution of the spine stiffness of the fish body by adopting a mode of superposing a continuous elastic beam and a multi-spine module, and simulates the unique deformation process of the fish body by adding the redundant actuation. The structure entirely considers the influence of the stiffness characteristics of the fish on thepropulsion performance of the fish, and has important significance for improving the swimming performance of the bionic fish.

The invention discloses a test device and a test method for seepage and water inrush of a rock formation bottom plate. The device comprises an axial loading system and a permeation instrument. The permeation instrument comprises a cylinder barrel arranged between a bearing platform and a loading head of the axial loading system and a pressing head slidably arranged in the cylinder barrel. A supporting ring is fixedly arranged in the cylinder barrel. The bottom of the pressing head is tapered and faces the center of the supporting ring. A space for placing a bottom plate rock sample and a sealant material is arranged between the pressing head and the supporting ring. The cylinder barrel is located in a cavity between the bottom plate rock sample and a bottom plate of the cylinder barrel, and is filled with high-pressure water through a water inlet pipe. A flowmeter and a water pressure sensor are arranged on the water inlet pipe. According to the test device and the test method for seepage and water inrush of the rock formation bottom plate, bending deformation of the rock sample is achieved by applying load on the top of the rock sample and restraining the lower part by the supporting ring; and meanwhile, the lower surface of the rock sample is completely in the osmotic water pressure, so that the seepage property of the rock formation bottom plate can be studied when the rockformation bottom plate is bent and deformed by the action of bearing water, the actual background of a project is restored more completely, and more accurate test data is provided for research on thewater inrush mechanism of the rock formation bottom plate.

The invention discloses a multi-stage driven connecting rod type nose cone variant mechanism which comprises a first-stage connecting rod mechanism, a second-stage connecting rod mechanism, a third-stage connecting rod mechanism, a bending deformation mechanism and a locking device. The first-stage connecting rod mechanism, the second-stage connecting rod mechanism, the third-stage connecting rodmechanism and the bending deformation mechanism are connected in sequence. The locking device is mounted on each stage of connecting rod structure; the first-stage connecting rod mechanism, the second-stage connecting rod mechanism and the third-stage connecting rod mechanism are used for driving all stages of connecting rod mechanisms and a nose cone shell of the connecting rod mechanisms to movein an axial direction through graded hydraulic drive, and axial stretching deformation of a nose cone is completed. A locking device is used for locking a position when each stage of connecting rod mechanism deforms in place; and the bending deformation mechanism is used for driving all stages of connecting rod mechanisms to integrally move to finish bending deformation of a nose cone. Axial multistage stretching deformation and single-side bending deformation can be achieved, and meanwhile motion limiting and variant locking in a nose cone deformation process can be achieved.

The invention relates to the technical field of curved surface forming dies, in particular to a sheet material curved surface forming stamping die which comprises a convex die (1) and a concave die (2), wherein the convex die (1) is positioned above the concave die (2); the stamping surfaces of the convex die (1) and the concave die (2) are curved surfaces with radians and are engaged with each other; a groove (3) is formed in the concave die (2) in the transverse direction; the thickness of the convex die (1) is smaller than the width of the groove (3); the concave die (2) is fixed; and the convex die (1) moves in the longitudinal direction and is as wide as the concave die (2). Compared with the prior art, the sheet material curved surface forming stamping die is novel and simple in structure and reasonable in design, can simplify the machining complexity of a curved surface sheet material, realizes curved deformation of the sheet material by controlling the longitudinal movement range, is matched with the multi-pass incremental forming method to finally finish high-precision workpiece machining, and greatly reduces the production cost.

The invention relates to soft robots, in particular to a pneumatic inchworm-like soft robot based on a 3D printing technology. The robot is characterized in that a head part and a tail part are located at the two ends of a trunk part; the head part and the tail part are both solid bodies, triangular stand feet in the same direction are arranged at the bottom ends of the head part and the tail part, and the other ends of the head part and the tail part are connected with the two ends of the trunk part in a sealed mode; and the trunk part is arc-shaped, the cross section of the trunk part is square, an arc-shaped cavity is formed in the trunk part, the arc-shaped cavity is a composite M-shaped cavity formed by connecting five trapezoidal cavities in the same plane, the composite M-shaped cavity is distributed in an axial symmetry mode by taking a central vertical axis of the trunk part as an axis, and an air guide hole is formed in the trunk part and used for feeding gas. According to the robot, the pneumatic and cavity deformation is adopted to form redundant drive, so that the bending deformation of the soft robot is achieved; and air is fed in and discharged from the cavity in thetrunk to promote the composite M-shaped cavity to expand and contract so as to control the motion advancing stride of the soft robot.

The invention discloses a non-metal rod piece stretch bending combined deformation experiment platform and belongs to the field of experiments in combined deformation mechanics. The non-metal rod piece stretch bending combined deformation experiment platform comprises a platform base and a platform frame fixedly arranged on the platform base in an inverted Chinese character 'mountain' shape, and two sliding chuck assemblies for clamping two ends of a non-metal rod piece are arranged on the platform base along the same straight line; the platform frame is equipped with a dual-rod cylinder and two stretching combined mechanisms symmetrical about the dual-rod cylinder; the sliding chuck assemblies comprise guide rails fixedly arranged on the platform base, sliding blocks slidably arranged onthe guide rails, and rod piece chucks fixedly arranged on the sliding blocks and capable of clamping the end parts of the non-metal rod piece; and the stretching combined mechanisms comprise driving wheels, driven wheels, outer push rods and a lifting rod with one end being hinged to the driving wheels. The invention relates to a combined deformation experiment platform which is simple and reasonable in structure, is in single-cylinder dual-rod piston driving, capable of carrying out tension deformation and bending deformation on rod pieces simultaneously, and is used for measuring stretch bending of the non-metal rod piece.

The invention provides a deformable lens with circular plate piezoelectric actuators as a drive.The deformable lens with the circular plate piezoelectric actuator as the drive comprises a lens body integrally of a plate structure, and the multiple piezoelectric actuators fixed to the lens body in sequence, and every two adjacent piezoelectric actuators are oppositely arranged in a spaced mode.Each piezoelectric actuator is of a double-piezoelectric plate circular plate structure and comprises a first piezoelectric layer, a metal layer and a second piezoelectric layer which are stacked in sequence, wherein the first piezoelectric layer and the second piezoelectric layer of each piezoelectric actuator are electrically connected with external power sources with the same voltage, the metal layer serves as the common electrode of the first piezoelectric layer and the second piezoelectric layer, and the metal layer is grounded.The invention further provides a mechanical driving method based on the deformable lens with the circular plate piezoelectric actuators as the drive.

The invention discloses a snake bone structure convenient to assemble and maintain, and relates to the technical field of snake bone structure devices. The snake bone structure comprises a plurality of ball joint units, a front ball joint, a rear ball joint and four pull ropes, wherein the plurality of ball joint units, the front ball joint and the rear ball joint are provided with connecting cylinders respectively; the two ends of the plurality of connecting cylinders are fixedly provided with incomplete spherical blocks and hemispherical blocks respectively; a plurality of connecting blocksare uniformly fixedly mounted at one side of each of the plurality of hemispherical blocks; and one end of each of the plurality of connecting blocks is fixedly connected with a triangular clamping piece. The snake bone structure is reasonable in structure and simple to operate, the plurality of ball joint units are sequentially connected with one another, so that the hemispherical blocks can rotate at any angle within a certain range along with the plurality of triangular clamping pieces along the incomplete spherical blocks, bending deformation at more angles is realized, the application range is enlarged, multi-angle free rotation is realized, and the snake bone structure has the advantages of being convenient to disassemble and assemble, good in anti-falling effect and the like.

The invention discloses a composite capacitor-resistor type full-flexibility touch and pressure sensor. With the sensor, a problem that the touch and the pressure can not be detected simultaneously by the existing sensor can be solved. The sensor is characterized in that a capacitor layer and a resistor layer are arranged on a flexible substrate in an up-down structure mode; the capacitor layer is used for sensing touch information and the resistor layer is used for sensing pressure information; and the capacitor layer is arranged on the resistor layer. Compared with the common touch sensor and the pressure sensor, the provided composite capacitor-resistor type full-flexibility touch and pressure sensor is not only capable of distinguishing a small touch force but also is capable of realizing measurement of a large pressure, so that the resolution and sensitivity of the sensor in the small range can be improved and the resolutions and precision of sensor at different ranges can be guaranteed. All materials employed by the sensor have high flexibility and all leads are led to the bottom, so that an array form of the sensor can be realized well and thus the maintenance of the sensor can be realized conveniently.

The invention discloses a dielectric-varied capacitive flexible three-dimensional force tactile sensor. The dielectric-varied capacitive flexible three-dimensional force tactile sensor is characterized in that a flexible printed circuit board is arranged, wherein a square common electrode and four identical rectangular induction electrodes which are located on the periphery of the edges of the common electrode in an equidistant mode are printed on the printed circuit board; the induction electrodes are in two-to-two symmetry with the center of the common electrode serving as the symmetry point; a composite multi-dielectric layer is fixed to the flexible printed circuit board; the composite multi-dielectric layer is formed by an inversely-concave PDMS dielectric layer and an air dielectric layer located in a groove of the PDMS dielectric layer; the composite multi-dielectric layer is buckled on the upper portion of the flexible printed circuit board, and the common electrode and the four induction electrodes are located in the air dielectric layer; a PDMS hemispheric contactor is arranged on the composite multi-dielectric layer. According to the dielectric-varied capacitive flexible three-dimensional force tactile sensor, the common electrode and the induction electrodes are located on the same plane; compared with a traditional capacitive tactile sensor of an up-down electrode structure, the dielectric-varied capacitive flexible three-dimensional force tactile sensor has the advantages of being simple in manufacturing process and capable of being easily arrayed.