Non-Newtonian fluid pneumatic soft touch hand and forming method thereof

A non-Newtonian fluid and tentacle technology, which is applied in the direction of manipulators, chucks, manufacturing tools, etc., can solve problems such as difficult to guarantee its own stability, uncontrollable stiffness of pneumatic soft tentacles, and difficult control of pneumatic soft manipulators.

Inactive Publication Date: 2019-09-06
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The stiffness of most pneumatic soft tentacles cannot be controlled during the working process
In the process of grabbing the target, if there is an external emergency and the tentacles are greatly disturbed by t

Method used

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  • Non-Newtonian fluid pneumatic soft touch hand and forming method thereof
  • Non-Newtonian fluid pneumatic soft touch hand and forming method thereof
  • Non-Newtonian fluid pneumatic soft touch hand and forming method thereof

Examples

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Embodiment 1

[0054] Open the air hole 4 on the side of the upper part of the actuated cavity unit 1 after fabrication, align the needle tube with the airway 5 in the upper part, and then pierce it in, exchange for needle tubes of different needle sizes to gradually expand, and finally introduce a needle tube with a diameter of 3 mm. Trachea, trachea 30 is connected with tentacle joint part with snap ring 35, prevents air leakage. The three air pipes 30 pass through the snap ring 35, the fixed frame 34, the chassis 28 and the rectangular channel 31, and are finally fixed together by the cylinder 29 with three channels in the middle. The gas is pressed into the air channel 5 through the air tube 30 by the driving device (air pump or syringe), and then rushes into the air cavity 6. Under the action of the air pressure, the air cavity 6 is deformed, but since the middle part is a strain-limited layer, the deformation is small, so The whole will bend towards the middle part. Due to the bending...

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Abstract

The invention discloses a non-Newtonian fluid pneumatic soft touch hand and a forming method thereof. The non-Newtonian fluid pneumatic soft touch hand is composed of a touch hand and a chassis assembly, wherein the upper part of the touch hand is equipped with a strain-layer actuating cavity of a concave-convex structure, the middle part of the touch hand is equipped with a strain limiting layer,the lower part of the touch hand is equipped with a cuboid damping cavity with a separating plate, a gas cavity is arranged between the upper part and the middle part, and non-Newtonian fluid is arranged between the middle part and the lower part; when gas pressure is inflated into the actuating cavity, strain of the middle strain limiting layer part is smaller than that of an upper part actuating cavity unit, and therefore, the touch hand is laterally bent towards the strain limiting layer; and meanwhile, a lower part damping cavity unit is driven to bent, so that non-Newtonian fluid sealedin the damping cavity unit bears shearing stress. Viscosity of the non-Newtonian fluid generates changes along with a shearing rate, so that damping is generated, and therefore, an unstable phenomenongenerated in a bending process of the touch hand bearingexternal disturbance is eliminated. Moreover, stable control can be performed in a complex environment, so that target action is effectively accomplished.

Description

technical field [0001] The invention relates to the technical field of pneumatic soft manipulators, in particular to a non-Newtonian fluid pneumatic soft manipulator and a forming method thereof. Background technique [0002] With the continuous development of industrial automation, the manipulator is an extremely important device in automation equipment, and its diversity is also constantly developing. At present, pneumatic soft manipulators have become a hot research topic in the industry. The pneumatic software manipulator is not only simple in structure and low in price, but also has good flexibility and almost no damage to the grasping target. However, at present, pneumatic soft manipulators are mostly used in environments with relatively good environments because they are powered by pneumatic power and have a soft structure. The stiffness of most pneumatic soft tentacles cannot be controlled during the working process. In the process of grasping the target, if there...

Claims

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Application Information

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IPC IPC(8): B25J15/00B25J19/00B29B11/06B29C39/02B29C39/10B29C39/26
CPCB25J15/0023B25J19/007B29C39/028B29C39/10B29C39/26B29B11/06
Inventor 杨毅王舜杨扬邵文韫蒲华燕彭艳罗均谢少荣张丹李孝伟
Owner SHANGHAI UNIV
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