CN109955275A

CN109955275A - The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand

Info

Publication number: CN109955275A
Application number: CN201910211893.7A
Authority: CN
Inventors: 袁曦明; 袁一楠
Original assignee: China University of Geosciences
Current assignee: China University of Geosciences
Priority date: 2019-03-20
Filing date: 2019-03-20
Publication date: 2019-07-02
Anticipated expiration: 2039-03-20
Also published as: CN109955275B

Abstract

The invention discloses several different types of composite special-shaped cavitys of thermal expansive fluid to drive humanoid robot software hand, includes: several thermal expansive fluids composite special-shaped cavity driving humanoid robot software finger, the driving robot palm of the composite special-shaped cavity of thermal expansive fluid；Wherein, the composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid is using thermal expansive fluid and the composite special-shaped cavity single-sided driver of marmem, thermal expansive fluid and the composite special-shaped cavity single-sided driver of automatically controlled heating material, thermal expansive fluid and the composite special-shaped cavity bilateral driver of marmem, thermal expansive fluid and the composite special-shaped cavity bilateral driver of automatically controlled heating material.The present invention is combined using the thermal expansion deformation driving of the composite special-shaped cavity of thermal expansive fluid with the deformation of marmem driving, has the reinforcing effect of collaboration superposition double drive.

Description

The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand

Technical field

The invention belongs to artificial intelligence, robot and end effector of robot fields, and it is swollen to relate more specifically to a kind of heat The driving robot software hand of dilatant bluk recombination abnormity cavity.

Background technique

Robot is developed rapidly with artificial intelligence technology, and the application of robot and artificial intelligence technology is from work Industry field gradually extends in the fields such as agricultural, rehabilitation medical, Entertainment Service Industry, therefore it is desirable to the execution of the end of robot Device can be more flexible, can more be applicable in various changeable operation objects, and also correspondingly has to drive system of robot higher It is required that.Either industrial robot, agricultural robot or healing robot, end effector are often direct contactant The important execution unit of part, the flexibility of structure and drive control, controllability are directly related to the work effect of whole robot Fruit.Currently, simulating the structure and function of manpower in the design process of end effector of robot (manipulator), designing Multiple degrees of freedom Dextrous Hand with more fingers, multi-joint.In terms of robot drives control system, traditional Drive Control Technique It is to control manipulator in a manner of motor-driven, has the advantages that simple, Yi Shixian, drive control precision are higher, answer it For in the drive control of traditional robot.But the control mode of motor driven rigid structure there are the shortcomings that are as follows: movement shape Formula is more single, lacks flexibility, and these problems limit the further application of robot delicate, keeps it raw in industrial or agricultural It is competent at more complicated, more accurate work during producing.

As the execution unit of robot and the final tache of target object interaction, end effector is for robot The raising of intelligent level and level of operation is of great significance.Traditional end effector of robot structure is relatively simple, moves It is insufficient that form is also more single, freedom degree is on the low side, grasp stability is poor, flexibility seems, largely constrains robot The further development of technology and application.It is desirable to develop the robot with better adaptability, flexibility and controllability Dextrous Hand, it is desirable to the more stable and reliable movement of the Complex Flexibles such as grabbing, hold, pressing from both sides may be implemented, this will be visited at aerospace, deep-sea The fields such as survey, medical rehabilitation, remote operation, service have broader practice prospect.Current domestic and international developed machine Device people Dextrous Hand generally with rigidity mechanical structure based on, the Dextrous Hand of this class formation with high rigidity, high rigidity metal or Polymeric material makes its palm and finger structure, each individual using motor, cable wire, pulley etc. as driving and actuated element Rigid finger just constitutes a serial manipulator.The Dextrous Hand of rigid structure due to its finger structure typicalness and be easy to build Mould, but the finger of its rigidity is poor to target object (especially soft, tender and crisp, complex shape article) operational safety, freely Spend it is limited, it is not strong to the adaptive capacity to environment of limited working space, it is inadequate to the reliable and stable ability for grabbing complicated form object By force.Also some uses tendon drive technology in the structure of robot delicate, however there is also some disadvantages for tendon transmission, such as Tendon canoe needs the path planning of science, not so will such as will lead to control moment that is uncontrollable, or increasing additional, control The appearance of coupling processed also will increase the difficulty of control.Tendon transmission is needed before controlling skillful finger joint motions to tendon certainly Body is pre-tightened, otherwise tendon under natural conditions, it is difficult to joint is timely controlled.Therefore, the material property of tendon, path The problems such as planning, is also required to further carry out further investigation.

Compared with rigid machine people, robot software hand is had many advantages, such as: integrative design and processing exempt to assemble, Gapless and without friction, without lubrication, can lossless contact simultaneously grab soft, frangible or complex shape article；Therefore, robot Software hand has vast potential for future development in some special applications.

Currently, how further to overcome series of defect existing for traditional robot end effector, how to advanced optimize How the ability to work for improving end effector of robot it is soft frangible advanced optimize raising end effector of robot crawl Or the ability of complicated form article, these need people and further inquire into solution.

Summary of the invention

For the currently series of defect existing for traditional robot end effector, the present invention provides the heat of four seed types It expands the composite special-shaped cavity of fluid and drives humanoid robot software hand, referred to reaching the performance of optimization raising end effector of robot Mark.

The composite special-shaped cavity driving humanoid robot software hand of thermal expansive fluid provided by the invention includes: two and two The above composite special-shaped cavity of thermal expansive fluid drives humanoid robot software finger, the driving machine of the composite special-shaped cavity of thermal expansive fluid The device manpower palm；Wherein, the composite special-shaped cavity driving humanoid robot software finger of the thermal expansive fluid is multiple using thermal expansive fluid Close cavity driver；The thermal expansive fluid composite cavity driver includes: the composite special-shaped cavity driver of thermal expansive fluid；Institute Stating the composite special-shaped cavity driver of thermal expansive fluid includes two types: the composite special-shaped cavity single-sided driver of thermal expansive fluid, The composite special-shaped cavity bilateral driver of thermal expansive fluid；The composite special-shaped cavity single-sided driver of thermal expansive fluid can be to list Side direction bending driving；The composite special-shaped cavity bilateral driver of thermal expansive fluid can be bent to two opposite directions respectively Driving；The composite special-shaped cavity single-sided driver of thermal expansive fluid includes two types: thermal expansive fluid and shape memory close The composite special-shaped cavity single-sided driver of gold, thermal expansive fluid and the composite special-shaped cavity single-sided driver of automatically controlled heating material；It is described The composite special-shaped cavity bilateral driver of thermal expansive fluid includes two types: thermal expansive fluid is composite special-shaped with marmem Cavity bilateral driver, thermal expansive fluid and the composite special-shaped cavity bilateral driver of automatically controlled heating material.

Based on the different type of the composite special-shaped cavity driving humanoid robot software finger of above-mentioned thermal expansive fluid, the present invention is mentioned Supply the composite special-shaped cavity driving humanoid robot software hand of following four type thermal expansive fluid:

A kind of composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand, comprising: two and more than two heat it is swollen The driving robot software finger of dilatant bluk recombination abnormity cavity, the driving robot of the composite special-shaped cavity of thermal expansive fluid The palm；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid uses thermal expansive fluid and marmem Composite special-shaped cavity single-sided driver；The thermal expansive fluid and the composite special-shaped cavity single-sided driver packet of marmem It includes: thermal expansive fluid, marmem, special-shaped cavity, adiabatic elasticity layer, thermal expansive fluid channel, thermal expansive fluid control Valve, elastic matrix, heat-conducting layer, elastic reset layer, sensor；The special-shaped cavity body side surface or surrounding are embedded with heat-conducting layer；It is described Heat-conducting layer is connected with the marmem being embedded into, and outside is equipped with adiabatic elasticity layer；On the outside of the adiabatic elasticity layer and Surrounding is elastic matrix；The elastic reset layer and sensor are embedded into elastic matrix, thermal expansive fluid channel or special-shaped cavity In body；The thermal expansive fluid control valve is assemblied in thermal expansive fluid channel；The abnormity cavity and thermal expansive fluid channel It is connected, and is equipped with thermal expansive fluid；The thermal expansive fluid, marmem, special-shaped cavity, adiabatic elasticity layer, heat It is swollen that expansion fluid channel, elastic matrix, heat-conducting layer, elastic reset layer, sensor and thermal expansive fluid control valve collectively form heat Dilatant body and the composite special-shaped cavity single-sided driver of marmem；The special-shaped cavity body can be according to a variety of different grasping function Can it is different need, using different wall thickness or the non-homogeneous single-chamber body of different materials, or using different shape, different wall thickness it is more Cavity, or using different size, the Multicarity of different materials, and there is differently curved driving form and driving capability；The heat Expanding fluid and the composite special-shaped cavity single-sided driver of marmem has thermal expansive fluid driving effect and shape memory Alloy drives the unilateral bending driving effect of dual superposition collaboration enhancing of effect；The composite special-shaped cavity driving of thermal expansive fluid It is equipped in humanoid robot palm: thermal expansive fluid storage and automatically controlled heating controlling chamber, power supply and device circuitry and intelligent control Device；Special-shaped cavity in the composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid is by being equipped with thermal expansion The thermal expansive fluid channel of control valve for fluids and the thermal expansion in the driving robot palm of the composite special-shaped cavity of thermal expansive fluid Fluid storage is connected with automatically controlled heating controlling chamber；The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software finger In marmem pass through in scalable conducting wire and the driving robot palm of the composite special-shaped cavity of the thermal expansive fluid Power supply be connected with device circuitry；The expansion control valve for fluids, marmem, power supply and device circuitry, sensor It stores with thermal expansive fluid and is connected with intelligent controller with automatically controlled heating controlling chamber；The thermal expansive fluid control valve, shape Shape memory alloys, power supply and device circuitry, thermal expansive fluid storage are controlled with automatically controlled heating controlling chamber by intelligent controller；Institute It states intelligent controller and issues work order；The thermal expansive fluid storage receives the work order with automatically controlled heating controlling chamber Thermal expansive fluid is heated afterwards, thermal expansion effects occur for the thermal expansive fluid heating, remember thermal expansive fluid and shape Recall the composite special-shaped cavity single-sided driver of alloy and generates unilateral bending driving function；The power supply and device circuitry receive described Operating current is provided to marmem after work order, shape memory effect occurs after the marmem heating, Generate the unilateral bending enhancing driving function of collaboration superposition；The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand Finger is connected with the driving robot palm of the composite special-shaped cavity of thermal expansive fluid, constitutes the composite special-shaped cavity of thermal expansive fluid and drives Ejector half robot software hand.

In above scheme, the thermal expansive fluid includes: thermally conductive expansion fluid-mixing, thermally-expansible liquid, inflation gas； The thermal expansive fluid has thermal conductivity, mobility, thermal expansivity and thermal drivers；The thermally conductive expansion fluid-mixing, master Want feature are as follows: thermal expansion substance, which is dispersed in heat-conducting fluid, to be constituted；The thermally conductive expansion fluid-mixing specifically includes that thermal expansion is received Microcapsules fluid, thermal expansion class fluid, thermal expansion compound substance fluid；It is described thermal expansion receive microcapsules fluid include: thermal expansion Nano capsule fluid, thermal expansion micron capsule fluid；The thermal expansion Nano capsule fluid includes: thermal expansion Nano capsule, leads Hot fluid；The thermal expansion Nano capsule is in nanoscale range, and capsule shells have elasticity and what cladding can thermally expand receives Rice grain；The thermal expansion micron capsule is in micro-scaled range, and capsule shells have elasticity and what cladding can thermally expand receives Rice grain or micron particles；The heat-conducting fluid includes: heat-conducting gas, heat-conducting liquid；The thermal expansion class fluid includes: gas With the mixture of thermal expansion particle；The thermal expansion class fluid can be combined with thermal expansive fluid control valve, coordinated regulation heat Expand the rigidity of fluid and the composite special-shaped cavity single-sided driver of marmem；The marmem includes shape note Recall alloy wire, marmem piece, marmem block, shape-memory alloy wire mesh grid, shape-memory alloy wire battle array Column, marmem chip arrays, marmem block array；The thermal expansive fluid storage has with automatically controlled heating controlling chamber The flowing buffering and store function, thermal expansive fluid for having thermal expansive fluid are controlled heating function and hot swollen at different temperatures The flowing pressure size control function of dilatant body；It includes using that the thermal expansive fluid, which is controlled heating means: laser heating method, Electromagnetic heating method, microwave heating method, Resistant heating method.

In above scheme, the sensor includes: angular transducer, force sensor, temperature sensor, thermal expansive fluid Flow sensor；The elastic matrix include: thermoplastic polyurethane elastomer rubber (TPU), silastic material, rubber material, Silica gel material, nylon material, artificial rubber, macromolecular material, elastic hydrogel；The elastic reset layer includes: elasticity Restoring board.

A kind of composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand, comprising: two and more than two heat it is swollen The driving robot software finger of dilatant bluk recombination abnormity cavity, the driving robot of the composite special-shaped cavity of thermal expansive fluid The palm；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid is using thermal expansive fluid and automatically controlled heating material Composite special-shaped cavity single-sided driver；The thermal expansive fluid and the composite special-shaped cavity single-sided driver packet of automatically controlled heating material It includes: thermal expansive fluid, automatically controlled heating material, special-shaped cavity, adiabatic elasticity layer, thermal expansive fluid channel, thermal expansive fluid control Valve, elastic matrix, heat-conducting layer, elastic reset layer, sensor；The special-shaped cavity body side surface or surrounding are embedded with heat-conducting layer；It is described Heat-conducting layer is connected with the automatically controlled heating material being embedded into, and outside is equipped with adiabatic elasticity layer；On the outside of the adiabatic elasticity layer and Surrounding is elastic matrix；The elastic reset layer and sensor are embedded into elastic matrix, thermal expansive fluid channel or special-shaped cavity In body；The thermal expansive fluid control valve is assemblied in thermal expansive fluid channel；The abnormity cavity and thermal expansive fluid channel It is connected, and is equipped with thermal expansive fluid；The thermal expansive fluid, automatically controlled heating material, special-shaped cavity, adiabatic elasticity layer, heat It is swollen that expansion fluid channel, elastic matrix, heat-conducting layer, elastic reset layer, sensor and thermal expansive fluid control valve collectively form heat Dilatant body and the composite special-shaped cavity single-sided driver of automatically controlled heating material；The special-shaped cavity body can be according to a variety of different grasping function Can it is different need, using different wall thickness or the non-homogeneous single-chamber body of different materials, or using different shape, different wall thickness it is more Cavity, or using different size, the Multicarity of different materials, and there is differently curved driving form and driving capability；The heat Expanding fluid and the composite special-shaped cavity single-sided driver of automatically controlled heating material, there is the unilateral bending of thermal expansive fluid generation to drive Effect；Be equipped in the driving robot palm of the composite special-shaped cavity of thermal expansive fluid: thermal expansive fluid storage with it is automatically controlled Heat controlling chamber, power supply and device circuitry and intelligent controller；The composite special-shaped cavity of thermal expansive fluid drives humanoid robot Special-shaped cavity in software finger is multiple by the thermal expansive fluid channel and thermal expansive fluid for being equipped with thermal expansive fluid control valve The thermal expansive fluid storage closed in the driving robot palm of special-shaped cavity is connected with automatically controlled heating controlling chamber；The thermal expansion Automatically controlled heating material in the composite special-shaped cavity driving humanoid robot software finger of fluid is swollen by scalable conducting wire and the heat Power supply in the driving robot palm of dilatant bluk recombination abnormity cavity is connected with device circuitry；The thermal expansive fluid control Valve, automatically controlled heating material, power supply and device circuitry, sensor, thermal expansive fluid storage with automatically controlled heating controlling chamber with intelligence Controller is connected；The thermal expansive fluid control valve, automatically controlled heating material, power supply and device circuitry, thermal expansive fluid storage It is controlled with automatically controlled heating controlling chamber by intelligent controller；The intelligent controller issues work order；The thermal expansive fluid Storage heats thermal expansive fluid after receiving the work order with automatically controlled heating controlling chamber, the power supply and device electricity Road receives and provides operating current to automatically controlled heating material after the work order, by heat after the automatically controlled heating material heating Thermal expansive fluid is passed to, the thermal expansive fluid heating occurs thermal expansion effects, makes thermal expansive fluid and automatically controlled heating material Composite special-shaped cavity single-sided driver generates unilateral bending driving function；The driving machine of the composite special-shaped cavity of thermal expansive fluid Device people's software finger is connected with the driving robot palm of the composite special-shaped cavity of thermal expansive fluid, constitutes expansion stream bluk recombination The special-shaped driving robot software hand of cavity.

In above scheme, the thermal expansive fluid includes: thermally conductive expansion fluid-mixing, thermally-expansible liquid, inflation gas； The thermal expansive fluid has thermal conductivity, mobility, thermal expansivity and thermal drivers；The thermally conductive expansion fluid-mixing, master Want feature are as follows: thermal expansion substance, which is dispersed in heat-conducting fluid, to be constituted；The thermally conductive expansion fluid-mixing specifically includes that thermal expansion is received Microcapsules fluid, thermal expansion class fluid, thermal expansion compound substance fluid；It is described thermal expansion receive microcapsules fluid include: thermal expansion Nano capsule fluid, thermal expansion micron capsule fluid；The thermal expansion Nano capsule fluid includes: thermal expansion Nano capsule, leads Hot fluid；The thermal expansion Nano capsule is in nanoscale range, and capsule shells have elasticity and what cladding can thermally expand receives Rice grain；The thermal expansion micron capsule is in micro-scaled range, and capsule shells have elasticity and what cladding can thermally expand receives Rice grain or micron particles；The heat-conducting fluid includes: heat-conducting gas, heat-conducting liquid；The thermal expansion class fluid includes: gas With the mixture of thermal expansion particle；When using class fluid is thermally expanded, the thermal expansive fluid control valve needs that accordingly use The control valve that can be circulated using only gas；The thermal expansion class fluid can be combined with thermal expansive fluid control valve, At certain temperature and pressure, the gas that class fluid is thermally expanded in special-shaped cavity returns to thermal expansion by thermal expansive fluid control valve Fluid stores and automatically controlled heating controlling chamber, and thermal expansion density of particle increases in special-shaped cavity, and rigidity reinforced realizes coordinated regulation The rigidity of thermal expansive fluid and the composite special-shaped cavity single-sided driver of automatically controlled heating material；When using class fluid is thermally expanded, phase The thermal expansive fluid control valve that should be used is needed using the control valve that only gas can circulate；The automatically controlled heating material Include: automatically controlled heating material silk, automatically controlled heating material piece, automatically controlled heating material block, automatically controlled heating material silk mesh grid, it is automatically controlled plus Hot material silk array, automatically controlled heating material chip arrays, automatically controlled heating material block array；The thermal expansive fluid storage adds with automatically controlled There is hot controlling chamber the flowing buffering of thermal expansive fluid and store function, thermal expansive fluid to be controlled heating function and in difference At a temperature of thermal expansive fluid flowing pressure size control function；It includes using that the thermal expansive fluid, which is controlled heating means: being swashed Light heating means, electromagnetic heating method, microwave heating method, Resistant heating method.

A kind of composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand, comprising: two and more than two heat it is swollen The driving robot software finger of dilatant bluk recombination abnormity cavity, the driving robot of the composite special-shaped cavity of thermal expansive fluid The palm；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid uses thermal expansive fluid and marmem Composite special-shaped cavity bilateral driver；The thermal expansive fluid and the composite special-shaped cavity bilateral driver packet of marmem It includes: above structure, middle layer, following structure；The above structure include: above thermal expansive fluid, upper shape memorial alloy, Special-shaped cavity, adiabatic elasticity layer above, thermal expansive fluid channel above, thermal expansive fluid control valve above, upper surface elastic above Matrix, heat-conducting layer above, sensor above；The middle layer is middle spring reset layer；The structure below includes: following heat Expand fluid, following marmem, below special-shaped cavity, following adiabatic elasticity layer, following thermal expansive fluid channel, below Thermal expansive fluid control valve, following elastic matrix, following heat-conducting layer, following sensor；Abnormity the upper surface of in the above structure Cavity side or surrounding are embedded with heat-conducting layer above；The heat-conducting layer above with the upper surface of be embedded into marmem and be connected, Its outside is equipped with adiabatic elasticity layer above；Outside the adiabatic elasticity layer above and surrounding is elastic matrix above；On described Face sensor is embedded into elastic matrix, thermal expansive fluid channel above or special-shaped cavity above above；The thermal expansion above Control valve for fluids is assemblied in thermal expansive fluid channel above；The special-shaped cavity above is connected with thermal expansive fluid channel above It is logical, and it is equipped with thermal expansive fluid above；Special-shaped cavity body side surface or surrounding are embedded with and lead below below in the structure below Thermosphere；It is described below heat-conducting layer be embedded into below marmem be connected, on the outside of be equipped with following adiabatic elasticity layer； On the outside of the adiabatic elasticity layer below and surrounding is following elastic matrix；It is described below sensor be embedded into following elastic matrix, Thermal expansive fluid channel or below in special-shaped cavity below；The thermal expansive fluid control valve below is assemblied in following expansion stream In body channel；The special-shaped cavity below is connected with following thermal expansive fluid channel, and is equipped with following thermal expansive fluid；Institute Stating between above structure and following structure is middle spring reset layer；The above structure, middle spring reset layer and following knot Structure collectively forms thermal expansive fluid and the composite special-shaped cavity bilateral driver of marmem with integrated composite construction； The special-shaped cavity above and following anisotropic cavity can be according to the different needs of a variety of different grip functions, using different wall thickness Or the non-homogeneous single-chamber body of different materials, or using different shape, the Multicarity of different wall thickness, or use different size, difference The Multicarity of material, and there is differently curved driving form and driving capability；The thermal expansive fluid and marmem are multiple Closing special-shaped cavity bilateral driver, there is thermal expansive fluid driving effect to be superimposed association with marmem driving the dual of effect With enhancing bilateral bending driving effect；It is equipped in the driving robot palm of the composite special-shaped cavity of thermal expansive fluid: heat Expand fluid storage and automatically controlled heating controlling chamber, power supply and device circuitry and intelligent controller；The expansion stream bluk recombination is different Special-shaped cavity is by being equipped with the upper of thermal expansive fluid control valve above the upper surface of in shape cavity driving humanoid robot software finger Thermal expansive fluid storage in face thermal expansive fluid channel and the driving robot palm of the composite special-shaped cavity of thermal expansive fluid with Automatically controlled heating controlling chamber is connected；It is different below in the composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid Shape cavity is composite special-shaped by being equipped with thermal expansive fluid channel and thermal expansive fluid below following thermal expansive fluid control valve Thermal expansive fluid storage in the driving robot palm of cavity is connected with automatically controlled heating controlling chamber；The thermal expansive fluid is multiple The upper surface of close in the special-shaped driving robot software finger of cavity marmem and following marmem pass through can Stretch conducting wire is connected with the power supply in the driving robot palm of the composite special-shaped cavity of the thermal expansive fluid with device circuitry； The thermal expansive fluid control valve above, following thermal expansive fluid control valve, upper shape memorial alloy, following shape memory close Gold, power supply and device circuitry, sensor above, following sensor, thermal expansive fluid storage with automatically controlled heating controlling chamber and intelligence It can control device to be connected；The thermal expansive fluid control valve above, following thermal expansive fluid control valve, upper shape memory are closed Golden, following marmem, power supply and device circuitry, thermal expansive fluid storage are with automatically controlled heating controlling chamber by intelligent control Device control；The intelligent controller is used to issue work order；The thermal expansive fluid storage is used to automatically controlled heating controlling chamber To thermal expansive fluid above, perhaps following thermal expansive fluid heats thermal expansive fluid or the following expansion stream above Thermal expansion effects occur after body heating, produce thermal expansive fluid respectively with the composite special-shaped cavity bilateral driver of marmem It is raw to following or upward curved driving function；The power supply and device circuitry be used to upward marmem or under Face marmem provides operating current, occurs after the upper shape memorial alloy or the heating of following marmem Shape memory effect, generate to it is following or upward cooperate with superposition curved bilateral be bent enhancing driving function；The heat is swollen The driving robot software finger of dilatant bluk recombination abnormity cavity and the driving robot of the composite special-shaped cavity of thermal expansive fluid The palm is connected, and constitutes the composite special-shaped cavity of thermal expansive fluid and drives humanoid robot software hand.

In above scheme, thermal expansive fluid and the following thermal expansive fluid above include: thermally conductive expansion fluid-mixing, Thermally-expansible liquid, inflation gas；The thermal expansive fluid has thermal conductivity, mobility, thermal expansivity and thermal drivers；It is described Thermally conductive expansion fluid-mixing, main feature are as follows: thermal expansion substance, which is dispersed in heat-conducting fluid, to be constituted；The thermally conductive expansion mixing Fluid specifically include that thermal expansion receive microcapsules fluid, thermal expansion class fluid, thermal expansion compound substance fluid；The thermal expansion is received Microcapsules fluid includes: thermal expansion Nano capsule fluid, thermal expansion micron capsule fluid；The thermal expansion Nano capsule fluid packet It includes: thermal expansion Nano capsule, heat-conducting fluid；The thermal expansion Nano capsule has elasticity in nanoscale range, capsule shells And coat the nano particle that can be thermally expanded；The thermal expansion micron capsule has elasticity in micro-scaled range, capsule shells And coat the nano particle or micron particles that can be thermally expanded；The heat-conducting fluid includes: heat-conducting gas, heat-conducting liquid；It is described Thermal expansion class fluid includes: the mixture of gas and thermal expansion particle；The thermal expansion class fluid can be with expansion stream above Body control valve, following thermal expansive fluid control valve combine, and coordinated regulation thermal expansive fluid and marmem are composite special-shaped The rigidity of cavity bilateral driver；The thermal expansive fluid control valve above, following thermal expansive fluid control valve are using only gas The control valve that body can circulate；The upper shape memorial alloy and following marmem include marmem Silk, marmem piece, marmem block, shape-memory alloy wire mesh grid, shape-memory alloy wire array, shape Memorial alloy chip arrays, marmem block array；The thermal expansive fluid storage has heat swollen with automatically controlled heating controlling chamber The flowing buffering and store function of dilatant body, thermal expansive fluid are controlled heating function and at different temperatures thermal expansive fluid Flowing pressure size control function；It includes using that the thermal expansive fluid, which is controlled heating means: laser heating method, electromagnetism add Hot method, microwave heating method, Resistant heating method.

In above scheme, sensor and the following sensor above include: angular transducer, force sensor, temperature Spend sensor, thermal expansive fluid flow sensor；Elastic matrix and the following elastic matrix above include: thermoplastic poly ammonia Ester elastomer rubber (TPU), silastic material, rubber material, silica gel material, nylon material, artificial rubber, high polymer elastic material Material, elastic hydrogel；The middle spring reset layer includes: elastic reset plate.

A kind of composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand, comprising: two and more than two heat it is swollen The driving robot software finger of dilatant bluk recombination abnormity cavity, the driving robot of the composite special-shaped cavity of thermal expansive fluid The palm；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid is using thermal expansive fluid and automatically controlled heating material Composite special-shaped cavity bilateral driver；The thermal expansive fluid and the composite special-shaped cavity bilateral driver of automatically controlled heating material are main It include: above structure, middle layer, following structure；The above structure includes: thermal expansive fluid, automatically controlled heating material above above Material, above special-shaped cavity, adiabatic elasticity layer above, thermal expansive fluid channel above, thermal expansive fluid control valve above, bullet above Property matrix, heat-conducting layer above, sensor above；The middle layer is middle spring reset layer；The structure below includes: following Thermal expansive fluid, following automatically controlled heating material, below special-shaped cavity, following adiabatic elasticity layer, following thermal expansive fluid channel, under Face thermal expansive fluid control valve, following elastic matrix, following heat-conducting layer, following sensor；It is different the upper surface of in the above structure Shape cavity side or surrounding are embedded with heat-conducting layer above；The heat-conducting layer above with the upper surface of be embedded into automatically controlled heating material and be connected It connects, outside is equipped with adiabatic elasticity layer above；On the outside of the adiabatic elasticity layer above and surrounding is elastic matrix above；It is described Sensor is embedded into elastic matrix, thermal expansive fluid channel above or special-shaped cavity above above above；The heat above Expansion control valve for fluids is assemblied in thermal expansive fluid channel above；The special-shaped cavity above and thermal expansive fluid channel above It is connected, and is equipped with thermal expansive fluid above；Special-shaped cavity body side surface or surrounding are embedded with down below in the structure below Face heat-conducting layer；It is described below heat-conducting layer be embedded into below automatically controlled heating material be connected, outside be equipped with below be insulated bullet Property layer；On the outside of the adiabatic elasticity layer below and surrounding is following elastic matrix；The sensor below is embedded into following bullet Property matrix, following thermal expansive fluid channel or below in special-shaped cavity；The thermal expansive fluid control valve below is assemblied in following In thermal expansive fluid channel；The special-shaped cavity below is connected with following thermal expansive fluid channel, and it is swollen to be equipped with following heat Dilatant body；It is middle spring reset layer between the above structure and following structure；The above structure, middle spring reset layer Thermal expansive fluid and the composite special-shaped cavity of automatically controlled heating material pair with integrated composite construction are collectively formed with following structure Side driver；The special-shaped cavity above and following anisotropic cavity can be adopted according to the different needs of a variety of different grip functions It is different with different wall thickness or the non-homogeneous single-chamber body of different materials, or the Multicarity of use different shape, different wall thickness, or use The Multicarity of size, different materials, and there is differently curved driving form and driving capability；The thermal expansive fluid adds with automatically controlled The composite special-shaped cavity bilateral driver of hot material has the bilateral bending driving effect of thermal expansive fluid；The thermal expansive fluid is multiple It closes and is equipped in the driving robot palm of special-shaped cavity: thermal expansive fluid storage and automatically controlled heating controlling chamber, power supply and device Circuit and intelligent controller；Special-shaped cavity the upper surface of in the composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid Body is by being equipped with the upper surface of thermal expansive fluid control valve thermal expansive fluid channel above and the composite special-shaped cavity of thermal expansive fluid Thermal expansive fluid storage in driving robot palm is connected with automatically controlled heating controlling chamber；The expansion stream bluk recombination is different Special-shaped cavity is by being equipped under following thermal expansive fluid control valve below in shape cavity driving humanoid robot software finger Thermal expansive fluid storage in face thermal expansive fluid channel and the driving robot palm of the composite special-shaped cavity of thermal expansive fluid with Automatically controlled heating controlling chamber is connected；Electricity the upper surface of in the composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid Control heating material and following automatically controlled heating material pass through scalable conducting wire and the composite special-shaped cavity of the thermal expansive fluid drives Power supply in humanoid robot palm is connected with device circuitry；The thermal expansive fluid control valve, following thermal expansive fluid above Control valve, automatically controlled heating material above, following automatically controlled heating material, power supply and device circuitry, sensor above, following sensor It stores with thermal expansive fluid and is connected with intelligent controller with automatically controlled heating controlling chamber；The thermal expansive fluid control above Valve, following thermal expansive fluid control valve, automatically controlled heating material above, following automatically controlled heating material, power supply and device circuitry, heat are swollen The storage of dilatant body is controlled with automatically controlled heating controlling chamber by intelligent controller；The intelligent controller is used to issue work order； The thermal expansive fluid storage is used to carry out thermal expansive fluid above or following thermal expansive fluid with automatically controlled heating controlling chamber Heating；The power supply and device circuitry are used to upward automatically controlled heating material or automatically controlled heating material provides work electricity below Stream；Thermal expansive fluid above is transferred heat to after the automatically controlled heating material heating above；The automatically controlled heating material below Following thermal expansive fluid is transferred heat to after heating；It is sent out after the thermal expansive fluid above or the heating of following thermal expansive fluid Heat bulking effect, make thermal expansive fluid and the composite special-shaped cavity bilateral driver of automatically controlled heating material generate respectively to following or Upward curved bilateral is bent driving function to person；The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software finger It is connected with the driving robot palm of the composite special-shaped cavity of thermal expansive fluid, constitutes the composite special-shaped cavity driving of thermal expansive fluid Humanoid robot software hand.

In above scheme, thermal expansive fluid and the following thermal expansive fluid above include: thermally conductive expansion fluid-mixing, Thermally-expansible liquid, inflation gas；The thermal expansive fluid has thermal conductivity, mobility, thermal expansivity and thermal drivers；It is described Thermally conductive expansion fluid-mixing, main feature are as follows: thermal expansion substance, which is dispersed in heat-conducting fluid, to be constituted；The thermally conductive expansion mixing Fluid specifically include that thermal expansion receive microcapsules fluid, thermal expansion class fluid, thermal expansion compound substance fluid；The thermal expansion is received Microcapsules fluid includes: thermal expansion Nano capsule fluid, thermal expansion micron capsule fluid；The thermal expansion Nano capsule fluid packet It includes: thermal expansion Nano capsule, heat-conducting fluid；The thermal expansion Nano capsule has elasticity in nanoscale range, capsule shells And coat the nano particle that can be thermally expanded；The thermal expansion micron capsule has elasticity in micro-scaled range, capsule shells And coat the nano particle or micron particles that can be thermally expanded；The heat-conducting fluid includes: heat-conducting gas, heat-conducting liquid；It is described Thermal expansion class fluid includes: the mixture of gas and thermal expansion particle；The thermal expansion class fluid can be with expansion stream above Body control valve, following thermal expansive fluid control valve combine, and coordinated regulation thermal expansive fluid and automatically controlled heating material are composite special-shaped The rigidity of cavity bilateral driver；The thermal expansive fluid control valve above, following thermal expansive fluid control valve are using only gas The control valve that body can circulate；Automatically controlled heating material and the following automatically controlled heating material above include: automatically controlled heating material It is silk, automatically controlled heating material piece, automatically controlled heating material block, automatically controlled heating material silk mesh grid, automatically controlled heating material silk array, automatically controlled Heating material chip arrays, automatically controlled heating material block array；The thermal expansive fluid storage has heat swollen with automatically controlled heating controlling chamber The flowing buffering and store function of dilatant body, thermal expansive fluid are controlled heating function and at different temperatures thermal expansive fluid Flowing pressure size control function；It includes using that the thermal expansive fluid, which is controlled heating means: laser heating method, electromagnetism add Hot method, microwave heating method, Resistant heating method.

The course of work of the composite special-shaped cavity driving humanoid robot software hand of thermal expansive fluid of the present invention is as follows:

(1) the expansion stream bluk recombination of thermal expansive fluid and the composite special-shaped cavity single-sided driver of marmem is used The course of work of the special-shaped driving robot software hand of cavity is as follows:

Intelligent controller in the driving robot palm of the composite special-shaped cavity of thermal expansive fluid issues thermal expansive fluid The crawl article work order of composite special-shaped cavity driving humanoid robot software hand, thermal expansive fluid storage regulate and control with automatically controlled heating Room starts to carry out thermal expansive fluid heating work, and power supply and device circuitry start to provide certain work to marmem Electric current；Intelligent controller starts to regulate and control thermal expansive fluid control valve, makes the heat of thermal expansive fluid storage with automatically controlled heating controlling chamber The thermal expansive fluid of the thermal expansive fluid, special-shaped cavity that expand fluid and thermal expansive fluid pipeline keeps connection；Shape memory closes Golden temperature starts to increase, and heat is transferred to the thermal expansive fluid of special-shaped cavity by heat-conducting layer；The thermal expansive fluid of special-shaped cavity Temperature start to increase；Angular transducer, force sensor, temperature sensor, thermal expansive fluid flow sensor will test letter Breath is transferred to intelligent controller；Intelligent controller regulates and controls power supply and device circuitry and provides the big of operating current to marmem Small, the storage of regulation thermal expansive fluid, to thermal expansive fluid heating temperature size, regulates and controls thermal expansive fluid with automatically controlled heating controlling chamber Control valve opens size；Under the conditions of certain temperature, thermal expansion effects occur for the thermal expansive fluid of special-shaped cavity, make expansion stream Body and the composite special-shaped cavity of marmem generate unilateral bending driving function；Under the conditions of certain temperature, shape memory is closed Golden hair gives birth to shape memory effect, generates the unilateral bending enhancing driving function of collaboration superposition, and the composite special-shaped cavity of thermal expansive fluid drives Ejector half robot software finger grip lives article.

Stop crawl article instruction when intelligent controller issues, power supply and device circuitry stop providing to marmem Operating current, thermal expansive fluid storage stop heating temperature to thermal expansive fluid with automatically controlled heating controlling chamber；Marmem Temperature rapid decrease, quickly recovers to reset condition；The temperature rapid decrease of the thermal expansive fluid of special-shaped cavity, thermal expansive fluid Storage and the automatically controlled expansion stream temperature for heating controlling chamber also rapid decrease；In the cooling condition, special-shaped cavity rapid drop, Under the assistance of elastic reset layer, the composite special-shaped cavity driving humanoid robot software finger release of thermal expansive fluid is crawled object Product.

(2) the expansion stream bluk recombination of thermal expansive fluid and the composite special-shaped cavity bilateral driver of automatically controlled heating material is used The course of work of the special-shaped driving robot software hand of cavity is as follows:

Intelligent controller in the driving robot palm of the composite special-shaped cavity of thermal expansive fluid issues thermal expansive fluid Composite special-shaped cavity drives humanoid robot software finger to the work order of a direction bending driving, thermal expansive fluid storage with Automatically controlled heating controlling chamber starts to carry out thermal expansive fluid above heating work, and power supply and device circuitry start upward structure Automatically controlled heating material provides certain operating current above；Intelligent controller starts to regulate and control the upper surface of above structure thermal expansive fluid Control valve thermally expands the upper surface of thermal expansive fluid storage and automatically controlled heating controlling chamber the upper surface of thermal expansive fluid and above structure The upper surface of fluid line thermal expansive fluid, the upper surface of special-shaped cavity thermal expansive fluid keeps connection above；The upper surface of above structure Automatically controlled heating material temperature starts to increase, and heat is transferred to the upper surface of above structure abnormity by the upper surface of above structure heat-conducting layer The upper surface of cavity thermal expansive fluid；The temperature of the upper surface of the upper surface of above structure abnormity cavity thermal expansive fluid starts to increase；On Angular transducer, force sensor, temperature sensor, the thermal expansive fluid flow sensor of face structure will test information and be transferred to Intelligent controller；Intelligent controller regulates and controls power supply and device circuitry, and upward the automatically controlled heating material of the upper surface of structure provides work electricity The size of stream, regulation thermal expansive fluid storage is with automatically controlled heating controlling chamber to the upper surface of above structure thermal expansive fluid heating temperature Size, the upper surface of regulation above structure thermal expansive fluid control valve open size；Under the conditions of certain temperature, above structure it is upper Thermal expansion effects occur for the upper surface of face abnormity cavity thermal expansive fluid, generate a direction bending driving, expansion stream bluk recombination The special-shaped driving robot software finger of cavity is completed to be bent driving function to a direction.

Stop being bent driving instruction to a direction when intelligent controller issues, power supply is upward tied with device circuitry stopping The automatically controlled heating material of the upper surface of structure provides operating current, and thermal expansive fluid storage stops with automatically controlled heating controlling chamber to hot swollen above Dilatant body heating temperature；The temperature rapid decrease of the automatically controlled heating material of the upper surface of above structure, quickly recovers to reset condition；Above The temperature rapid decrease of the upper surface of the upper surface of structure abnormity cavity thermal expansive fluid, thermal expansive fluid storage regulate and control with automatically controlled heating The upper surface of room expansion stream temperature also rapid decrease；In the cooling condition, the special-shaped cavity rapid drop of the upper surface of above structure, Under the assistance of middle spring reset layer, the composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid is restored to original shape State.

Intelligent controller in the driving robot palm of the composite special-shaped cavity of thermal expansive fluid issues thermal expansive fluid Composite special-shaped cavity driving humanoid robot software finger is bent the work order of driving round about, thermal expansive fluid storage with Automatically controlled heating controlling chamber starts to carry out following thermal expansive fluid heating work, and power supply and device circuitry start to following structure Automatically controlled heating material provides certain operating current below；Intelligent controller starts to regulate and control thermal expansive fluid below following structure Control valve, makes thermal expansive fluid storage and thermally expands below thermal expansive fluid below automatically controlled heating controlling chamber and following structure Thermal expansive fluid below fluid line, thermal expansive fluid keeps connection below special-shaped cavity below；Below below structure Automatically controlled heating material temperature starts to increase, and heat is transferred to below following structure special-shaped by heat-conducting layer below following structure Thermal expansive fluid below cavity；The temperature of thermal expansive fluid starts to increase below special-shaped cavity below structure below；Under Angular transducer, force sensor, temperature sensor, the thermal expansive fluid flow sensor of face structure will test information and be transferred to Intelligent controller；Intelligent controller regulates and controls power supply and device circuitry and provides work electricity to automatically controlled heating material below following structure The size of stream, regulation thermal expansive fluid storage is with automatically controlled heating controlling chamber to thermal expansive fluid heating temperature below following structure Size regulates and controls thermal expansive fluid control valve below following structure and opens size；Under the conditions of certain temperature, below under structure Thermal expansion effects occur for thermal expansive fluid below the abnormity cavity of face, generate opposite direction bending driving, expansion stream bluk recombination The special-shaped driving robot software finger of cavity completes unilateral side and is bent driving function round about.

Stop being bent driving instruction round about when intelligent controller issues, power supply and device circuitry stop to following knot Automatically controlled heating material provides operating current below structure, and thermal expansive fluid storage stops swollen to following heat with automatically controlled heating controlling chamber Dilatant body heating temperature；Below below structure automatically controlled heating material temperature rapid decrease, quickly recover to reset condition；Below Below structure below special-shaped cavity thermal expansive fluid temperature rapid decrease, thermal expansive fluid storage and automatically controlled heating regulation Expansion stream temperature also rapid decrease below room；In the cooling condition, special-shaped cavity rapid drop below structure below, Under the assistance of middle spring reset layer, the composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid is restored to original shape State.

The composite special-shaped cavity driving humanoid robot software hand of thermal expansive fluid of the invention has the advantages that

A, the thermal expansive fluid that the present invention uses includes: thermally conductive expansion fluid-mixing, thermally-expansible liquid, inflation gas； The thermal expansive fluid has thermal conductivity, mobility, thermal expansivity and thermal drivers；It is main for the thermally conductive expansion fluid-mixing Feature are as follows: thermal expansion substance, which is dispersed in heat-conducting fluid, to be constituted；It is micro- that the thermally conductive expansion fluid-mixing specifically includes that thermal expansion is received Capsule fluid, thermal expansion class fluid, thermal expansion compound substance fluid；It includes: that thermal expansion is received that microcapsules fluid is received in the thermal expansion Rice glue capsule fluid, thermal expansion micron capsule fluid；The thermal expansion Nano capsule fluid includes: thermal expansion Nano capsule, thermally conductive Fluid；In nanoscale range, capsule shells have elasticity and coat the nanometer that can be thermally expanded the thermal expansion Nano capsule Particle；The thermal expansion micron capsule coats the nano particle or micron that can be thermally expanded in micro-scaled range, capsule shells Particle；The heat-conducting fluid includes: heat-conducting gas, heat-conducting liquid；The thermal expansion class fluid includes gas and thermal expansion particle Mixture；Due to using thermal expansive fluid in the composite special-shaped cavity driving humanoid robot software hand of thermal expansive fluid, improve The controllability of driving, driving capability are remarkably improved.

B, present invention employs the drivings of the thermal expansion deformation of the composite special-shaped cavity of thermal expansive fluid and marmem Deformation driving combines, therefore has the reinforcing effect of collaboration superposition double drive.

C, present invention employs double regulation heat driven modes, comprising: (1) power supply and device circuitry electrified regulation shape are remembered Alloy or the automatically controlled heating material of heating are recalled to heat the thermal expansive fluid in the composite special-shaped cavity of thermal expansive fluid and generate driving； (2) thermal expansive fluid of storage is heated in thermal expansive fluid storage with automatically controlled heating controlling chamber, to adjust control thermal expansive fluid Thermal drivers performance；And mutually combined by sensor information feedback, thermal expansive fluid control valve with intelligent controller, it realizes double Regulate and control heat driven mode, and constitute thermal expansive fluid driving adjustment and control system, improves the controllability of driving, flexibility and effectively Property.

D, the present invention can be passed using the marmem after being powered to the thermal expansive fluid in composite special-shaped cavity Offer thermal energy is sent, also there is marmem itself the composite special-shaped cavity of collaboration thermal expansive fluid to generate thermal expansion drive It is dynamic, and generate enhancing superposition thermal drivers effect.

E, thermal expansive fluid storage and the automatically controlled heating controlling chamber that the present invention uses both had had to buffer thermal expansive fluid and adjust Section and store function also have to the controllable auxiliary heating function of thermal expansive fluid；The auxiliary heating can be according to different uses Environmental condition, selection uses a variety of different heating means, including uses: laser heating method, electromagnetic heating method, microwave add Hot method, Resistant heating method；Therefore, it is soft can to expand the composite special-shaped cavity driving humanoid robot of thermal expansive fluid by the present invention The application range of body hand.

F, the special-shaped cavity body that the present invention uses can be according to the different needs of a variety of different grip functions, using different wall thickness Or the non-homogeneous single-chamber body of different materials, or using different shape, the Multicarity of different wall thickness, or use different size, difference The Multicarity of material, and there is differently curved driving form and driving capability.

Detailed description of the invention

Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:

Fig. 1 is the structural schematic diagram of the composite special-shaped cavity driving humanoid robot software hand of thermal expansive fluid of the present invention；

Fig. 2 is that 1 thermal expansive fluid of the embodiment of the present invention does not drive with the composite special-shaped cavity single-sided driver of marmem The structural schematic diagram of dynamic state；

Fig. 3 is that 1 thermal expansive fluid of the embodiment of the present invention and the composite special-shaped cavity single-sided driver of marmem drive The structural schematic diagram of state；

Fig. 4 is the knot of 2 thermal expansive fluid of the embodiment of the present invention Yu the composite special-shaped cavity bilateral driver of automatically controlled heating material Structure schematic diagram.

In figure: the composite special-shaped cavity of 1- thermal expansive fluid drives humanoid robot software hand；2- thermal expansive fluid and shape are remembered Recall the composite special-shaped cavity single-sided driver of alloy；3- thermal expansive fluid and the composite special-shaped cavity single-sided driver of marmem Driving condition；The composite special-shaped cavity of 4- thermal expansive fluid drives humanoid robot software finger；The composite special-shaped chamber of 5- thermal expansive fluid The driving robot palm of body；The storage of 6- thermal expansive fluid and automatically controlled heating controlling chamber；7- power supply and device circuitry；8- is intelligently controlled Device processed；9- abnormity cavity (embodiment 1)；10- thermal expansive fluid control valve (embodiment 1)；11- thermal expansive fluid (embodiment 1)； 12- thermal expansive fluid channel (embodiment 1)；13- marmem (embodiment 1)；14- adiabatic elasticity layer (embodiment 1)； 15- elastic matrix (embodiment 1)；16- heat-conducting layer (embodiment 1)；17- elastic reset layer (embodiment 1)；18- angular transducer (embodiment 1)；19- force sensor (embodiment 1)；20- temperature sensor (embodiment 1)；21- thermal expansive fluid adds with automatically controlled The composite special-shaped cavity bilateral driver of hot material；22- above structure (embodiment 2)；23- middle layer (embodiment 2)；Below 24- Structure (embodiment 2)；Thermal expansive fluid (embodiment 2) above 25-；Automatically controlled heating material (embodiment 2) above 26-；Above 27- Special-shaped cavity (embodiment 2)；Adiabatic elasticity layer (embodiment 2) above 28-；Thermal expansive fluid channel (embodiment 2) above 29-； Thermal expansive fluid control valve (embodiment 2) above 30-；Elastic matrix (embodiment 2) above 31-；Heat-conducting layer (is implemented above 32- Example 2)；Angular transducer (embodiment 2) above 33-；Force sensor (embodiment 2) above 34-；35- overhead temperature sensor (embodiment 2)；Thermal expansive fluid (embodiment 2) below 36-；Automatically controlled heating material (embodiment 2) below 37-；It is special-shaped below 38- Cavity (embodiment 2)；Adiabatic elasticity layer (embodiment 2) below 39-；Thermal expansive fluid channel (embodiment 2) below 40-: under 41- Face thermal expansive fluid control valve (embodiment 2)；Elastic matrix (embodiment 2) below 42-；Heat-conducting layer (embodiment 2) below 43-； Angular transducer (embodiment 2) below 44-；Force sensor (embodiment 2) below 45-；Temperature sensor (is implemented below 46- Example 2).

Specific embodiment

For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail A specific embodiment of the invention.

Embodiment 1: using the expansion stream of thermal expansive fluid and the composite special-shaped cavity single-sided driver 2 of marmem The driving robot software hand 1 of bluk recombination abnormity cavity.

The embodiment of the present invention 1 uses the heat of thermal expansive fluid and the composite special-shaped cavity single-sided driver 2 of marmem The structural schematic diagram of the composite special-shaped cavity driving humanoid robot software hand 1 of expansion fluid is shown in Fig. 1；Thermal expansive fluid and shape memory The structural schematic diagram of the composite special-shaped non-driving condition of cavity single-sided driver of alloy is shown in Fig. 2；Thermal expansive fluid and shape memory close The structural schematic diagram of the composite special-shaped cavity single-sided driver driving condition 3 of gold is shown in Fig. 3.

The composite special-shaped cavity driving humanoid robot software hand 1 of the thermal expansive fluid of the embodiment of the present invention 1 includes: that five heat are swollen The driving robot software finger 4 of dilatant bluk recombination abnormity cavity, the driving robot of the composite special-shaped cavity of thermal expansive fluid The palm 5；Five thermal expansive fluids composite special-shaped cavity driving humanoid robot software finger 4 with the composite special-shaped cavity of thermal expansive fluid Driving robot palm 5 is connected, and constitutes the composite special-shaped cavity of thermal expansive fluid and drives humanoid robot software hand 1；Five heat It is compound different with marmem that the composite special-shaped cavity driving humanoid robot software finger 4 of expansion fluid is all made of thermal expansive fluid Shape cavity single-sided driver 2；It is equipped in the driving robot palm 5 of the composite special-shaped cavity of thermal expansive fluid: thermal expansive fluid Storage and automatically controlled heating controlling chamber 6, power supply and device circuitry 7 and intelligent controller 8.

Referring to figs. 2 and 3, thermal expansive fluid includes: that heat is swollen with the composite special-shaped cavity single-sided driver 2 of marmem Dilatant body 11, marmem 13, special-shaped cavity 9, adiabatic elasticity layer 14, thermal expansive fluid channel 12, thermal expansive fluid control Valve 10 processed, elastic matrix 15, heat-conducting layer 16, elastic reset layer 17, angular transducer 18, force sensor 19, temperature sensor 20；Special-shaped 9 side of cavity or surrounding are embedded with heat-conducting layer 16；Heat-conducting layer 16 is connected with the marmem 13 being embedded into, Outside is equipped with adiabatic elasticity layer 14；14 outside of adiabatic elasticity layer and surrounding are elastic matrix 15；Elastic reset layer 17, angle pass Sensor 18 is embedded into elastic matrix 15；Force sensor 19, temperature sensor 20 are embedded into thermal expansive fluid channel 12；Heat Expansion control valve for fluids 10 is assemblied in thermal expansive fluid channel 12；Special-shaped cavity 9 is connected with thermal expansive fluid channel 12, and It is equipped with thermal expansive fluid 11；Thermal expansive fluid 11, marmem 13, special-shaped cavity 9, adiabatic elasticity layer 14, thermal expansion Fluid channel 12, elastic matrix 15, heat-conducting layer 16, elastic reset layer 17, angular transducer 18, force sensor 19, temperature pass Sensor 20 and thermal expansive fluid control valve 10 collectively form thermal expansive fluid and the composite special-shaped cavity unilateral side of marmem is driven Dynamic device 2.

Special-shaped cavity 9 can be according to the needs of grip function, using the Multicarity of different wall thickness；Expansion stream bluk recombination is different Special-shaped cavity 9 in shape cavity driving humanoid robot software finger 4 is by being equipped with the thermal expansion of thermal expansive fluid control valve 10 Thermal expansive fluid storage in fluid channel 12 and the driving robot palm 5 of the composite special-shaped cavity of thermal expansive fluid adds with automatically controlled Hot controlling chamber 6 is connected；Marmem 13 in the composite special-shaped cavity driving humanoid robot software finger 4 of thermal expansive fluid Pass through the power supply and device circuitry in scalable conducting wire and the driving robot palm 5 of the composite special-shaped cavity of the thermal expansive fluid 7 are connected；Thermal expansive fluid control valve 10, marmem 13, power supply and device circuitry 7, angular transducer 18, dynamics pass Sensor 19, temperature sensor 20 and thermal expansive fluid storage are connected with intelligent controller 8 with automatically controlled heating controlling chamber 6；Heat Expand control valve for fluids 10, marmem 13, power supply and device circuitry 7, thermal expansive fluid storage regulates and controls with automatically controlled heating Room 6 is controlled by intelligent controller 8.

The thermal expansive fluid 11 of the present embodiment 1 is using thermal expansion micron capsules disperse in heat-conducting liquid；Thermally expand micron Capsule coats the nano particle or micron particles that can be thermally expanded in micro-scaled range, heat conductive elastomeric capsule shells；Shape note Recall alloy 13 and uses shape-memory alloy wire mesh grid.

Embodiment 1 uses the expansion stream of thermal expansive fluid and the composite special-shaped cavity single-sided driver 2 of marmem The course of work of the driving robot software hand 1 of bluk recombination abnormity cavity is as follows:

Intelligent controller 8 in the driving robot palm 5 of the composite special-shaped cavity of thermal expansive fluid issues expansion stream The crawl article work order of the driving robot software hand 1 of bluk recombination abnormity cavity, thermal expansive fluid storage and automatically controlled heating Controlling chamber 6 starts to carry out thermal expansive fluid 11 heating work, and power supply and device circuitry 7 start to provide to marmem 13 Certain operating current；Intelligent controller 8 starts to regulate and control thermal expansive fluid control valve 10, adds thermal expansive fluid storage with automatically controlled The thermal expansive fluid 11 of the thermal expansive fluid 11 of the thermal expansive fluid 11 of hot controlling chamber 6 and thermal expansive fluid pipeline, special-shaped cavity 9 Keep connection；13 temperature of marmem starts to increase, and heat is transferred to the expansion stream of special-shaped cavity 9 by heat-conducting layer 16 Body 11；The temperature of the thermal expansive fluid 11 of special-shaped cavity 9 starts to increase；Angular transducer 18, force sensor 19, temperature sensing Device 20 will test information and be transferred to intelligent controller 8；Intelligent controller 8 regulates and controls power supply and device circuitry 7 to marmem 13 provide the size of operating current, and regulation thermal expansive fluid storage heats temperature to thermal expansive fluid 11 with automatically controlled heating controlling chamber 6 Size is spent, regulation thermal expansive fluid control valve 10 opens size；Under the conditions of certain temperature, the thermal expansive fluid of special-shaped cavity 9 11 occur thermal expansion effects, and thermal expansive fluid and the composite special-shaped cavity of marmem is made to generate unilateral bending driving function； Under the conditions of certain temperature, shape memory effect occurs for marmem 13, generates the unilateral bending enhancing driving of collaboration superposition Function makes the composite special-shaped cavity driving collaboration of humanoid robot software finger 4 of five thermal expansive fluids grab article.

Stop crawl article instruction when intelligent controller 8 issues, power supply and device circuitry 7 stop to marmem 13 Operating current is provided, thermal expansive fluid storage heats temperature to thermal expansive fluid 11 with the stopping of automatically controlled heating controlling chamber 6；Shape memory The temperature rapid decrease of alloy 13, quickly recovers to reset condition；Under the temperature of the thermal expansive fluid 11 of special-shaped cavity 9 is quick Drop, thermal expansive fluid storage and automatically controlled 11 temperature of thermal expansive fluid for heating controlling chamber 6 also rapid decrease；In the cooling condition, Special-shaped 9 rapid drop of cavity, under the assistance of elastic reset layer 17, the composite special-shaped cavity of five thermal expansive fluids drives humanoid robot The release of software finger 4 is crawled article.

Embodiment 2: using the thermal expansion of thermal expansive fluid and the composite special-shaped cavity bilateral driver 21 of automatically controlled heating material The composite special-shaped cavity of fluid drives humanoid robot software hand 1.

The embodiment of the present invention 2 is swollen using the heat of thermal expansive fluid and the composite special-shaped cavity bilateral driver of automatically controlled heating material The structural schematic diagram of the driving robot software hand 1 of dilatant bluk recombination abnormity cavity is shown in Fig. 1；Thermal expansive fluid and automatically controlled heating material Expect that the structural schematic diagram of composite special-shaped cavity bilateral driver 21 is shown in Fig. 4.

The composite special-shaped cavity driving humanoid robot software hand 1 of the thermal expansive fluid of the embodiment of the present invention 2 includes: that five heat are swollen The driving robot software finger 4 of dilatant bluk recombination abnormity cavity, the driving robot of the composite special-shaped cavity of thermal expansive fluid Slap 5 (see Fig. 1)；The composite special-shaped cavity driving humanoid robot software finger 4 of thermal expansive fluid and the composite special-shaped chamber of thermal expansive fluid The driving robot palm 5 of body is connected, and constitutes the composite special-shaped cavity of thermal expansive fluid and drives humanoid robot software hand 1；Five The composite special-shaped cavity driving humanoid robot software finger 4 of thermal expansive fluid is all made of thermal expansive fluid and automatically controlled heating material is compound Special-shaped cavity bilateral driver 21；It is equipped in the driving robot palm 5 of the composite special-shaped cavity of thermal expansive fluid: expansion stream Body storage and automatically controlled heating controlling chamber 6, power supply and device circuitry 7 and intelligent controller 8.

With reference to Fig. 4, thermal expansive fluid and the composite special-shaped cavity bilateral driver 21 of automatically controlled heating material are specifically included that above Structure 22, middle layer 23, following structure 24；Above structure 22 includes: thermal expansive fluid 25, automatically controlled heating material above above 26, special-shaped cavity 27, adiabatic elasticity layer 28 above, thermal expansive fluid channel 29 above, thermal expansive fluid control valve above above 30, elastic matrix 31 above, heat-conducting layer above 32, angular transducer above 33, force sensor above 34, overhead temperature sensing Device 35；Middle layer 23 is middle spring reset layer；Structure 24 includes: following thermal expansive fluid 36, following automatically controlled heating material below Material 37, below special-shaped cavity 38, following adiabatic elasticity layer 39, following thermal expansive fluid channel 40, the control of following thermal expansive fluid Valve 41, following elastic matrix 42, following heat-conducting layer 43, following angular transducer 44, following force sensor 45, following temperature pass Sensor 46；Special-shaped 27 side of cavity or surrounding are embedded with heat-conducting layer 32 above the upper surface of in above structure 22；Heat-conducting layer 32 above It is connected with automatically controlled heating material 26 the upper surface of is embedded into, outside is equipped with adiabatic elasticity layer 28 above；Adiabatic elasticity layer above 28 outsides and surrounding are elastic matrix 31 above；Angular transducer 33 is embedded into elastic matrix 31 above above；Dynamics above Sensor 34, overhead temperature sensor 35 are embedded into thermal expansive fluid channel 29 above；Thermal expansive fluid control valve above 30 are assemblied in thermal expansive fluid channel 29 above；Special-shaped cavity 27 is connected with thermal expansive fluid channel 29 above above, and It is equipped with thermal expansive fluid 25 above；Below in structure 24 below special-shaped 38 side of cavity or surrounding be embedded with following heat-conducting layer 43；Below heat-conducting layer 43 be embedded into below automatically controlled heating material 37 be connected, outside be equipped with following adiabatic elasticity layer 39； 39 outside of adiabatic elasticity layer and surrounding are following elastic matrix 42 below；Angular transducer 44 is embedded into following elastic matrix below In 42；Force sensor 45, following temperature sensor 46 are embedded into following thermal expansive fluid channel 40 below；It is hot swollen below Swollen control valve for fluids 41 is assemblied in following thermal expansive fluid channel 40；Special-shaped cavity 38 and following thermal expansive fluid channel below 40 are connected, and are equipped with following thermal expansive fluid 36；It is middle spring reset layer between above structure 22 and below structure 24； Above structure 22, it is middle spring reset layer and following structure 24 collectively form thermal expansive fluid with integrated composite construction and The automatically controlled composite special-shaped cavity bilateral driver 21 of heating material.

Special-shaped cavity 27 passes through assembly the upper surface of in the composite special-shaped cavity driving humanoid robot software finger 4 of thermal expansive fluid There are the upper surface of thermal expansive fluid control valve 30 thermal expansive fluid channel 29 above and the composite special-shaped cavity of thermal expansive fluid driving Thermal expansive fluid storage in robot palm 5 is connected with automatically controlled heating controlling chamber 6；The composite special-shaped cavity of thermal expansive fluid drives Special-shaped cavity 38 is warm by being equipped with below following thermal expansive fluid control valve 41 below in ejector half robot software finger 4 Expand the thermal expansive fluid storage in fluid channel 40 and the driving robot palm 5 of the composite special-shaped cavity of thermal expansive fluid and electricity Control heating controlling chamber 6 is connected；The needs of special-shaped cavity 27 and following special-shaped cavity 38 according to grip function above, main use Different size of Multicarity；Automatically controlled heating the upper surface of in the composite special-shaped cavity driving humanoid robot software finger 4 of thermal expansive fluid Material 26 and following automatically controlled heating material 37 pass through scalable conducting wire and the driving machine of the composite special-shaped cavity of the thermal expansive fluid Power supply in the device manpower palm 5 is connected with device circuitry 7；Above thermal expansive fluid control valve 30, automatically controlled heating material 26 above, Below thermal expansive fluid control valve 41, following automatically controlled heating material 37, power supply and device circuitry 7, angular transducer above 33, on Face force sensor 34, overhead temperature sensor 35, following angular transducer 44, following force sensor 45, following temperature pass Sensor 46 and thermal expansive fluid storage are connected with intelligent controller 8 with automatically controlled heating controlling chamber 6；Thermal expansive fluid control above Valve 30, automatically controlled heating material 26 above, following thermal expansive fluid control valve 41, following automatically controlled heating material 37, power supply and device processed Part circuit 7, thermal expansive fluid storage are controlled with automatically controlled heating controlling chamber 6 by intelligent controller 8.

Embodiment 2 uses the expansion stream of thermal expansive fluid and the composite special-shaped cavity bilateral driver 21 of automatically controlled heating material The course of work of the driving robot software hand 1 of bluk recombination abnormity cavity is as follows:

Intelligent controller 8 in the driving robot palm 5 of the composite special-shaped cavity of thermal expansive fluid issues expansion stream The work order that the driving robot software finger 4 of bluk recombination abnormity cavity drives to a direction bending, thermal expansive fluid are deposited Storage starts to carry out thermal expansive fluid 25 above heating work with automatically controlled heating controlling chamber 6, and power supply and device circuitry start upwards The automatically controlled heating material 26 of the upper surface of face structure 22 provides certain operating current；Intelligent controller 8 starts to regulate and control above structure 22 The upper surface of thermal expansive fluid control valve 30, make thermal expansive fluid storage and the upper surface of automatically controlled heating controlling chamber 6 thermal expansive fluid 25 With the upper surface of the upper surface of above structure 22 thermal expansive fluid pipeline 29 thermal expansive fluid 25, the upper surface of special-shaped cavity 27 heat is swollen above Dilatant body 25 keeps connection；Automatically controlled 26 temperature of heating material of the upper surface of above structure 22 starts to increase, and heat passes through above structure The upper surface of heat-conducting layer 32 be transferred to the upper surface of the special-shaped cavity 27 of the upper surface of above structure 22 thermal expansive fluid 25；Above structure 22 The temperature of the upper surface of special-shaped cavity 27 thermal expansive fluid 25 starts to increase above；The upper surface of above structure 22 angular transducer 33, Force sensor 34, overhead temperature sensor 35 will test information and be transferred to intelligent controller 8 above；Intelligent controller 8 regulates and controls Upward the automatically controlled heating material 26 of the upper surface of structure 22 provides the size of operating current, regulation thermal expansion for power supply and device circuitry 7 Fluid storage is with automatically controlled heating controlling chamber 6 to 25 heating temperature size of the upper surface of above structure 22 thermal expansive fluid, and regulation is above The upper surface of structure 22 thermal expansive fluid control valve 30 opens size；Under the conditions of certain temperature, the upper surface of above structure 22 abnormity Thermal expansion effects occur for the upper surface of cavity 27 thermal expansive fluid 25, generate to a direction bending driving, expansion stream bluk recombination The special-shaped driving robot software finger 4 of cavity is completed to be bent driving function to a direction.

Stop being bent driving instruction to a direction when intelligent controller 8 issues, power supply and device circuitry 7 stop upward The automatically controlled heating material 26 of the upper surface of structure 22 provides operating current, thermal expansive fluid storage and the stopping pair of automatically controlled heating controlling chamber 6 Thermal expansive fluid 25 heats temperature above；The temperature rapid decrease of the automatically controlled heating material 26 of the upper surface of above structure 22, fast quick-recovery To reset condition；The temperature rapid decrease of the upper surface of the upper surface of above structure 22 abnormity cavity 27 thermal expansive fluid 25, thermal expansion Fluid stores and the upper surface of automatically controlled heating controlling chamber 6 25 temperature of thermal expansive fluid also rapid decrease；In the cooling condition, it ties above The upper surface of structure 22 abnormity 27 rapid drop of cavity, under the assistance of middle spring reset layer, five composite special-shaped chambers of thermal expansive fluid Body driving humanoid robot software finger 4 is restored to reset condition.

Intelligent controller 8 in the driving robot palm 5 of the composite special-shaped cavity of thermal expansive fluid issues expansion stream The driving robot software finger 4 of bluk recombination abnormity cavity is bent the work order of driving round about, and thermal expansive fluid is deposited Storage starts to carry out following thermal expansive fluid 36 heating work with automatically controlled heating controlling chamber 6, and power supply and device circuitry 7 start downwards Automatically controlled heating material 37 provides certain operating current below face structure 24；Intelligent controller 8 starts to regulate and control following structure 24 Below thermal expansive fluid control valve 41, make thermal expansive fluid storage with automatically controlled heating controlling chamber 6 below thermal expansive fluid 36 With thermal expansive fluid 36 below thermal expansive fluid pipeline 40 below following structure 24, below below special-shaped cavity 38, heat is swollen Dilatant body 36 keeps connection；Automatically controlled 37 temperature of heating material starts to increase below structure 24 below, and heat passes through following structure Heat-conducting layer 43 is transferred to below following structure 24 thermal expansive fluid 36 below special-shaped cavity 38 below 24；Structure 24 below Below below special-shaped cavity 38 temperature of thermal expansive fluid 36 start to increase；Angular transducer below structure 24 below 44, following force sensor 45, following temperature sensor 46 will test information and be transferred to intelligent controller 8；Intelligent controller 8 is adjusted It controls power supply and device circuitry 7 and provides the size of operating current to automatically controlled heating material 37 below following structure 24, regulation heat is swollen The storage of dilatant body and automatically controlled heating controlling chamber 6 are to 36 heating temperature size of thermal expansive fluid below following structure 24, under regulation Thermal expansive fluid control valve 41 opens size below face structure 24；Under the conditions of certain temperature, below it is different below structure 24 Thermal expansion effects occur for thermal expansive fluid 36 below shape cavity 38, generate opposite direction bending driving, five thermal expansive fluids Bending driving round about is completed in the composite special-shaped cavity driving collaboration of humanoid robot software finger 4, and is realized and grasped article function Energy.

Stop being bent driving instruction round about when intelligent controller 8 issues, power supply stops with device circuitry 7 to following Automatically controlled heating material 37 provides operating current, thermal expansive fluid storage and the stopping pair of automatically controlled heating controlling chamber 6 below structure 24 Thermal expansive fluid 36 heats temperature below；Below below structure 24 automatically controlled heating material 37 temperature rapid decrease, fast quick-recovery To reset condition；Below below structure 24 below special-shaped cavity 38 thermal expansive fluid 36 temperature rapid decrease, thermal expansion Fluid storage and 36 temperature of thermal expansive fluid below automatically controlled heating controlling chamber 6 also rapid decrease；In the cooling condition, it ties below 38 rapid drop of special-shaped cavity below structure 24, under the assistance of middle spring reset layer, five composite special-shaped chambers of thermal expansive fluid Body driving humanoid robot software finger 4 is restored to reset condition.

The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much Form, all of these belong to the protection of the present invention.

Claims

1. a kind of composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand characterized by comprising several heat are swollen The driving robot software finger of dilatant bluk recombination abnormity cavity, the driving robot of the composite special-shaped cavity of thermal expansive fluid The palm；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid drives with the composite special-shaped cavity of thermal expansive fluid Humanoid robot palm is connected；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid uses expansion stream Body and the composite special-shaped cavity single-sided driver of marmem；The thermal expansive fluid and the composite special-shaped chamber of marmem Body single-sided driver include: thermal expansive fluid, marmem, special-shaped cavity, adiabatic elasticity layer, thermal expansive fluid channel, Thermal expansive fluid control valve, elastic matrix, heat-conducting layer, elastic reset layer, sensor；The special-shaped cavity body can according to it is a variety of not Difference with grip function needs, and using different wall thickness or the non-homogeneous single-chamber body of different materials, or uses different shape, difference The Multicarity of wall thickness, or using different size, the Multicarity of different materials, and there is differently curved driving form and driving energy Power；The special-shaped cavity body side surface or surrounding are embedded with heat-conducting layer；The heat-conducting layer is connected with the marmem being embedded into；Institute It states and is equipped with adiabatic elasticity layer on the outside of heat-conducting layer；The outside of the adiabatic elasticity layer and surrounding are elastic matrix；The elasticity It resets layer and sensor is embedded into elastic matrix, thermal expansive fluid channel or special-shaped cavity；The thermal expansive fluid control Valve is assemblied in thermal expansive fluid channel；The abnormity cavity is connected with thermal expansive fluid channel, and is equipped with expansion stream Body；Be equipped in the driving robot palm of the composite special-shaped cavity of thermal expansive fluid: thermal expansive fluid storage adds with automatically controlled Hot controlling chamber, power supply and device circuitry and intelligent controller；The composite special-shaped cavity driving humanoid robot of thermal expansive fluid is soft Special-shaped cavity in body finger is by being equipped with thermal expansive fluid channel and the expansion stream bluk recombination of thermal expansive fluid control valve Thermal expansive fluid storage in the special-shaped driving robot palm of cavity is connected with automatically controlled heating controlling chamber；The expansion stream Marmem and the composite special-shaped chamber of the thermal expansive fluid in the driving robot software finger of bluk recombination abnormity cavity Power supply in the driving robot palm of body is connected with device circuitry；The thermal expansive fluid control valve, marmem, Power supply is stored with device circuitry, sensor and thermal expansive fluid to be connected with intelligent controller with automatically controlled heating controlling chamber；Institute State thermal expansive fluid control valve, marmem, power supply and device circuitry, thermal expansive fluid storage and automatically controlled heating controlling chamber It is controlled by intelligent controller；The intelligent controller issues work order；The thermal expansive fluid storage is adjusted with automatically controlled heating Thermal expansive fluid is heated after receiving the work order in control room, and thermal expansion effect occurs for the thermal expansive fluid heating It answers, thermal expansive fluid and the composite special-shaped cavity single-sided driver of marmem is made to generate unilateral bending driving function；It is described Power supply and device circuitry receive and provide operating current, the marmem to marmem after the work order Shape memory effect occurs after heating, generates the unilateral bending enhancing driving function of collaboration superposition.

2. the composite special-shaped cavity of thermal expansive fluid according to claim 1 drives humanoid robot software hand, which is characterized in that The marmem includes shape-memory alloy wire, marmem piece, marmem block, marmem Silk mesh grid, shape-memory alloy wire array, marmem chip arrays, marmem block array.

3. a kind of composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand characterized by comprising several heat are swollen The driving robot software finger of dilatant bluk recombination abnormity cavity, the driving robot of the composite special-shaped cavity of thermal expansive fluid The palm；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid drives with the composite special-shaped cavity of thermal expansive fluid Humanoid robot palm is connected；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid uses expansion stream Body and the composite special-shaped cavity single-sided driver of automatically controlled heating material；The thermal expansive fluid and the composite special-shaped chamber of automatically controlled heating material Body single-sided driver include: thermal expansive fluid, automatically controlled heating material, special-shaped cavity, adiabatic elasticity layer, thermal expansive fluid channel, Thermal expansive fluid control valve, elastic matrix, heat-conducting layer, elastic reset layer, sensor；The special-shaped cavity body can according to it is a variety of not Difference with grip function needs, and using different wall thickness or the non-homogeneous single-chamber body of different materials, or uses different shape, difference The Multicarity of wall thickness, or using different size, the Multicarity of different materials, and there is differently curved driving form and driving energy Power；The special-shaped cavity body side surface or surrounding are embedded with heat-conducting layer；The heat-conducting layer is connected with the automatically controlled heating material being embedded into；Institute It states and is equipped with adiabatic elasticity layer on the outside of heat-conducting layer；The outside of the adiabatic elasticity layer and surrounding are elastic matrix；The elasticity It resets layer and sensor is embedded into elastic matrix, thermal expansive fluid channel or special-shaped cavity；The thermal expansive fluid control Valve is assemblied in thermal expansive fluid channel；The abnormity cavity is connected with thermal expansive fluid channel, and is equipped with expansion stream Body；Be equipped in the driving robot palm of the composite special-shaped cavity of thermal expansive fluid: thermal expansive fluid storage adds with automatically controlled Hot controlling chamber, power supply and device circuitry and intelligent controller；The composite special-shaped cavity driving humanoid robot of thermal expansive fluid is soft Special-shaped cavity in body finger is by being equipped with thermal expansive fluid channel and the expansion stream bluk recombination of thermal expansive fluid control valve Thermal expansive fluid storage in the special-shaped driving robot palm of cavity is connected with automatically controlled heating controlling chamber；The expansion stream Automatically controlled heating material and the composite special-shaped chamber of the thermal expansive fluid in the driving robot software finger of bluk recombination abnormity cavity Power supply in the driving robot palm of body is connected with device circuitry；The thermal expansive fluid control valve, automatically controlled heating material, Power supply is connected with intelligent controller with device circuitry, sensor, thermal expansive fluid storage with automatically controlled heating controlling chamber；It is described Thermal expansive fluid control valve, automatically controlled heating material, power supply and device circuitry, thermal expansive fluid storage are equal with automatically controlled heating controlling chamber It is controlled by intelligent controller；The intelligent controller issues work order；The thermal expansive fluid storage regulates and controls with automatically controlled heating Thermal expansive fluid is heated after receiving the work order in room, and the power supply receives the work with device circuitry and refers to Operating current is provided to automatically controlled heating material after order, transfers heat to thermal expansive fluid after the automatically controlled heating material heating, Thermal expansion effects occur for the thermal expansive fluid heating, drive thermal expansive fluid and the composite special-shaped cavity unilateral side of automatically controlled heating material Dynamic device generates unilateral bending driving function.

4. the composite special-shaped cavity of thermal expansive fluid according to claim 3 drives humanoid robot software hand, which is characterized in that The automatically controlled heating material includes: automatically controlled heating material silk, automatically controlled heating material piece, automatically controlled heating material block, automatically controlled heating material Expect silk mesh grid, automatically controlled heating material silk array, automatically controlled heating material chip arrays, automatically controlled heating material block array.

5. the composite special-shaped cavity of thermal expansive fluid according to claim 1 or 3 drives humanoid robot software hand, feature exists In the thermal expansive fluid includes: thermally conductive expansion fluid-mixing, thermally-expansible liquid, inflation gas；The thermally conductive expansion mixing Fluid include: thermal expansion receive microcapsules fluid, thermal expansion class fluid, thermal expansion compound substance fluid；Micro- glue is received in the thermal expansion Capsule fluid includes: thermal expansion Nano capsule fluid, thermal expansion micron capsule fluid；The thermal expansion Nano capsule fluid includes: Thermally expand Nano capsule, heat-conducting fluid；The heat-conducting fluid includes: heat-conducting gas, heat-conducting liquid；The thermal expansion class fluid packet It includes: the mixture of gas and thermal expansion particle；The sensor include: angular transducer, force sensor, temperature sensor, Thermal expansive fluid flow sensor；The elastic matrix includes: thermoplastic polyurethane elastomer rubber, silastic material, rubber Material, silica gel material, nylon material, artificial rubber, macromolecular material, elastic hydrogel；The elastic reset layer includes: Elastic reset plate.

6. a kind of composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand characterized by comprising several heat are swollen The driving robot software finger of dilatant bluk recombination abnormity cavity, the driving robot of the composite special-shaped cavity of thermal expansive fluid The palm；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid drives with the composite special-shaped cavity of thermal expansive fluid Humanoid robot palm is connected；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid uses expansion stream Body and the composite special-shaped cavity bilateral driver of marmem；The thermal expansive fluid and the composite special-shaped chamber of marmem Body bilateral driver includes: above structure, middle layer, following structure；The above structure include: above thermal expansive fluid, on Face marmem, above special-shaped cavity, adiabatic elasticity layer above, thermal expansive fluid channel above, thermal expansive fluid above Control valve, elastic matrix above, heat-conducting layer above, sensor above；The middle layer is middle spring reset layer；Below described Structure includes: following thermal expansive fluid, following marmem, special-shaped cavity, following adiabatic elasticity layer, following heat are swollen below Swollen fluid channel, following thermal expansive fluid control valve, following elastic matrix, following heat-conducting layer, following sensor；It is described different above Shape cavity and following anisotropic cavity can be according to the different needs of a variety of different grip functions, using different wall thickness or different materials Non-homogeneous single-chamber body, or using different shape, different wall thickness Multicarity, or using different size, different materials multi-cavity Body, and there is differently curved driving form and driving capability；The side of special-shaped cavity or surrounding the upper surface of in the above structure It is embedded with heat-conducting layer above；The heat-conducting layer above with the upper surface of be embedded into marmem and be connected；The heat-conducting layer above Outside be equipped with adiabatic elasticity layer above；The outside of adiabatic elasticity layer above and surrounding are elastic matrix above；It is described Sensor is embedded into elastic matrix, thermal expansive fluid channel above or special-shaped cavity above above above；The heat above is swollen Swollen control valve for fluids is assemblied in thermal expansive fluid channel above；Special-shaped cavity and the thermal expansive fluid channel phase above above Connection, and it is equipped with thermal expansive fluid above；The side of special-shaped cavity or surrounding are embedded with down below in the structure below Face heat-conducting layer；It is described below heat-conducting layer be embedded into below marmem be connected, outside be equipped with below be insulated bullet Property layer；The outside of adiabatic elasticity layer below and surrounding are following elastic matrix；The sensor below is embedded into following bullet Property matrix, following thermal expansive fluid channel or below in special-shaped cavity；The thermal expansive fluid control valve below is assemblied in following In thermal expansive fluid channel；The special-shaped cavity below is connected with following thermal expansive fluid channel, and it is swollen to be equipped with following heat Dilatant body；It is middle spring reset layer between the above structure and following structure；The composite special-shaped cavity of thermal expansive fluid It is equipped in driving robot palm: thermal expansive fluid storage and automatically controlled heating controlling chamber, power supply and device circuitry and intelligence Controller；Special-shaped cavity passes through assembly the upper surface of in the composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid There are the upper surface of thermal expansive fluid control valve thermal expansive fluid channel above and the driving machine of the composite special-shaped cavity of thermal expansive fluid Thermal expansive fluid storage in the manpower palm is connected with automatically controlled heating controlling chamber；The composite special-shaped cavity driving of thermal expansive fluid Special-shaped cavity is by being equipped with expansion stream below following thermal expansive fluid control valve below in humanoid robot software finger Thermal expansive fluid storage in body channel and the driving robot palm of the composite special-shaped cavity of thermal expansive fluid is adjusted with automatically controlled heating Control room is connected；Marmem the upper surface of in the composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid With following marmem with the power supply and device in the driving robot palm of the composite special-shaped cavity of the thermal expansive fluid Part circuit is connected；The thermal expansive fluid control valve above, following thermal expansive fluid control valve, upper shape memorial alloy, Marmem, power supply and device circuitry, sensor above, following sensor, thermal expansive fluid storage add with automatically controlled below Hot controlling chamber is connected with intelligent controller；The thermal expansive fluid control valve above, following thermal expansive fluid control valve, on Face marmem, following marmem, power supply and device circuitry, thermal expansive fluid storage and automatically controlled heating controlling chamber It is controlled by intelligent controller；The intelligent controller is used to issue work order；The thermal expansive fluid storage adds with automatically controlled Hot controlling chamber be used to thermal expansive fluid above perhaps following thermal expansive fluid heat it is described above thermal expansive fluid or Thermal expansion effects occur after thermal expansive fluid heating below, make thermal expansive fluid and the composite special-shaped cavity bilateral of marmem Driver, which is generated, drives to following bending or is upward bent driving function；The power supply and device circuitry are used to upward shape Perhaps following marmem provides the operating current upper shape memorial alloy or following shape note to shape memory alloys Recall alloy heating after shape memory effect occurs, generate to it is following or upward cooperate with superposition bilateral be bent enhancing driving function Energy.

7. the composite special-shaped cavity of thermal expansive fluid according to claim 6 drives humanoid robot software hand, which is characterized in that The upper shape memorial alloy and following marmem include shape-memory alloy wire, marmem piece, shape Shape memory alloys block, shape-memory alloy wire mesh grid, shape-memory alloy wire array, marmem chip arrays, shape Memorial alloy block array.

8. a kind of composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand characterized by comprising several heat are swollen The driving robot software finger of dilatant bluk recombination abnormity cavity, the driving robot of the composite special-shaped cavity of thermal expansive fluid The palm；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid drives with the composite special-shaped cavity of thermal expansive fluid Humanoid robot palm is connected；The composite special-shaped cavity driving humanoid robot software finger of thermal expansive fluid uses expansion stream Body and the composite special-shaped cavity bilateral driver of automatically controlled heating material；The thermal expansive fluid and the composite special-shaped chamber of automatically controlled heating material Body bilateral driver includes: above structure, middle layer, following structure；The above structure include: above thermal expansive fluid, on The automatically controlled heating material in face, above special-shaped cavity, adiabatic elasticity layer above, thermal expansive fluid channel above, thermal expansive fluid above Control valve, elastic matrix above, heat-conducting layer above, sensor above；The middle layer is middle spring reset layer；Below described Structure includes: following thermal expansive fluid, following automatically controlled heating material, special-shaped cavity, following adiabatic elasticity layer, following heat are swollen below Swollen fluid channel, following thermal expansive fluid control valve, following elastic matrix, following heat-conducting layer, following sensor；It is described different above Shape cavity and following anisotropic cavity can be according to the different needs of a variety of different grip functions, using different wall thickness or different materials Non-homogeneous single-chamber body, or using different shape, different wall thickness Multicarity, or using different size, different materials multi-cavity Body, and there is differently curved driving form and driving capability；The side of special-shaped cavity or surrounding the upper surface of in the above structure It is embedded with heat-conducting layer above；The heat-conducting layer above with the upper surface of be embedded into automatically controlled heating material and be connected, on the outside of be equipped with Face adiabatic elasticity layer；The outside of adiabatic elasticity layer above and surrounding are elastic matrix above；The sensor above is embedded into Enter above in elastic matrix, thermal expansive fluid channel above or special-shaped cavity above；The thermal expansive fluid control valve dress above It fits in thermal expansive fluid channel above；The special-shaped cavity above is connected with thermal expansive fluid channel above, and is equipped with Thermal expansive fluid above；The side of special-shaped cavity or surrounding are embedded with following heat-conducting layer below in the structure below；It is described Below heat-conducting layer be embedded into below automatically controlled heating material be connected, outside be equipped with following adiabatic elasticity layer；Below described The outside of adiabatic elasticity layer and surrounding are following elastic matrix；The sensor below is embedded into following elastic matrix, following heat It expands in fluid channel or below special-shaped cavity；The thermal expansive fluid control valve below is assemblied in following thermal expansive fluid channel In；The special-shaped cavity below is connected with following thermal expansive fluid channel, and is equipped with following thermal expansive fluid；Above described It is middle spring reset layer between structure and following structure；The driving robot palm of the composite special-shaped cavity of thermal expansive fluid In be equipped with: thermal expansive fluid storage with automatically controlled heating controlling chamber, power supply and device circuitry and intelligent controller；The thermal expansion Special-shaped cavity is by being equipped with thermal expansive fluid above the upper surface of in the composite special-shaped cavity driving humanoid robot software finger of fluid Thermal expansion in the upper surface of control valve thermal expansive fluid channel and the driving robot palm of the composite special-shaped cavity of thermal expansive fluid Fluid storage is connected with automatically controlled heating controlling chamber；The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software finger In below special-shaped cavity by being equipped with thermal expansive fluid channel and expansion stream below following thermal expansive fluid control valve Thermal expansive fluid storage in the driving robot palm of bluk recombination abnormity cavity is connected with automatically controlled heating controlling chamber；The heat Automatically controlled heating material and following automatically controlled heating material the upper surface of in the composite special-shaped cavity driving humanoid robot software finger of expansion fluid Material is connected with the power supply in the driving robot palm of the composite special-shaped cavity of the thermal expansive fluid with device circuitry；It is described Above thermal expansive fluid control valve, following thermal expansive fluid control valve, automatically controlled heating material above, following automatically controlled heating material, Power supply and device circuitry, sensor above, following sensor and thermal expansive fluid storage and automatically controlled heating controlling chamber with intelligence Controller is connected；The thermal expansive fluid control valve above, following thermal expansive fluid control valve, automatically controlled heating material above, Automatically controlled heating material, power supply and device circuitry, thermal expansive fluid storage are with automatically controlled heating controlling chamber by intelligent controller below Control；The intelligent controller is used to issue work order；Thermal expansive fluid storage and automatically controlled heating controlling chamber for pair Thermal expansive fluid or following thermal expansive fluid are heated above；The power supply and device circuitry are used to upward automatically controlled heating Material or below automatically controlled heating material offer operating current；It can be by heat transfer after the automatically controlled heating material heating above To thermal expansive fluid above；Following thermal expansive fluid can be transferred heat to after the automatically controlled heating material heating below；Institute Thermal expansion effects occur after stating thermal expansive fluid above or the heating of following thermal expansive fluid, make thermal expansive fluid and automatically controlled heating Material cladding abnormity cavity bilateral driver generates respectively drives to following bending or is upward bent driving function.

9. the composite special-shaped cavity of thermal expansive fluid according to claim 8 drives humanoid robot software hand, which is characterized in that Automatically controlled heating material and the following automatically controlled heating material above include: automatically controlled heating material silk, automatically controlled heating material piece, electricity Control heating material block, automatically controlled heating material silk mesh grid, automatically controlled heating material silk array, automatically controlled heating material chip arrays, automatically controlled Heating material block array.

10. the composite special-shaped cavity of the thermal expansive fluid according to claim 6 or 8 drives humanoid robot software hand, feature It is, thermal expansive fluid and the following thermal expansive fluid above include: thermally conductive expansion fluid-mixing, thermally-expansible liquid, heat Expanding gas；The thermally conductive expansion fluid-mixing include: thermal expansion receive microcapsules fluid, thermal expansion class fluid, thermal expansion it is compound Substance fluids；It is described thermal expansion receive microcapsules fluid include: thermal expansion Nano capsule fluid, thermal expansion micron capsule fluid；Institute Stating thermal expansion Nano capsule fluid includes: thermal expansion Nano capsule, heat-conducting fluid；The heat-conducting fluid includes: heat-conducting gas, leads Hot liquid；The thermal expansion class fluid includes: the mixture of gas and thermal expansion particle；Sensor and the following sensing above Device includes: angular transducer, force sensor, temperature sensor, thermal expansive fluid flow sensor；The upper surface elastic base Body and following elastic matrix include: thermoplastic polyurethane elastomer rubber, silastic material, rubber material, silica gel material, Buddhist nun Imperial material, artificial rubber, macromolecular material, elastic hydrogel；The middle spring reset layer includes: elastic reset plate.