CN112720439A - Soft robot and manufacturing and driving method thereof - Google Patents

Soft robot and manufacturing and driving method thereof Download PDF

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Publication number
CN112720439A
CN112720439A CN202011521486.5A CN202011521486A CN112720439A CN 112720439 A CN112720439 A CN 112720439A CN 202011521486 A CN202011521486 A CN 202011521486A CN 112720439 A CN112720439 A CN 112720439A
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CN
China
Prior art keywords
cavity
flexible body
gripper
soft robot
particles
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202011521486.5A
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Chinese (zh)
Inventor
付浩然
张柏诚
唐瑞涛
周涛
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Institute of Flexible Electronics Technology of THU Zhejiang
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Institute of Flexible Electronics Technology of THU Zhejiang
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Application filed by Institute of Flexible Electronics Technology of THU Zhejiang filed Critical Institute of Flexible Electronics Technology of THU Zhejiang
Priority to CN202011521486.5A priority Critical patent/CN112720439A/en
Publication of CN112720439A publication Critical patent/CN112720439A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Micromachines (AREA)

Abstract

A soft robot comprises a flexible body, wherein at least one cavity is formed in the flexible body, particles are arranged in the cavity, the particles generate heat when being irradiated by light or microwaves, and the cavity is heated to expand to enable the flexible body to deform. The soft robot of the invention improves the motor skill and efficiency of the robot. The invention also relates to a manufacturing and driving method of the software machine.

Description

Soft robot and manufacturing and driving method thereof
Technical Field
The invention relates to the technical field of robots, in particular to a soft robot and a manufacturing and driving method thereof.
Background
The soft robot can adapt to various unstructured environments, and the interaction with human is safer. The robot body is made of soft materials, for example, materials with Young modulus lower than human muscle are adopted; the soft robot is different from the traditional electric robot, and adopts an optical driving mode or an air driving mode, wherein the optical driving mode has the advantage of accurate and controllable action area, but the action mode depends on more complex factors such as optical performance (such as absorbance) of an action substance, light irradiation power, device structure and the like, so that the driving speed is relatively slower than that of other deformation methods; the pneumatic driving mode has the advantages of quick action effect and obvious deformation, but as a contact type driving mode, the design of a device of the robot is more complicated, and the tightness of the device has higher requirements.
Disclosure of Invention
In view of this, the present invention provides a soft robot, which improves the motor skills and efficiency of the robot.
A soft robot comprises a flexible body, wherein at least one cavity is formed in the flexible body, particles are arranged in the cavity, the particles generate heat when being irradiated by light or microwaves, and the cavity is heated to expand to enable the flexible body to deform.
In an embodiment of the present invention, the particles are metal nanoparticles.
In an embodiment of the present invention, the particles are inorganic metal oxide particles.
In an embodiment of the present invention, a fluid is disposed in the cavity, and the fluid changes from a liquid state to a gaseous state when heated.
In an embodiment of the present invention, the flexible body includes an inducing sidewall, and the inducing sidewall is provided with an inducing structure for inducing a deformation direction of the flexible body.
In an embodiment of the invention, the flexible body comprises a support, a first gripper and a second gripper, the support is connected between the first gripper and the second gripper, at least two cavities are arranged in the flexible body, one cavity is arranged at a joint of the support and the first gripper, the other cavity is arranged at a joint of the support and the second gripper, and when the cavities expand due to heating, the first gripper and the second gripper are closed together.
In an embodiment of the present invention, each of the two cavities includes a first cavity section and a second cavity section that are communicated with each other, the first cavity section is disposed on the bracket, the second cavity section is disposed on the first gripper and the second gripper, and an included angle is formed between the first cavity section and the second cavity section.
In an embodiment of the present invention, the soft robot further comprises a laser source or a microwave source, and the laser source or the microwave source can emit laser or microwave to irradiate the particles.
The invention also relates to a manufacturing method of the soft robot, which is used for manufacturing the flexible body and comprises the following steps:
providing a mould, and injecting a flexible material into the mould to form a body;
taking out the body from the mold, wherein at least one groove is formed on the body, particles are arranged in the groove, and the particles can generate heat when being irradiated by light or microwaves;
and arranging a flexible film on the body to form the flexible body, wherein the flexible film covers and seals the groove.
The invention also relates to a driving method of the soft robot, which is used for driving the soft robot and comprises the following steps:
and irradiating the cavity of the flexible body by using a laser source or a microwave source, wherein the particles generate heat when being irradiated by light or microwaves, and the cavity is heated and expanded to deform the flexible body.
The soft robot disclosed by the invention can drive the flexible body in a mode of heating the cavity by light or microwaves, has the advantages of rapidness of a pneumatic robot and the advantages of the optical drive robot, such as accurate and controllable action area of the optical drive robot, rapid action effect of the pneumatic robot, obvious deformation and the like, improves the motion skill and efficiency of the robot, and is simple in manufacturing method and low in cost.
Drawings
Fig. 1 is a schematic view of the structure of a flexible body according to a first embodiment of the present invention.
Fig. 2 is a schematic structural view of the flexible body according to the first embodiment of the present invention when driven.
Fig. 3 is a schematic view of the flexible body cavity of the present invention when filled with fluid.
Fig. 4 is a partial structural schematic view of the inducing sidewall of the present invention.
Fig. 5 is a schematic top view of the inducing sidewall shown in fig. 4.
Fig. 6 is a schematic view of the direction of deformation of the flexible body induced by the inducing sidewall of the present invention.
Fig. 7 is a schematic structural view of a flexible body according to a second embodiment of the present invention.
Fig. 8 is a schematic view of the flexible body according to the second embodiment of the present invention.
Fig. 9 is a schematic top view of a flexible body according to a third embodiment of the present invention.
Fig. 10 is a side view of a flexible body according to a third embodiment of the invention.
Fig. 11 and 12 are schematic views of the flexible body according to the third embodiment of the present invention in a driving state.
Fig. 13a to 13d are schematic flow charts of the method for manufacturing the flexible body according to the present invention.
Detailed Description
The application provides a soft robot.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to facilitate understanding of those skilled in the art, the present application provides a specific implementation process of the technical solution provided by the present application through the following embodiments.
First embodiment
Fig. 1 is a schematic structural diagram of a flexible body according to a first embodiment of the present invention, and fig. 2 is a schematic structural diagram of the flexible body according to the first embodiment of the present invention when driven, as shown in fig. 1 and fig. 2, a soft robot includes a flexible body 10, at least one cavity 101 is provided in the flexible body 10, a particle 16 is provided in the cavity 101, the particle 16 generates heat when irradiated by light or microwaves, and the cavity 101 expands when heated to deform the flexible body 10. In the present embodiment, the material of the flexible body 10 is, for example, PDMS, PMMA, hydrogel, or resin, but not limited thereto.
The soft robot disclosed by the invention can drive the flexible body 10 in a mode of heating the cavity 101 by light or microwaves, has the advantages of rapidness of a pneumatic robot and the advantages of a light-driven robot, such as accurate and controllable action area of the light-driven robot, rapid action effect of the pneumatic robot, obvious deformation and the like, improves the motion skill and efficiency of the robot, and is simple in manufacturing method and low in cost.
Further, the particles 16 are metal nanoparticles, such as gold nanoparticles, silver nanoparticles, and platinum nanoparticles, but not limited thereto. In this embodiment, when the laser with a wavelength of 532nm irradiates the metal nanoparticles inside the cavity 101, the metal nanoparticles generate resonance scattering, so as to rapidly heat the air inside the cavity 101, and the cavity 101 is heated to expand so as to bend and deform the flexible body 10, thereby completing the grabbing action.
Further, the particles 16 are inorganic metal oxide particles, such as silicon dioxide, titanium dioxide, graphene oxide, but not limited thereto. In this embodiment, the microwave heats the inorganic metal oxide particles, so as to rapidly heat the air in the cavity 101, and the cavity 101 is heated to expand so as to bend and deform the flexible body 10, thereby completing the grabbing action.
Further, fig. 3 is a schematic structural view of the cavity of the flexible body of the present invention when filled with fluid, as shown in fig. 3, the fluid is disposed in the cavity 101, and the fluid is changed from a liquid state to a gas state when heated. In this embodiment, the fluid is, for example, perfluoropentane, the metal nanoparticles or inorganic metal oxide particles are doped in the perfluoropentane, the particles 16 generate heat when being irradiated by light or microwaves, the perfluoropentane is converted from a liquid state to a gas state, and the air expands to cause the flexible body 10 to bend and deform, thereby completing the grabbing action.
Further, fig. 4 is a partial structural schematic view of the inducing sidewall of the present invention, fig. 5 is a schematic top-view structural schematic view of the inducing sidewall shown in fig. 4, and fig. 6 is a schematic diagram of a direction in which the inducing sidewall induces the flexible body to deform according to the present invention, as shown in fig. 4, fig. 5, and fig. 6, the flexible body 10 includes the inducing sidewall 15, and the inducing sidewall 15 is provided with an inducing structure 151 for inducing the flexible body 10 to deform. In the present embodiment, the inducing structure 151 is, for example, a groove or a rib, but not limited thereto.
Further, the soft robot may also include a laser or microwave source that emits laser or microwave radiation to irradiate particles 16.
Further, the length of the flexible body 10 is 1cm to 20cm, preferably 2cm, 5cm, 8cm, 12 cm; the width is 1 cm-20 cm, preferably 2cm, 5cm, 8cm and 12 cm; the height is between 5mm and 3cm, preferably 8mm, 1cm and 2 cm; the volume of the cavity 101 is 1cm3～100cm3Preferably 4cm3、 10cm3、20cm3、40cm3、60cm3。
Further, the shape of the cavity 101 is, for example, rectangular, circular or cross-shaped, and can be freely selected according to actual needs.
Second embodiment
Fig. 7 is a schematic structural view of a flexible trunk according to a second embodiment of the present invention, fig. 8 is a schematic structural view of the flexible trunk according to the second embodiment of the present invention when driven, and as shown in fig. 7 and 8, the soft body robot of the present embodiment is substantially the same as the soft body robot of the first embodiment, except that the flexible trunk 10 has a different structure.
Specifically, the flexible body 10 comprises a support 11, a first hand grip 12 and a second hand grip 13, the support 11 is connected between the first hand grip 12 and the second hand grip 13, at least two cavities 101 are arranged in the flexible body 10, a cavity 101 is arranged at the joint of the support 11 and the first hand grip 12, another cavity 101 is arranged at the joint of the support 11 and the second hand grip 13, and when the cavity 101 is heated and expanded, the first hand grip 12 and the second hand grip 13 are closed in a close mode. In the present embodiment, the first grip 12 and the second grip 13 are arranged bilaterally symmetrically along the bracket 11.
Further, the length of the bracket 11 is 1 cm-10 cm, preferably 2cm, 3cm, 5cm, 8 cm; the cross-sectional diameters of the first grip 12 and the second grip 13 are 0.5cm to 5cm, preferably 1cm, 2cm and 4 cm.
The number of the first gripper 12 and the second gripper 13 is 2-8, but not limited thereto.
Further, two cavities 101 all include first chamber section 1011 and second chamber section 1012 that communicate each other, and first chamber section 1011 sets up in support 11, and second chamber section 1012 sets up in first tongs 12 and second tongs 13, becomes the contained angle setting between first chamber section 1011 and the second chamber section 1012. In the present embodiment, the included angle is 70 ° to 130 °, preferably 80 °, 85 °, 90 °, 95 °.
Third embodiment
Fig. 9 is a schematic top view, fig. 10 is a schematic side view, and fig. 11 and 12 are schematic structural diagrams of a flexible trunk according to a third embodiment of the present invention, and fig. 11 and 12 are schematic structural diagrams of the flexible trunk according to the third embodiment of the present invention when driven, and as shown in fig. 9, 10, 11 and 12, the soft body robot according to the present embodiment is substantially the same as the soft body robot according to the first embodiment, except that the flexible trunk 10 has a different structure.
Specifically, a plurality of cavities 101 are formed in the flexible body 10, and the cavities 101 are arranged in a matrix. The cavity 101 at both ends of the flexible body 10 is alternately irradiated with laser or microwave, so that the flexible body 10 can be driven to move forward.
Fourth embodiment
Fig. 13a to 13d are schematic flow charts of a method for manufacturing a flexible body according to the present invention, please refer to fig. 13a to 13d, and the present invention further relates to a method for manufacturing a soft robot, the method for manufacturing the flexible body 10 includes:
providing a mold 20, injecting a flexible material into the mold 20 to form a body, as shown in fig. 13a and 13 b;
removing the body from the mold 20, the body having at least one recess formed therein, the particles 16 being disposed in the recess, the particles 16 being capable of generating heat when exposed to light or microwave radiation, as shown in fig. 13 c;
a flexible film is provided on the body to form a flexible body 10, the flexible film covering the sealing groove, as shown in fig. 13 d.
Fifth embodiment
The invention also relates to a driving method of the soft robot, which is used for driving the soft robot and comprises the following steps:
the cavity 101 of the flexible body 10 is illuminated by a laser source or a microwave source, the particles 16 generate heat when illuminated by light or microwaves, and the cavity 101 expands when heated to deform the flexible body 10.
The present application is not limited to the details of the above-described embodiments, and various simple modifications may be made to the technical solution of the present application within the technical idea of the present application, and these simple modifications are all within the protection scope of the present application. The various features described in the foregoing detailed description may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations are not described separately in this application.

Claims (10)

1. The utility model provides a software robot, its characterized in that includes flexible body, be equipped with a cavity in the flexible body at least, the cavity is provided with the granule, the granule generates heat when photic or microwave irradiation, the cavity is heated the inflation and is made flexible body warp.
2. The soft robot of claim 1, wherein the particles are metal nanoparticles.
3. The soft robot of claim 1, wherein the particles are inorganic metal oxide particles.
4. The soft robot of any one of claims 1-3, wherein a fluid is disposed in the cavity, the fluid changing from a liquid state to a gaseous state when heated.
5. The soft robot of claim 1, wherein the flexible body comprises an inducing sidewall, the inducing sidewall being provided with an inducing structure inducing a direction of deformation of the flexible body.
6. The soft robot of claim 1, wherein the flexible body comprises a support, a first gripper and a second gripper, the support is connected between the first gripper and the second gripper, at least two cavities are formed in the flexible body, one cavity is formed at the joint of the support and the first gripper, the other cavity is formed at the joint of the support and the second gripper, and when the cavities expand due to heat, the first gripper and the second gripper are close to each other.
7. The soft robot of claim 6, wherein each of the two cavities comprises a first cavity section and a second cavity section that are connected to each other, the first cavity section is disposed on the support, the second cavity section is disposed on the first gripper and the second gripper, and an included angle is formed between the first cavity section and the second cavity section.
8. The soft robot of claim 1, further comprising a laser source or microwave source capable of emitting a laser or microwave to irradiate the particles.
9. A method of making a soft body robot, the method for making a flexible body according to any one of claims 1 to 8, the method comprising:
providing a mould, and injecting a flexible material into the mould to form a body;
taking out the body from the mold, wherein at least one groove is formed on the body, particles are arranged in the groove, and the particles can generate heat when being irradiated by light or microwaves;
and arranging a flexible film on the body to form the flexible body, wherein the flexible film covers and seals the groove.
10. A driving method of a soft robot, wherein the driving method is used for driving the soft robot of any one of claims 1 to 8, and the driving method comprises:
and irradiating the cavity of the flexible body by using a laser source or a microwave source, wherein the particles generate heat when being irradiated by light or microwaves, and the cavity is heated and expanded to deform the flexible body.
CN202011521486.5A 2020-12-21 2020-12-21 Soft robot and manufacturing and driving method thereof Pending CN112720439A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011521486.5A CN112720439A (en) 2020-12-21 2020-12-21 Soft robot and manufacturing and driving method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011521486.5A CN112720439A (en) 2020-12-21 2020-12-21 Soft robot and manufacturing and driving method thereof

Publications (1)

Publication Number Publication Date
CN112720439A true CN112720439A (en) 2021-04-30

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CN202011521486.5A Pending CN112720439A (en) 2020-12-21 2020-12-21 Soft robot and manufacturing and driving method thereof

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113601538A (en) * 2021-07-30 2021-11-05 之江实验室 Optical waveguide type soft optical driver based on micro-nano optical fiber
CN116061159A (en) * 2021-11-01 2023-05-05 奥利弗克里斯宾机器人有限公司 Insertion tool with flexible ridges

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113601538A (en) * 2021-07-30 2021-11-05 之江实验室 Optical waveguide type soft optical driver based on micro-nano optical fiber
CN116061159A (en) * 2021-11-01 2023-05-05 奥利弗克里斯宾机器人有限公司 Insertion tool with flexible ridges

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