CN113664820A - A micro-fluidic chip and software robot for software robot logic control - Google Patents
A micro-fluidic chip and software robot for software robot logic control Download PDFInfo
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- CN113664820A CN113664820A CN202110921103.1A CN202110921103A CN113664820A CN 113664820 A CN113664820 A CN 113664820A CN 202110921103 A CN202110921103 A CN 202110921103A CN 113664820 A CN113664820 A CN 113664820A
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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
- B25J9/10—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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Abstract
The invention belongs to the technical field related to micro-fluidic of a soft robot, and discloses a micro-fluidic chip for logic control of the soft robot and the soft robot, wherein the micro-fluidic chip comprises a soft material substrate and a plurality of baffle electrode group pairs, the soft material substrate is provided with at least one branch flow channel and a main flow channel, and one end of the at least one branch flow channel is communicated with one end of the main flow channel; the branch flow channel is provided with a first clamping groove, and the main flow channel is provided with a second clamping groove; the baffle plate electrode pairs are respectively arranged on at least one branch flow channel and the main flow channel; the baffle plate electrode group pair comprises baffle plates and an electrode group, and the baffle plates are respectively and detachably arranged in the first clamping groove and the second clamping groove; and the combination of conduction states of various electrode groups is generated by adjusting the plugging state of the baffle. The micro-fluidic chip has the advantages of full-soft and simple structure, low cost, rich output modes and strong applicability.
Description
Technical Field
The invention belongs to the technical field related to the micro-fluidic of a soft robot, and particularly relates to a micro-fluidic chip for the logic control of the soft robot and the soft robot.
Background
Soft body robots are an emerging robotic technology that has gained widespread attention in recent years due to their unique flexibility, low cost, and high compliance. The existing soft robot is mainly made of soft materials and has rich driving modes, such as fluid driving, shape memory material driving, ion driving and the like, wherein the advantages of pneumatic driving, low cost, high output force and the like, which benefit from the mature technical basis, have become one of the most common driving modes in the field of the existing soft robot.
In order to achieve highly controllable motions in different driving modes, a soft robot usually needs a control system (e.g. a single chip microcomputer) to send corresponding control signals to the soft robot as required. However, the related technologies of the existing control systems are mature, but they are generally rigid, and integrating them into the soft robot inevitably loses the flexibility of the soft robot itself, and it too relies on the upper computer to program it, and the cost is relatively high. Accordingly, there is a need in the art to develop a control chip having a soft structure, which is low in cost and can be easily programmed.
Disclosure of Invention
In view of the above defects or improvement requirements of the prior art, the present invention provides a micro-fluidic chip for logic control of a soft robot and a soft robot, wherein the micro-fluidic chip can generate a combination of conduction states of various different electrode groups by setting the plugging and unplugging states of each baffle plate on the micro-fluidic chip and applying a magnetic field to make each magnetically controlled conductive droplet move from one end to the other end of a pit (branch) on the micro-fluidic chip until the droplet is forced to stop, and the combination of the conduction states of the electrode groups can correspond to various actuation states of the soft robot one by one, so that manual programming control of the soft robot can be conveniently realized.
In order to achieve the above object, according to an aspect of the present invention, a micro-fluidic chip for logic control of a soft robot is provided, where the micro-fluidic chip includes a soft material substrate and a plurality of baffle electrode pairs, the soft material substrate is provided with at least one branch flow channel and a main flow channel, and one end of each of the at least one branch flow channel is communicated with one end of the main flow channel; the branch flow channel is provided with a first clamping groove, and the main flow channel is provided with a second clamping groove; the baffle plate electrode pairs are respectively arranged on at least one branch flow channel and the main flow channel; the baffle plate electrode group pair comprises baffle plates and an electrode group, and the baffle plates are respectively and detachably arranged in the first clamping groove and the second clamping groove;
by adjusting the plugging state of the baffle and applying a magnetic field to the microfluidic chip, the magnetic control conductive liquid drop in the branch flow channel moves along a branch formed by the branch flow channel and the main flow channel until the magnetic control conductive liquid drop is blocked by the baffle and is forced to stop, so that various combinations of different electrode group conducting states are generated; the magnetic control conductive liquid drops selectively conduct the electrode group according to the plugging state of the baffle.
Further, the sum of the number of the branch flow channels and the number of the total flow channels is equal to the number of the plurality of baffle electrode group pairs.
Furthermore, the length direction of the first clamping groove and the length direction of the main flow channel are both perpendicular to the length direction of the soft material substrate.
Furthermore, the bottom of the branch flow channel and the bottom of the main flow channel are both subjected to super-hydrophobic treatment.
Furthermore, magnetic powder is doped in the magnetic control conductive liquid drop, and the magnetic control conductive liquid drop can respond to an external magnetic field and move along the direction of the magnetic field.
According to another aspect of the present invention, a soft robot is provided, which includes a three-chamber soft actuator and the above-mentioned micro-fluidic chip, where the micro-fluidic chip is connected to the three-chamber soft actuator, and the plugging/unplugging state of the micro-fluidic chip is adjusted to control the magnetic control conductive liquid drop to selectively conduct the corresponding electrode set, so as to control the three-chamber soft actuator to realize different actuation states.
Furthermore, the soft actuator further comprises at least two electromagnetic directional valves and at least two power supplies, two ends of the at least two power supplies are respectively connected with the at least two electromagnetic directional valves and one side of the plurality of electrode groups, and the at least two electromagnetic directional valves are also respectively connected with the air holes of the three-chamber soft actuator; the other sides of the electrode groups are respectively connected with at least two electromagnetic directional valves.
Further, an air inlet of the electromagnetic directional valve is respectively connected with the atmosphere and the air pump.
Furthermore, the three-chamber soft actuator comprises a soft material body, wherein the soft material body is cylindrical and is provided with a circular through hole; a plurality of cavities and a plurality of air holes are formed in the soft material body, and the cavities are communicated with the air holes respectively.
In general, compared with the prior art, the micro-fluidic chip and the soft robot for the logic control of the soft robot provided by the invention have the following advantages that:
1. the plugging state of the baffle is adjusted, and a magnetic field is applied to the microfluidic chip so that the magnetic control conductive liquid drops in the branch flow channel move along a branch formed by the branch flow channel and the total flow channel until the magnetic control conductive liquid drops are blocked by the baffle and are forced to stop, so that various combinations of electrode group conducting states are generated, and the combinations of the conducting states can correspond to various actuating states of the soft robot one by one, so that the manual programming control of the soft robot is conveniently realized.
2. Because the micro-fluidic chip is of a full-soft structure, the micro-fluidic chip can still keep the excellent flexibility of the whole soft robot after being integrated with the soft robot, and the substrate material of the micro-fluidic chip can be matched with the material used by the soft robot, thereby realizing stable and firm integration.
3. The microfluidic chip is simple in structure, does not need special customization, does not have useless functional structures, is low in manufacturing cost and is simple in preparation process.
4. The micro-fluidic chip is applied to the soft robot, the actuating state of the soft robot can be controlled by controlling the plugging state of the baffle, the control of various actuating states can be realized, the output mode is rich, the control is easy, and the flexibility is good.
Drawings
FIG. 1 is a schematic diagram of a microfluidic chip for logic control of a soft-body robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of the first/second magnetically controlled conductive droplets of the microfluidic chip for logic control of the soft robot in fig. 1 passing through the card slot in the inserted and pulled state of the first and second card boards;
fig. 3 is a schematic diagram of a third magnetically controlled conductive droplet of the microfluidic chip for logic control of the soft robot in fig. 1 passing through the card slot in a third card insertion and extraction state;
FIG. 4 is a schematic diagram of a three-chamber pneumatic soft actuator of the soft robot according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view of the soft actuator of FIG. 4;
fig. 6 (a) and (b) are a schematic diagram of a control system of the soft robot and a baffle insertion/extraction state diagram, respectively.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 101-a soft material substrate, 102-a first magnetically controlled conductive droplet, 103-a second magnetically controlled conductive droplet, 104-a third magnetically controlled conductive droplet, 105-a first electrode group, 106-a second electrode group, 107-a third electrode group, 108-a first baffle, 109-a second baffle, 110-a third baffle, 201-a soft material body, 202-a first chamber, 203-a second chamber, 204-a third chamber, 205-a circular through hole, 3-a first electromagnetic directional valve, 4-a second electromagnetic directional valve, 5-a third electromagnetic directional valve, 6-a first power supply, 7-a second power supply, 8-a third power supply.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention provides a micro-fluidic chip for logic control of a soft robot, which comprises a soft material substrate and a plurality of baffle electrode group pairs, wherein at least one branch flow channel and a main flow channel are arranged on the soft material substrate, one end of the at least one branch flow channel is communicated with one end of the main flow channel, and the branch flow channel and the main flow channel are arranged along the length direction of the soft material substrate. The branch flow channel is provided with a first clamping groove, the main flow channel is provided with a second clamping groove, and the length direction of the first clamping groove and the length direction of the main flow channel are perpendicular to the length direction of the soft material substrate. The sum of the number of the branch runners and the number of the total runners is equal to the number of the baffle electrode group pairs, and the baffle electrode group pairs are respectively arranged on at least one branch runner and the total runner. The baffle plate electrode group pair comprises baffle plates and electrode groups, the baffle plates are respectively and detachably arranged in the first clamping groove and the second clamping groove, and a magnetic field is applied to the microfluidic chip by adjusting the connection state of the baffle plates and the first clamping groove or/and the second clamping groove so that magnetic control conductive liquid drops in the branch flow channel move along a branch formed by the branch flow channel and the total flow channel until the magnetic control conductive liquid drops are blocked by the baffle plates and are forced to stop, thereby generating various combinations of different electrode group conduction states.
The depth of the first clamping groove and the depth of the branch flow channel can be the same or different; the depth of the second clamping groove and the depth of the total flow passage can be the same or different; if the depth of the first clamping groove is smaller than that of the branch flow channel, a gap is still formed between the baffle and the bottom of the first clamping groove, when the magnetically controlled conductive liquid drops pass through the first clamping groove inserted with the baffle, part of the magnetically controlled conductive liquid drops are intercepted on one side of the baffle to form smaller magnetically controlled conductive liquid drops, and the corresponding rest of the magnetically controlled conductive liquid drops pass through the gap and continue to move forwards after passing through the first clamping groove; when the depth of the first clamping groove is larger than or equal to that of the branch flow channel, the baffle can completely seal the branch flow channel after being inserted into the first clamping groove, and magnetic control conductive liquid drops are completely intercepted on one side of the baffle when passing through the first clamping groove in which the baffle is inserted; similarly, the flowing state of the magnetic control conductive liquid drops corresponding to the relationship between the depth of the second clamping groove and the depth of the main flow channel is also the same. In this embodiment, the shape of the baffle corresponds to the shape of the corresponding card slot.
In this embodiment, the baffle and the electrode group in the baffle electrode group pair may be disposed in close contact with each other or at intervals, and along the length direction of the soft material substrate, the electrode group may be located on the left side or the right side of the baffle; the bottom of the branch flow channel and the bottom of the main flow channel are both subjected to super-hydrophobic treatment.
The micro-fluidic chip is applied to the soft robot, the connection and disconnection of the electrode groups are controlled by adjusting the plugging and unplugging states of the plurality of baffles, so that various combinations of different electrode group states are obtained, the various combinations of different electrode group connection states can correspond to different actuating states of the soft robot, and the soft robot can be controlled to generate expected actuation by adjusting the plugging and unplugging states of the baffles of the micro-fluidic chip.
Referring to fig. 1, fig. 2 and fig. 3, a micro-fluidic chip according to an embodiment of the present invention includes a soft material substrate 101, a first electrode set 105, a second electrode set 106, a third electrode set 107, a first baffle 108, a second baffle 109 and a third baffle 110. Two branch flow channels and a total flow channel are arranged on the upper surface of the soft material substrate 101 along the length direction of the soft material substrate 101, the two branch flow channels are arranged in parallel, the tail ends of the branch flow channels are connected to the head end of the total flow channel, and therefore the two branch flow channels and the total flow channel form a two-fork shape. A first clamping groove is formed in the branch flow channel, and a second clamping groove is formed in the main flow channel. The bottom of the branch flow channel and the bottom of the main flow channel are preferably subjected to super-hydrophobic treatment by methods such as chemical modification or laser processing.
The first baffle 108 and the second baffle 109 are respectively and separably disposed in the two first card slots, and the third baffle 110 is separably disposed in the second card slot. The depth of the first clamping groove is smaller than that of the branch flow channel, and the depth of the second clamping groove is larger than or equal to that of the total flow channel.
The first electrode group 105, the second electrode group 106, and the third electrode group 107 are respectively paired with the first baffle 108, the second baffle 109, and the third baffle 110 in pairs and then respectively disposed on the two branch runners and the main runner. The first electrode set 105 and the second electrode set 106 are respectively located on the first baffle 108 and the second baffle 109 near the head end of the branch flow channel, and the third electrode set 107 is located on the third baffle 110 near the tail end of the total flow channel.
The first electrode group 105, the second electrode group 106 and the third electrode group 106 are formed by a pair of conductive pins with circular cross sections, which are respectively located on two branch flow passages and two sides of the total flow passage, wherein the outer ends of the pair of conductive pins are respectively connected with an external power supply or an electrical appliance through a lead, and the inner ends of the pair of conductive pins are suspended.
A first magnetron conductive liquid drop 102 and a second magnetron conductive liquid drop 103 are respectively placed in the two branch flow channels, when the first magnetron conductive liquid drop 102 or the second magnetron conductive liquid drop 103 passes through a first clamping groove inserted with the first baffle 108 or the second baffle 109, part of the magnetron conductive liquid drops are intercepted by the first baffle 108 or the second baffle 109 and stay at one side of the corresponding baffle close to the head end of the branch flow channel, the rest magnetron conductive liquid drops pass through a gap at the bottom of the first baffle 108 or the second baffle 109 and continue to move along the main flow channel, and new magnetron conductive liquid drops formed by the retained magnetron conductive liquid drops conduct the first electrode group 105 or the second electrode group 106; on the contrary, when the magnetron conductive droplets 102 and the second magnetron conductive droplets 103 pass through the first slot without the baffle, they will smoothly pass through the first slot and then move forward, and the first electrode set 105 and the second electrode set 106 will not be turned on.
The third magnetically controlled conductive droplet 104 is formed by the magnetically controlled conductive droplets entering the main flow channel, and when the third magnetically controlled conductive droplet 104 passes through the second slot inserted with the third baffle 110, the third magnetically controlled conductive droplet is completely intercepted by the third baffle 110 and stays at the third baffle 110, and when the third magnetically controlled conductive droplet passes through the second card slot not inserted with the third baffle 110, the third magnetically controlled conductive droplet smoothly passes through the second card slot and finally stays at the end of the main flow channel, and the third electrode group 107 close to the third baffle 110 is conducted.
In this embodiment, by adjusting the inserting and pulling states of the first baffle 108, the second baffle 109, and the third baffle 110, and by turning on the first magnetically controlled conductive droplet 102 or/and the second magnetically controlled conductive droplet 103 by an external magnetic field, the droplet moves from the head end of the branch channel to the tail end of the main channel until the droplet is forced to stop, finally, 8 different combinations of the conducting states of the first electrode group 105, the second electrode group 106, and the third electrode group 107 can be obtained.
In this embodiment, the soft material substrate 101 is made of a PDMS by reverse molding; the first magnetic control conductive liquid drop 102 and the second magnetic control conductive liquid drop 103 are respectively positioned at the head ends of the two branch flow channels in an initial state, magnetic powder is doped in the first magnetic control conductive liquid drop 102 and the second magnetic control conductive liquid drop 103, the first magnetic control conductive liquid drop and the second magnetic control conductive liquid drop can respond to an external magnetic field and move along the direction of the magnetic field, and have conductive characteristics, and when the magnetic control conductive liquid drops are positioned at the positions of the electrode groups, a pair of pins of the electrode groups can be connected to close corresponding circuits; preferably, the magnetic control conductive liquid drop is a liquid metal liquid drop doped with magnetic powder; when the first magnetically controlled conductive droplet 102 and the second magnetically controlled conductive droplet 103 move from the two branch channels to the main channel simultaneously under the action of the magnetic field, they are merged into a third magnetically controlled conductive droplet 104 and then move forward continuously.
Referring to fig. 4, 5 and 6, a soft robot according to an embodiment of the present invention includes the micro-fluidic chip, a first electromagnetic directional valve 3, a second electromagnetic directional valve 4, a third electromagnetic directional valve 5, a first power source 6, a second power source 7, a third power source 8, and a three-chamber soft actuator connected to the micro-fluidic chip, wherein the first power source 6, the second power source 7, and the third power source 8 are respectively connected to the first electrode set 105 and the first electromagnetic directional valve 3, the second electrode set 106 and the second electromagnetic directional valve 4, and the third electrode set 107 and the third electromagnetic directional valve 5; the first electromagnetic directional valve 3, the second electromagnetic directional valve 4 and the third electromagnetic directional valve 5 are respectively connected to the three-chamber soft actuator.
The three-chamber soft actuator comprises a soft material body 201, wherein the soft material body 201 is cylindrical and is provided with a circular through hole 205. The central axis of the circular through hole 205 coincides with the central axis of the soft material body 201. In this embodiment, the circular through hole 205 may pass through a water conduit, a camera, and an operator to achieve the functions of liquid transmission, environmental detection, and positioning operation.
The soft material body 201 is provided with a first chamber 202, a second chamber 203 and a third chamber 204 inside, and the first chamber 202, the second chamber 203 and the third chamber 204 are arranged along the length direction of the soft material body 201 and are uniformly distributed around the central axis of the soft material body 201. A first air hole, a second air hole and a third air hole are respectively formed at one end of the first chamber 202, one end of the second chamber 203 and one end of the third chamber 204. The first air hole, the second air hole and the third air hole are respectively communicated with the air outlets of the first electromagnetic directional valve 3, the second electromagnetic directional valve 4 and the third electromagnetic directional valve 5 through air pipes, and the air in the first chamber 202, the second chamber 203 and the third chamber 204 can be independently controlled to be charged and discharged by controlling the on-off of the electromagnetic directional valves.
And the inlet of the first electromagnetic directional valve 3, the inlet of the second electromagnetic directional valve 4 and the inlet of the third electromagnetic directional valve 5 are respectively connected with the atmosphere and an air pump. Both ends of the first power supply 6 are connected to the first electromagnetic directional valve 3 and one side of the first electrode group 105, respectively, and the other side of the first electrode group 105 is also connected to the first electromagnetic directional valve 3. Two sides of the second electrode group 106 are respectively connected to the second electromagnetic directional valve 4 and the second power supply 7, and the second power supply 7 is further connected to the second electromagnetic directional valve 4. Both sides of the third electrode group 107 are respectively connected to the third power supply 8 and the third electromagnetic directional valve 5, and the third power supply 8 is further connected to the third electromagnetic directional valve 5.
In this embodiment, by setting the insertion and extraction states of the first baffle 108, the second baffle 109, and the third baffle 110, the first magnetically controlled conductive droplet 102 and the second magnetically controlled conductive droplet 103 are driven by an external magnetic field to move along the branch flow channel to the main flow channel until forced to stop, correspondingly 8 combinations of on-states of the first electrode set 105, the second electrode set 106 and the third electrode set 107 are generated, the combination of the 8 conducting states can correspond to the 8 actuating states (bending, axial expansion and non-actuation in 6 directions) of the three-chamber soft actuator, and further, the plugging state of the first baffle 108, the second baffle 109 and the third baffle 110 can be manually adjusted to enable the three-chamber soft actuator to generate the desired actuation, thereby realizing convenient and flexible control.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A micro-fluidic chip for software robot logic control is characterized in that:
the microfluidic chip comprises a soft material substrate and a plurality of baffle electrode group pairs, wherein at least one branch flow channel and a main flow channel are formed in the soft material substrate, and one end of the at least one branch flow channel is communicated with one end of the main flow channel; the branch flow channel is provided with a first clamping groove, and the main flow channel is provided with a second clamping groove; the baffle plate electrode pairs are respectively arranged on at least one branch flow channel and the main flow channel; the baffle plate electrode group pair comprises baffle plates and an electrode group, and the baffle plates are respectively and detachably arranged in the first clamping groove and the second clamping groove;
by adjusting the plugging state of the baffle and applying a magnetic field to the microfluidic chip, the magnetic control conductive liquid drop in the branch flow channel moves along a branch formed by the branch flow channel and the main flow channel until the magnetic control conductive liquid drop is blocked by the baffle and is forced to stop, so that various combinations of different electrode group conducting states are generated; the magnetic control conductive liquid drops selectively conduct the electrode group according to the plugging state of the baffle.
2. The microfluidic chip for soft robotic logic control of claim 1, wherein: the sum of the number of the branch flow channels and the number of the total flow channels is equal to the number of the baffle electrode group pairs.
3. The microfluidic chip for soft robotic logic control of claim 1, wherein: the length direction of the first clamping groove and the length direction of the main flow channel are perpendicular to the length direction of the soft material substrate.
4. The microfluidic chip for soft robotic logic control of any of claims 1-3, wherein: and the bottoms of the branch flow channels and the bottom of the main flow channel are subjected to super-hydrophobic treatment.
5. The microfluidic chip for soft robotic logic control of any of claims 1-3, wherein: magnetic powder is doped in the magnetic control conductive liquid drop and can respond to an external magnetic field and move along the direction of the magnetic field.
6. A soft robot, comprising: the soft robot comprises a three-chamber soft actuator and the micro-fluidic chip of any one of claims 1 to 5, wherein the micro-fluidic chip is connected to the three-chamber soft actuator, and the magnetic control conductive liquid drops are controlled to selectively conduct the corresponding electrode groups by adjusting the plugging and unplugging state of the micro-fluidic chip, so that the three-chamber soft actuator is controlled to realize different actuating states.
7. The soft robot of claim 6, wherein: the soft actuator also comprises at least two electromagnetic directional valves and at least two power supplies, two ends of the at least two power supplies are respectively connected with the at least two electromagnetic directional valves and one side of the plurality of electrode groups, and the at least two electromagnetic directional valves are also respectively connected with the air holes of the three-chamber soft actuator; the other sides of the electrode groups are respectively connected with at least two electromagnetic directional valves.
8. The soft robot of claim 6, wherein: and the air inlet of the electromagnetic directional valve is respectively connected with the atmosphere and the air pump.
9. The soft robot of claim 6, wherein: the three-chamber soft actuator comprises a soft material body, wherein the soft material body is cylindrical and is provided with a circular through hole; a plurality of cavities and a plurality of air holes are formed in the soft material body, and the cavities are communicated with the air holes respectively.
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