Non-Newtonian fluid adhesion gripper based on shear thickening and gripping equipment

Abstract

The invention relates to the technical field of robot grabbing, in particular to a non-Newtonian fluid adhesion gripper based on shear thickening and grabbing equipment, the gripper comprises an adhesion module, a speed control module, a speed driving module and a switching module; the adhesion module comprises an adhesion film, a sealing mounting plate and shear thickening non-Newtonian fluid arranged in a containing space formed by connecting the adhesion film and the sealing mounting plate, and the fluid is in a soft state at a low shear rate, can be attached to the surface of an object, and is hardened at a high shear rate and locks the contact area to generate strong adhesion force; the speed control module comprises an inner distance transmission coupler and a stirring device and is used for applying a shearing effect to fluid to realize soft and hard state switching; the speed driving module comprises an outer distance transmission coupler and a driving device, and drives the stirring device through magnetic distance transmission torque; the switching module is used for installing the gripper on a mechanical arm or an assembly line, the gripper has the functions of grabbing stably and releasing quickly and can adapt to curved-surface, special-shaped and fragile objects, and the damage risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotic grasping technology, specifically to a non-Newtonian fluid adhesion gripper and grasping device based on shear thickening. Background Technology

[0002] Industrial robot grippers are core execution components in intelligent manufacturing systems, responsible for grasping, transporting, and assembling workpieces during production. Based on their structure and working principles, robot grippers are mainly classified into rigid grippers, flexible grippers, and grippers based on adhesion principles. Traditional rigid grippers, due to their fixed shape and size, struggle to grasp complex curved surfaces or fragile objects. While flexible grippers improve adaptability through active gripping or passive adaptive design, they still face multiple bottlenecks. Active gripping grippers rely on real-time feedback and parameter adjustments based on object position and shape, resulting in complex systems and slow response times. Among passive adaptive grippers, particle-blocking gripping can only grasp objects of limited size / shape and is prone to damaging brittle targets. Although biomimetic adhesion structures achieve adhesion switching through photothermal regulation, their manufacturing costs are high. Furthermore, novel materials such as magnetorheological fluids and low-melting-point alloys also require external field actuation (magnetic / thermal), increasing structural complexity and control costs.

[0003] In summary, the common contradiction of existing technologies lies in the difficulty of balancing strong adhesion (stable gripping) and easy desorption (rapid release). External field dependence and response delay further limit their application in precision manufacturing, biomedicine and other scenarios.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the general background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] This invention provides a non-Newtonian fluid adhesion gripper and gripping device based on shear thickening, thereby effectively solving the problems pointed out in the background art.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A non-Newtonian fluid adhesion gripper based on shear thickening includes: An adhesion module includes an adhesion membrane, a sealing mounting plate, and a shear-thickening non-Newtonian fluid. The adhesion membrane is disposed at an opening on the sealing mounting plate to form a sealed receiving space. The shear-thickening non-Newtonian fluid is disposed within the receiving space. The adhesion membrane provides adhesive force for grasping objects. The shear-thickening non-Newtonian fluid is in a deformable soft state at low shear rates and in a hard state at high shear rates, so that the adhesion membrane adheres to the surface of the object during grasping and locks the contact area to form adhesive force when in the hard state. The speed control module includes an internal air-locked transmission coupling and a stirring device. The internal air-locked transmission coupling is connected to the stirring device to transmit torque and is used to apply shearing action to the shear-thickened non-Newtonian fluid to control its soft-hard state switching. The speed drive module includes an external air-isolated transmission coupling and a drive device. The external air-isolated transmission coupling and the internal air-isolated transmission coupling transmit torque through magnetic means. The drive device is used to provide the torque of the stirring device as needed. Adapter modules are used to connect grippers to the end of robotic arms or production lines.

[0007] Furthermore, the speed control module also includes a first sliding bearing and a first fixed sleeve; The stirring device is a stirring paddle, which is disposed within the accommodating space; The internal air-locked transmission coupling is connected to the agitator to transmit torque. The inner ring of the first sliding bearing is fitted with the internal air-locked transmission coupling, and the outer ring is fitted with the first fixed sleeve. The first fixed sleeve is connected and fixed to the sealing mounting plate.

[0008] Furthermore, the stirring device is a strong magnetic particle located within the accommodating space, and the driving device is an electromagnetic sensor located at the bottom of the sealed mounting plate. The electromagnetic sensor is used to sense and drive the strong magnetic particle to rotate in order to apply a shearing action to the shear-thickened non-Newtonian fluid.

[0009] Furthermore, the speed drive module also includes a second sliding bearing and a second fixed sleeve. The external air-locking transmission coupling is engaged with the inner ring of the second sliding bearing, the outer ring of the second sliding bearing is engaged with the second fixed sleeve, and the second fixed sleeve is connected and fixed to the sealing mounting plate.

[0010] Furthermore, the adapter module includes a supporting optical axis and a connecting flange. Multiple supporting optical axes are disposed between two connecting flanges. One connecting flange is connected to the speed drive module, and the other connecting flange is used to install the gripper to the end of the robotic arm.

[0011] Furthermore, the adhesive film is one of the following: biomimetic microstructure film, hydrogel film, polyurethane film, PDMS film, adhesive silicone film, and various pressure-sensitive material films.

[0012] Furthermore, the shear-thickening non-Newtonian fluid is one of the following: corn starch solution, cassava flour / potato starch solution, silica suspension, kaolin mud, sand-water mixture, hydrophobic associative copolymer solution, polyacrylamide glycerol solution, confectionery compound, or nano-silica + polymer matrix.

[0013] Furthermore, the stirring device is one of a strong magnet, a stirring paddle, a stirring blade, or a stirring rod.

[0014] Furthermore, the driving device is one of a stepper motor, a DC geared motor, a brushless motor, a servo motor, a servo motor, or an electromagnetic sensor.

[0015] The present invention also includes a gripping device comprising a non-Newtonian fluid adhesion gripper based on shear thickening as described above, and a robotic arm or assembly line for rotating and / or moving the gripper.

[0016] The technical solution of this invention can achieve the following technical effects: When in contact with the target object, the non-Newtonian fluid is shear-thickened at ultra-low speed or without stirring. At this time, the non-Newtonian fluid is in a "soft" state and can adapt to the shape of the object to form an enveloping effect. Then, the non-Newtonian fluid is shear-thickened at high speed. At this time, the non-Newtonian fluid is in a "hard" state, locking the contact area with the object to achieve strong adhesion. During desorption, the non-Newtonian fluid softens, and the contact area is unlocked. Desorption can be completed by relying on the gravity of the object. This solves the problem that existing grippers cannot balance stable gripping and rapid release. The adhesion film can deform with the shape of the target surface in the soft state, which improves the adaptability to curved surfaces, irregular shapes and fragile objects and reduces the risk of damage to the object. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the non-Newtonian fluid adhesion gripper based on shear thickening in Example 1; Figure 2 This is a schematic diagram of the non-Newtonian fluid adhesion gripper detaching from a planar object based on shear thickening in Example 1; Figure 3 This is a schematic diagram of the non-Newtonian fluid adhesion gripper based on shear thickening adhering to a planar object in Example 1; Figure 4 This is a schematic diagram of the adhesion of a non-Newtonian fluid-based adhesion gripper to a curved surface object in Example 1; Figure 5 This is a graph showing the relationship between the adhesion force and the shear rate of the non-Newtonian fluid that thickens under shear in the water-starch (mass ratio = 4:3) system in Example 1. Figure 6This is a schematic diagram of the non-Newtonian fluid adhesion gripper based on shear thickening in Example 2; Figure 7 This is a front view of the non-Newtonian fluid adhesion gripper based on shear thickening in Example 2.

[0019] Reference numerals: 1. Adhesion module; 11. Adhesion film; 12. Sealing mounting plate; 13. Shear-thickening non-Newtonian fluid; 2. Speed ​​control module; 21. Internal air-locked transmission coupling; 22. Stirring paddle; 23. Strong magnet; 24. First sliding bearing; 25. First fixed sleeve; 3. Speed ​​drive module; 31. External air-locked transmission coupling; 32. Servo motor; 33. Electromagnetic sensor; 34. Second sliding bearing; 35. Second fixed sleeve; 4. Adapter module; 41. Support optical shaft; 42. Connecting flange; 01. Flat object; 02. Curved object. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] Example 1: like Figures 1 to 5 As shown: A non-Newtonian fluid adhesion gripper based on shear thickening, comprising: The adhesion module 1 includes an adhesion film 11, a sealing mounting plate 12, and a shear-thickening non-Newtonian fluid 13. The opening of the adhesion film 11 is disposed on the sealing mounting plate 12 to form a sealed receiving space. The shear-thickening non-Newtonian fluid 13 is disposed within the receiving space. The adhesion film 11 provides the adhesive force for grasping the object. The shear-thickening non-Newtonian fluid 13 is in a deformable soft state at low shear rates and in a hard state at high shear rates, so that the adhesion film 11 adheres to the surface of the object when grasping and locks the contact area to form adhesive force when in the hard state. The adhesion film 11 serves as a shell, enclosing the shear-thickening non-Newtonian fluid 13 to form a rear shell core structure. Speed ​​control module 2 includes an internal air-locked transmission coupling 21 and a stirring device. The internal air-locked transmission coupling 21 is connected to the stirring device to transmit torque and is used to apply shearing action to the shear-thickened non-Newtonian fluid 13 to control its soft-hard state switching. The speed drive module 3 includes an external air-isolated transmission coupling 31 and a drive device. The external air-isolated transmission coupling 31 and the internal air-isolated transmission coupling 21 transmit torque through magnetic means. The drive device is used to provide the torque of the stirring device as needed. Adapter module 4 is used to connect the gripper to the end of a robotic arm or production line. Adapter module 4 makes it easy to install the gripper as an actuator on existing robotic arm ends and production lines.

[0023] Shear-thickening fluids (STFs), as an important subclass of non-Newtonian fluids, possess unique variable stiffness characteristics: they exist in a fluid state under low-speed shear (easily deformable and conforming to objects), and instantly thicken into a solid state under high-speed impact (high stiffness, energy absorption), with a reversible phase transition that requires no external energy trigger. Their function in regulating back stiffness in adhesive grippers has not yet been developed—existing research focuses on the intrinsic rheological behavior or protective performance of STFs, without exploring their synergistic mechanism with adhesive structures, and even less on resolving the dynamic contradiction between "strong adhesion" and "easy desorption" during the gripping-release process.

[0024] The adhesion module 1 provides the source of adhesion force and the carrier for variable stiffness, which is the key to the gripper to achieve the soft-hard switching state. The speed control module 2 is the core of controlling the shear speed of the non-Newtonian fluid. The speed drive module 3 provides the torque to drive the non-Newtonian fluid to the corresponding shear speed as needed, so as to achieve strong adhesion when grasping the target and easy desorption when releasing.

[0025] When in contact with the target object, the non-Newtonian fluid 13 is shear-thickened at ultra-low speed or without stirring. At this time, the non-Newtonian fluid is in a "soft" state and can adapt to the shape of the object to form an enveloping effect. Then, the non-Newtonian fluid 13 is shear-thickened at high speed. At this time, the non-Newtonian fluid is in a "hard" state and locks the contact area with the object to achieve strong adhesion. During desorption, the non-Newtonian fluid softens and the contact area is unlocked. Desorption can be completed by relying on the gravity of the object.

[0026] By reversibly switching between a soft state at low shear rates and a hard state at high shear rates using a shear-thickened non-Newtonian fluid 13, the gripper can adhere to the object surface (soft state) during gripping and quickly form high adhesion (hard state) when needed, returning to the soft state upon release, thus achieving rapid desorption. This solves the contradiction between stable gripping and rapid release that existing grippers struggle to balance. The adhesion film 11 can deform according to the shape of the target surface in the soft state, improving its adaptability to curved, irregular, and fragile objects and reducing the risk of damage to the object. The fluid state switching is achieved through mechanical stirring and shearing, avoiding the problem of materials such as magnetorheological fluids and low-melting-point alloys relying on external energy such as magnetic fields or heating, thus reducing structural complexity and control costs.

[0027] The external air-isolated transmission coupling 31 and the internal air-isolated transmission coupling 21 achieve torque transmission through magnetic coupling, eliminating the need for mechanical shaft penetration through the sealed chamber, reducing the risk of leakage, and improving the system's sealing performance and reliability. By adjusting the rotation speed of the stirring device, the shear rate of the non-Newtonian fluid can be precisely controlled, thereby controlling its hardening degree and adhesion force, adapting to the grasping needs of objects with different weights, materials, and surface properties.

[0028] By changing the backing stiffness (elastic modulus) of the adhesive film 11, the adhesion-desorption state can be switched. This method has the advantages of being easy to control and low in cost, and has broad application prospects in fields such as intelligent grasping and transportation, flexible electronics, bionic machinery, and intelligent robots.

[0029] As a preferred embodiment of the above, such as Figure 1 As shown, the speed control module 2 also includes a first sliding bearing 24 and a first fixed sleeve 25; The stirring device is a stirring paddle 22, which is located within the accommodating space; The internal air-locked transmission coupling 21 is connected to the stirring paddle 22 to transmit torque. The inner ring of the first sliding bearing 24 mates with the internal air-locked transmission coupling 21, and the outer ring mates with the first fixed sleeve 25. The first fixed sleeve 25 is connected and fixed to the sealing mounting plate 12. Specifically, by setting the stirring paddle 22 in the accommodating space and directly driving it by the internal air-locked transmission coupling 21, a uniform shear force can be applied more fully to the shear-thickening non-Newtonian fluid 13, making the switching between soft and hard states faster and more controllable. The cooperation between the first sliding bearing 24 and the first fixed sleeve 25 supports the rotation of the internal air-locked transmission coupling 21, reduces the offset and wear during the transmission process, and improves the stability and long-term reliability of the stirring process. The connection and fixation between the first fixed sleeve 25 and the sealing mounting plate 12 ensures the sealing of the accommodating space while supporting the transmission mechanism, preventing fluid leakage and extending the service life of the gripper.

[0030] In this embodiment, the speed drive module 3 further includes a second sliding bearing 34 and a second fixed sleeve 35. The external air-isolated transmission coupling 31 engages with the inner ring of the second sliding bearing 34, and the outer ring of the second sliding bearing 34 engages with the second fixed sleeve 35. The second fixed sleeve 35 is connected and fixed to the sealing mounting plate 12. Teflon tape is used to wrap the bolts to ensure a seal. Specifically, the engagement of the second sliding bearing 34 and the second fixed sleeve 35 supports the external air-isolated transmission coupling 31, which can reduce radial offset and vibration during rotation and ensure the smoothness of torque transmission. The sliding bearing structure reduces the direct friction between the external air-isolated transmission coupling 31 and the fixed components, reduces the wear rate, and thus extends the service life of the speed drive module 3.

[0031] The adapter module 4 includes a support optical shaft 41 and a connecting flange 42. Multiple support optical shafts 41 are arranged between two connecting flanges 42. One connecting flange 42 is connected to the speed drive module 3, and the other connecting flange 42 is used to install the gripper to the end of the robotic arm. Specifically, the multiple support optical shafts 41 distributed between the two connecting flanges 42 can form a multi-point support structure, which improves the overall rigidity and bending resistance of the adapter module 4, thereby ensuring the stability of the gripper when moving at high speed or carrying heavy objects. The adapter module 4 has an independent structure, which not only facilitates the quick assembly of the gripper to different robotic arms or production lines, but also makes it easy to replace adapter modules 4 of different specifications or functions when needed, thus improving the adaptability and maintainability of the system.

[0032] As a preferred embodiment of the above, the adhesive film 11 is one of the following: biomimetic microstructure film, hydrogel film, polyurethane film, PDMS film, adhesive silicone film, and various pressure-sensitive material films. In this embodiment, PDMS film is used. However, other materials of adhesive film 11 can also be selected according to the product being gripped, all of which are within the protection scope of this application.

[0033] In this embodiment, the shear-thickening non-Newtonian fluid 13 is one of the following: corn starch solution, cassava flour / potato starch solution, silica suspension, kaolin mud, sand-water mixture, hydrophobic associative copolymer solution, polyacrylamide glycerol solution, candy compound, or nano-silica + polymer matrix. The shear-thickening non-Newtonian fluid 1312 used in this embodiment is a water-starch system (mass ratio = 4:3). Different material systems have different rheological properties, hardening speed and adhesion properties. The most suitable fluid can be selected according to the shape, weight and surface characteristics of the object being grasped, so as to realize the diversified application of the gripper in the fields of industry, medical care, food processing and other fields.

[0034] The stirring device is one of a strong magnetic particle 23, a stirring paddle 22, a stirring blade, or a stirring rod. In this embodiment, the stirring device used is the stirring paddle 22. It can be flexibly selected according to the different needs of fluid properties, cavity structure, and objects to be grasped, thereby improving the versatility and adaptability of the device.

[0035] As a preferred embodiment of the above, the driving device is one of a stepper motor, a DC geared motor, a brushless motor, a servo motor 32, a servo motor, or an electromagnetic sensor 33. In this embodiment, the driving device used is a servo motor 32. The driving device can be flexibly configured according to different loads, accuracy requirements, and response speed requirements to improve the versatility and applicability of the gripper.

[0036] like Figure 2 , 3As shown, schematic diagrams of a gripper adhering to and detaching from a planar object based on shear-thickened non-Newtonian fluid adhesion and gripper adhering to a planar object based on shear-thickened non-Newtonian fluid adhesion are presented. Upon contact, no shear velocity is applied, and the shear-thickened non-Newtonian fluid 13 is in a "soft" state. Figure 5 Based on the relationship between the adhesive force and shear rate of the non-Newtonian fluid 13 in the water-starch (mass ratio = 4:3) system under shear thickening, it can be seen that the adhesive force of the adhesive film 11 is only about 0.37N. The flowing non-Newtonian fluid allows the adhesive film 11 to better adhere to the surface of the target object, such as... Figure 4 As shown, this is a schematic diagram of a gripper adhering to a curved object based on a shear-thickened non-Newtonian fluid. The gripper can adapt well to the shape of the curved object 02, forming a wrapping. Then, a corresponding shear rate is applied, and the shear-thickened non-Newtonian fluid 13 becomes "hard," locking the contact area with the target object. At this time, the adhesive force of the adhesive film 11 is as high as about 75.4N. The gripper has strong adhesive ability and can perform a series of transfer operations on the object. When release is needed, the shear-thickened non-Newtonian fluid 13 is not applied, and the shear-thickened non-Newtonian fluid 13 becomes "soft" again, unlocking the contact area with the target object. The adhesive force of the adhesive film 11 drops to about 0.37N, and detachment can be completed under the action of the object's gravity.

[0037] The present invention also includes a gripping device comprising a non-Newtonian fluid 13 adhesion gripper as described above based on shear thickening, and a robotic arm or assembly line for driving the gripper to rotate and / or move.

[0038] The adhesion-to-detachment ratio of this invention is >200 (adhesion force >75.4N at high shear rate and ~0.37N at low shear rate), which solves the contradiction between strong adhesion and easy detachment in traditional grippers. It is suitable for adaptive gripping of fragile items, curved objects, and precision components.

[0039] Example 2: like Figure 6 , 7As shown in the schematic diagram, the structure of the gripper based on the shear-thickening non-Newtonian fluid 13 is different from that in Embodiment 1: the stirring device is a strong magnetic particle 23 located in the accommodating space, and the driving device is an electromagnetic sensor 33 located at the bottom of the sealed mounting plate 12. The electromagnetic sensor 33 is used to sense and drive the strong magnetic particle 23 to rotate in order to apply a shearing action to the shear-thickening non-Newtonian fluid 13. Specifically, the rotation of the magnetic particle is driven by the electromagnetic sensor 33, eliminating the need for a mechanical transmission shaft to pass through the sealed mounting plate 12, thus fundamentally avoiding the sealing failure and fluid leakage problems that may be caused by the through-shaft structure; the complex support and sealing structures such as mechanical couplings and sliding bearings are eliminated, making the speed control module 2 more compact and simpler in structure, reducing wear and maintenance workload; the electromagnetic induction drive can directly adjust the rotation speed of the magnetic particle, realizing rapid and precise control of the shear rate of the non-Newtonian fluid, thereby more sensitively completing the soft and hard state switching and improving the gripping and releasing efficiency.

[0040] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A non-Newtonian fluid adhesion gripper based on shear thickening, characterized in that, include: The adhesion module includes an adhesion membrane, a sealing mounting plate, and a shear-thickening non-Newtonian fluid; The adhesive membrane opening is disposed on the sealing mounting plate to form a sealed receiving space. The shear-thickened non-Newtonian fluid is disposed within the receiving space. The adhesive membrane provides adhesive force for grasping objects. The shear-thickened non-Newtonian fluid is in a deformable soft state at low shear rates and in a hard state at high shear rates, so that the adhesive membrane adheres to the surface of the object when grasping and locks the contact area to form adhesive force when in the hard state. The speed control module includes an internal air-locked transmission coupling and a stirring device. The internal air-locked transmission coupling is connected to the stirring device to transmit torque and is used to apply shearing action to the shear-thickened non-Newtonian fluid to control its soft-hard state switching. The speed drive module includes an external air-isolated transmission coupling and a drive device. The external air-isolated transmission coupling and the internal air-isolated transmission coupling transmit torque through magnetic means. The drive device is used to provide the torque of the stirring device as needed. Adapter modules are used to connect grippers to the end of robotic arms or production lines.

2. The non-Newtonian fluid adhesion gripper based on shear thickening according to claim 1, characterized in that, The speed control module also includes a first sliding bearing and a first fixed sleeve; The stirring device is a stirring paddle, which is disposed within the accommodating space; The internal air-locked transmission coupling is connected to the agitator to transmit torque. The inner ring of the first sliding bearing is fitted with the internal air-locked transmission coupling, and the outer ring is fitted with the first fixed sleeve. The first fixed sleeve is connected and fixed to the sealing mounting plate.

3. The non-Newtonian fluid adhesion gripper based on shear thickening according to claim 1, characterized in that, The stirring device is a strong magnetic particle located within the containment space, and the driving device is an electromagnetic sensor located at the bottom of the sealed mounting plate. The electromagnetic sensor is used to sense and drive the strong magnetic particle to rotate in order to apply a shearing action to the shear-thickened non-Newtonian fluid.

4. The non-Newtonian fluid adhesion gripper based on shear thickening according to claim 1, characterized in that, The speed drive module further includes a second sliding bearing and a second fixed sleeve. The external air-locking transmission coupling is engaged with the inner ring of the second sliding bearing, the outer ring of the second sliding bearing is engaged with the second fixed sleeve, and the second fixed sleeve is connected and fixed to the sealing mounting plate.

5. The non-Newtonian fluid adhesion gripper based on shear thickening according to claim 1, characterized in that, The adapter module includes a support optical axis and a connecting flange. Multiple support optical axes are disposed between two connecting flanges. One connecting flange is connected to the speed drive module, and the other connecting flange is used to install the gripper to the end of the robotic arm.

6. The non-Newtonian fluid adhesion gripper based on shear thickening according to claim 1, characterized in that, The adhesive film is one of the following: biomimetic microstructure film, hydrogel film, polyurethane film, PDMS film, adhesive silicone film, and various pressure-sensitive material films.

7. The non-Newtonian fluid adhesion gripper based on shear thickening according to claim 1, characterized in that, The shear-thickening non-Newtonian fluid is one of the following: corn starch solution, cassava flour / potato starch solution, silica suspension, kaolin mud, sand-water mixture, hydrophobic associative copolymer solution, polyacrylamide glycerol solution, confectionery compound, or nano-silica + polymer matrix.

8. The non-Newtonian fluid adhesion gripper based on shear thickening according to claim 1, characterized in that, The stirring device is one of a strong magnet, a stirring paddle, a stirring blade, or a stirring rod.

9. The non-Newtonian fluid adhesion gripper based on shear thickening according to claim 1, characterized in that, The driving device is one of the following: stepper motor, DC geared motor, brushless motor, servo motor, servo motor, or electromagnetic sensor.

10. A gripping device, characterized in that, Includes a non-Newtonian fluid adhesion gripper based on shear thickening as described in any one of claims 1 to 9, and a robotic arm or assembly line for driving the gripper to rotate and / or move.

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