Mechanical hand capable of switching rigidity and flexibility

A manipulator, rigid technology, applied in the field of manipulators, can solve the problems of grasping failure, manipulator deformation, objects falling off, etc., to achieve the effect of expanding the scope and field of application

Active Publication Date: 2017-06-13
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the existing flexible manipulator also has its disadvantages. Because the overall structure is made of flexible materials, when grasping some heavy objects, the manipulator deforms too much, which will lead to grasping failure and the object falling off
Traditional manipulators and flexible manipulators have their own advantages and disadvantages and scope of application, but there is no manipulator that can combine the advantages of the two

Method used

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  • Mechanical hand capable of switching rigidity and flexibility
  • Mechanical hand capable of switching rigidity and flexibility
  • Mechanical hand capable of switching rigidity and flexibility

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] figure 1 and figure 2 It is a schematic diagram of the flexible variable manipulator proposed by the present invention, and the driving material is liquid metal, which is also an embodiment of the present invention.

[0026] figure 1 It is a diagram illustrating the interface of the manipulator in the unfolded state. In this embodiment, the manipulator has left and right fingers. The elastic polymer manipulator 1 is made of silicone material. The elastic polymer manipulator 1 has a liquid metal filling material 2 and a temperature control fluid 3 inside, and the temperature control fluid 3 and the liquid metal filling material 2 flow in the fluid pipeline 4 . Specifically in this embodiment, the temperature control fluid 3 circulates through the fluid pipeline 4, and the liquid metal filling material 2 is connected to the external liquid metal storage tank through the fluid pipeline 4, and can enter the elastic polymer manipulator 1 under the action of the fluid pum...

Embodiment 2

[0029] Such as image 3 As shown, the structure and modules of the elastic polymer manipulator 1 are the same as those in Embodiment 1, except that the liquid metal filling material 2 circulates in the pipeline. The manipulator is connected to the external atmosphere through the fluid pump 5, and by pumping gas into the cavity inside the manipulator, the cavity is expanded to realize the grasping action of the manipulator (such as Figure 4 shown). The data processing module 9 is connected with the control module 7 and the sensor module 10 by wire. In the initial state, the heating module 6 is in the open state and the refrigeration module 8 is in the closed state. With the transfer of heat in the liquid metal filling material 2, the entire liquid metal filling material 2 is in a liquid state. At this time, the fluid pump 5 starts to work, and the air is pumped into the cavity inside the elastic polymer manipulator 1 to make it produce a grasping action, such as Figure 4As...

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Abstract

A mechanical hand capable of switching rigidity and flexibility comprises an elastic macromolecular mechanical hand, a liquid metal filling material, a temperature control fluid, a fluid pipe, a refrigeration module, a heating module, a control module, a fluid pump, a sensing module and a data processing module. The fluid pipe is located in the elastic macromolecular mechanical hand, the liquid metal filling material and the temperature control fluid can enter the elastic macromolecular mechanical hand through the fluid pipe, a temperature control module can lower or increase temperature of the liquid metal filling material, so the liquid metal filling material can undergo phase change switching between a solid state and a liquid state, and thus the mechanical hand can change its rigidity. The application range of the mechanical hand is expanded, and the mechanical hand can be used for a soft material and can also be used for capturing a rigid object.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a rigid flexible switchable manipulator. Background technique [0002] Liquid metal is a metal material with a melting point below 300°C, which exhibits solid metal properties at low temperatures and liquid form at normal or high temperatures. Liquid metals are usually dominated by gallium metal and its alloys, including gallium-indium alloys and gallium-indium-tin alloys. It has good electrical and thermal conductivity, metallic luster, good fluidity and surface tension in a liquid state. Liquid metal has certain wettability, and liquid metal ink can be used to make flexible mechanical sensors, and it can also be combined with its conductivity and flow properties to make electromagnetic pumps that can be directly driven by electricity. [0003] The manipulator is an important actuator in the field of robotics, capable of grasping, handling or other operations on objects. Tradi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCB25J15/00
Inventor 姚又友刘静
Owner TSINGHUA UNIV
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