Clamping holder with rigidity changeable flexible surface

Abstract

The invention relates to a method for producing robot, mechanical arm or mechanical clamp, belonging to the electromagnetic flowing deformation application technique. It comprises a flexible film and a support element, wherein, the support element is formed by hydraulic pistons in array and a multi-path magnetic flowing deformation valve; the hydraulic piston comprises a cylinder body and a piston with straight movement in said cylinder; the surface of flexible film is connected with piston end; the valve of multi-path magnetic flowing deformation has two or more connectors while each connector is through to the cylinder to form a sealed chamber to contain the magnetic flowing deformation liquid; two magnetic electrodes made from soft magnetic material are arranged inside the valve while their distance is at least 0.5mm; the magnetic deformation liquid can be replaced by electric flowing deformation liquid while the magnetic flowing deformation valve can be replaced by electric flowing deformation valve. Said invention can non-stepped adjust the rigidity of every position of flexible film via adjusting the voltage of multi-path flowing deformation valve or the magnetic field of multi-path flowing deformation valve, to apply the clamped matters in different rigidities and shapes.

Description

Technical field: [0001] The invention relates to the manufacturing technology of robots, manipulators or mechanical fixtures, and also relates to the technical field of application of electric and magnetorheological fluids. Background technique: [0002] In the robotics industry and technical fields such as fine machining, it is often necessary to use devices with compliant surfaces with variable stiffness, such as manipulators or mechanical grippers. When it is necessary to grasp or clamp an irregularly shaped object, in order to prevent the clamped object from being pinched and improve the stability of the clamping, the surface of the clamped object in contact with the clamped object is required to have a certain degree of flexibility to increase contact. area and reduce contact stress. The method used in the prior art is mainly to use elastic materials, even if elastic materials such as rubber and high molecular polymers are used to cover the contact surface, there are a...

AI Technical Summary

Problems solved by technology

However, these existing methods have the following insurmountable shortcomings: (1) whether using elastic materials or using common spring mechanical structures, the rigidity of the surface of the clamping object cannot be adjusted arbitrarily according to actual use requirements; (2) clamping When the holder uses elastic deformation to fit the shape of the clamped object, because the pressure on the outer surface of the clamped object is unbalanced, such as the stress on the protruding part is relatively large, and the concave part may not be able to act on the clamping force, so clamping damage may occur The surface of the clamped object or the phenomenon of clamping instability; (3) The deformation of the flexible surface of the clamped object is caused by the extrusion force. When it reaches the deformation point, if it is affected by other external forces, the shape will still change, so it is not very stable. firmly fix the position of the clamped object

However, due to the complexity of the technology itself, so far the electric and magneto-rheological valves are still in the preliminary exploration stage, and there is no report on their practical application in engineering.

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