CN210282320U

CN210282320U - Thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand

Info

Publication number: CN210282320U
Application number: CN201920352390.7U
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: 2020-04-10
Anticipated expiration: 2029-03-20

Abstract

The utility model discloses a thermal energy fluid compound non-special-shaped cavity drive type robot software hand of several kinds of different grade types all includes: the thermal expansion fluid composite non-special-shaped cavity driving type robot comprises a plurality of thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm; the thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side driver, the thermal expansion fluid and electric control heating material composite non-special-shaped cavity single-side driver, the thermal expansion fluid and shape memory alloy composite non-special-shaped cavity double-side driver and the thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver are adopted by the thermal expansion fluid composite non-special-shaped cavity soft body finger. The utility model discloses a thermal energy fluid compound non-special-shaped cavity combines thermal energy fluid control valve to the regulation and control of the one-way flow of partial material in the thermal energy fluid, can improve the gripping article rigidity that the software pointed.

Description

Thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand

Technical Field

The utility model belongs to artificial intelligence, robot and robot end effector field, more specifically relates to a compound non-special-shaped cavity of thermal energy fluid drive type robot software hand.

Background

The robot and the artificial intelligence technology have been developed rapidly, and the application of the robot and the artificial intelligence technology has been gradually extended from the industrial field to the fields of agriculture, rehabilitation and medical treatment, entertainment service industry and the like, so people hope that the end effector of the robot can be more flexible, can be more suitable for various changeable operation objects, and has correspondingly higher requirements on a robot driving system. In industrial robots, agricultural robots and rehabilitation robots, end effectors are often important execution parts in direct contact with objects, and the structure, the flexibility of drive control and the controllability of the end effectors are directly related to the working effect of the whole robot. At present, in the design process of a robot end effector (manipulator), the structure and the function of a human hand are simulated, and a multi-degree-of-freedom dexterous hand with multiple fingers and multiple joints is designed. In the aspect of a manipulator drive control system, the traditional drive control technology controls the manipulator in a motor drive mode, has the advantages of simplicity, easiness in implementation and high drive control precision, and is applied to drive control of a traditional robot. However, the control method of the motor-driven rigid structure has the following disadvantages: the movement form is single and the flexibility is poor, and the problems limit the further application of the dexterous robot hand, so that the dexterous robot hand cannot be used for more complex and precise work in the industrial and agricultural production process.

The end effector has important significance for improving the intelligent level and the operation level of the robot as an execution component of the last link of the interaction between the robot and the target object. The traditional robot end effector has the advantages of simple structure, single motion form, few degrees of freedom, poor grabbing stability and insufficient flexibility, and further development of robot technology and application is restricted to a great extent. People hope to develop a dexterous robot hand with better adaptability, flexibility and controllability, hope to realize more stable and reliable complex and flexible actions such as grasping, holding, clamping and the like, and the dexterous robot hand has wider application prospect in the fields of aerospace, deep sea exploration, medical rehabilitation, remote operation, disability assistance service and the like. The robot dexterous hand developed at home and abroad generally takes a rigid mechanical structure as a main part, the dexterous hand with the structure adopts a palm and finger structure made of high-rigidity and high-hardness metal or polymer materials, a motor, a steel cable, a pulley and the like as driving and transmission elements, and each independent rigid finger forms a series robot. The dexterous hand with the rigid structure is easy to model due to the typicality of the finger structure, but the rigid finger has poor operation safety on a target object (particularly soft, crisp and tender objects with complex shapes), limited freedom degree, weak adaptability to the environment with limited working space and weak capability of stably and reliably grabbing objects with complex shapes. Some of the robot dexterous hands adopt tendon transmission technology, however, tendon transmission has some disadvantages, such as that a tendon winding mode needs scientific path planning, which may lead to uncontrollable control or increase of extra control torque, and the control difficulty is increased due to the occurrence of control coupling. The tendon transmission needs to pre-tighten the tendon itself before controlling the motion of the joints of the dexterous fingers, otherwise, the joints are difficult to control in time under the natural state of the tendon. Therefore, the problems of material properties of the tendon, path planning, etc. also need to be further studied.

Compared to rigid robots, soft robotic hands have many advantages, such as: the device has the advantages of integrated design and processing, no assembly, no clearance, no friction, no lubrication, no damage to contact and grab soft, fragile or complex-form objects; therefore, the robot soft hand has wide development prospect in some special application fields.

At present, how to further overcome a series of defects existing in a traditional robot end effector, how to further optimize and improve the working capacity of the robot end effector, how to further optimize and improve the capacity of the robot end effector for grabbing soft and fragile or complex-shaped objects, and how to further improve the rigidity of a soft hand of the robot when grabbing the objects are to be further discussed and solved.

Disclosure of Invention

To the present series defect that exists at traditional robot end effector, the utility model provides a compound non-special-shaped cavity drive type robot software hand of thermal energy fluid of four kinds to reach the performance index that optimizes improvement robot end effector.

The utility model provides a thermal energy fluid compound non-special-shaped cavity drive type robot software hand all includes: the robot comprises two or more thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm; the thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger adopts a thermal expansion fluid composite non-special-shaped cavity driver; the thermal expansion fluid composite non-profiled cavity driver comprises two types: the thermal expansion fluid is compounded with a single-side driver of the non-special-shaped cavity and a double-side driver of the thermal expansion fluid compounded with the non-special-shaped cavity; the thermal expansion fluid composite non-special-shaped cavity single-side driver can be driven to bend towards a single side direction; the thermal expansion fluid composite non-special-shaped cavity double-side driver can be respectively driven to bend towards two opposite directions; the thermal expansion fluid composite non-profiled cavity single-side driver comprises two types: the thermal expansion fluid and the shape memory alloy are compounded with a non-special-shaped cavity single-side driver, and the thermal expansion fluid and the electric control heating material are compounded with a non-special-shaped cavity single-side driver; the thermal expansion fluid composite non-profiled cavity double-side driver comprises two types: the thermal expansion fluid and the shape memory alloy are compounded with the non-special-shaped cavity double-side driver, and the thermal expansion fluid and the electric control heating material are compounded with the non-special-shaped cavity double-side driver.

Based on the different grade type that above-mentioned thermal energy fluid compound non-special-shaped cavity drive type robot software pointed, the utility model provides a following four kinds of compound non-special-shaped cavity drive type robot software hands of type thermal energy fluid:

a thermal expansion fluid composite non-shaped cavity driven robot soft hand comprises: the robot comprises two or more thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm; the thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger adopts a thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side driver; the thermal expansion fluid and shape memory alloy composite non-profiled cavity single-side driver comprises: the thermal expansion fluid, the shape memory alloy, the non-special-shaped cavity, the heat insulation elastic layer, the thermal expansion fluid channel, the thermal expansion fluid control valve, the elastic base body, the heat conduction layer, the elastic reset layer, the sensor and the fiber yarn limiting layer; a heat conduction layer is embedded on the side surface or the periphery of the non-special-shaped cavity; the heat conducting layer is connected with the embedded shape memory alloy, and a heat insulating elastic layer is assembled on the outer side of the heat conducting layer; elastic matrixes are arranged outside and around the heat-insulating elastic layer; the elastic reset layer and the sensor are embedded in the elastic matrix, the thermal expansion fluid channel or the non-special-shaped cavity; the thermal expansion fluid control valve is assembled in the thermal expansion fluid channel; a fiber yarn limiting layer is arranged outside the elastic matrix; the non-special-shaped cavity is communicated with the thermal expansion fluid channel and is provided with thermal expansion fluid; the thermal expansion fluid, the shape memory alloy, the non-special-shaped cavity, the heat insulation elastic layer, the thermal expansion fluid channel, the elastic base body, the heat conduction layer, the elastic reset layer, the sensor, the fiber yarn limiting layer and the thermal expansion fluid control valve jointly form a thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side driver; the non-special-shaped cavity adopts single cavities with the same wall thickness or the same material, or adopts multiple cavities with the same shape, or adopts multiple cavities with the same wall thickness, or adopts multiple cavities with the same material according to the requirements of various gripping functions; the thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side driver has a thermal expansion fluid driving effect and a shape memory alloy driving effect which are doubly superposed to cooperatively enhance a single-side bending driving effect; the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot is provided with: a thermal expansion fluid storage and electric control heating regulation and control chamber, a power supply and device circuit and an intelligent controller; the non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving type robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot through a thermal expansion fluid channel provided with a thermal expansion fluid control valve; the thermal expansion fluid control valve has a one-way flow control function on partial substances in the thermal expansion fluid, and the rigidity of the thermal expansion fluid control valve is effectively improved when a soft finger formed by compounding the thermal expansion fluid with a non-special-shaped cavity grips an article under the condition of increasing temperature and pressure; the shape memory alloy in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving type robot is connected with a power supply in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot and a device circuit through a telescopic lead; the thermal expansion fluid control valve, the shape memory alloy, the power supply and device circuit, the sensor, the thermal expansion fluid storage and electric control heating regulation and control chamber are all connected with the intelligent controller; the thermal expansion fluid control valve, the shape memory alloy, the power supply and device circuit, the thermal expansion fluid storage and electric control heating regulation and control chamber are all controlled by an intelligent controller; the intelligent controller sends out a working instruction; the thermal expansion fluid storage and electric control heating regulation and control chamber heats the thermal expansion fluid after receiving the working instruction, and the thermal expansion fluid is heated to generate a thermal expansion effect, so that the thermal expansion fluid and the shape memory alloy composite non-special-shaped cavity single-side driver generate a single-side bending driving function; the power supply and device circuit provides working current to the shape memory alloy after receiving the working instruction, and the shape memory alloy generates a shape memory effect after being heated, so that a synergistic superposition unilateral bending enhanced driving function is generated; the thermal expansion fluid composite non-special-shaped cavity body driving type robot soft body finger is connected with the thermal expansion fluid composite non-special-shaped cavity body driving type robot palm to form the thermal expansion fluid composite non-special-shaped cavity body driving type robot soft body hand.

In the above aspect, the thermal expansion fluid includes: heat-conducting expansion mixed fluid, thermal expansion liquid and thermal expansion gas; the thermal expansion fluid has thermal conductivity, fluidity, thermal expansibility and thermal drivability; the heat-conducting expansion mixed fluid is mainly characterized in that: the heat expansion substance is dispersed in the heat conduction fluid; the heat-conducting expansion mixed fluid mainly comprises: thermally expanding nano-microcapsule fluid, thermally expanding composite fluid; the thermally expanded nano-microcapsule fluid comprises: thermally expanding nanocapsule fluid, thermally expanding microencapsulated fluid; the thermally expansive nanocapsule fluid comprises: thermally expanding nanocapsules, a thermally conductive fluid; the heat expansion nanocapsule is in a nanoscale range, and a capsule shell of the heat expansion nanocapsule has elasticity and is coated with nanoparticles capable of heat expansion; the heat expansion micro-capsules are in the micron scale range, and the capsule shells of the heat expansion micro-capsules are elastic and coat nano-particles or micro-particles capable of heat expansion; the heat transfer fluid includes: heat conducting gas and heat conducting liquid; the thermal expansion-type fluid includes: a mixture of a gas and thermally expansive microparticles; the thermal expansion fluid can be combined with a thermal expansion fluid control valve to cooperatively regulate and control the rigidity of the thermal expansion fluid and the shape memory alloy composite non-special-shaped cavity single-side driver; the thermal expansion fluid control valve adopts a control valve through which only gas can flow; the shape memory alloy comprises a shape memory alloy wire, a shape memory alloy sheet, a shape memory alloy block, a shape memory alloy wire mesh grid, a shape memory alloy wire array, a shape memory alloy sheet array and a shape memory alloy block array; the thermal expansion fluid storage and electric control heating regulation and control chamber has the functions of flow buffering and storage of the thermal expansion fluid, controlled heating of the thermal expansion fluid and regulation and control of the flow pressure of the thermal expansion fluid at different temperatures; the controlled heating method of the thermal expansion fluid comprises the following steps: laser heating method, electromagnetic heating method, microwave heating method, and resistance wire heating method.

In the above aspect, the sensor includes: angle sensor, force sensor, temperature sensor, thermal expansion fluid flow sensor; the elastic base includes: thermoplastic polyurethane elastomer rubber (TPU), silicone rubber materials, silicone rubber materials, nylon materials, elastomers, polymeric elastic materials, elastic hydrogels; the elastic reset layer comprises: an elastic reset plate; the fiber yarn restriction layer includes: the carbon nano tube fiber yarn winding layer, the inorganic fiber yarn winding layer, the organic fiber yarn winding layer and the composite fiber yarn winding layer.

A thermal expansion fluid composite non-shaped cavity driven robot soft hand comprises: the robot comprises two or more thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm; the thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger adopts a thermal expansion fluid and electric control heating material composite non-special-shaped cavity single-side driver; the thermal expansion fluid and electric control heating material composite non-special-shaped cavity single-side driver comprises: the thermal expansion fluid, the electric control heating material, the non-special-shaped cavity, the heat insulation elastic layer, the thermal expansion fluid channel, the thermal expansion fluid control valve, the elastic matrix, the heat conduction layer, the elastic reset layer, the sensor and the fiber yarn limiting layer; a heat conduction layer is embedded on the side surface or the periphery of the non-special-shaped cavity; the heat conducting layer is connected with the embedded electric control heating material, and a heat insulation elastic layer is assembled on the outer side of the heat conducting layer; elastic matrixes are arranged outside and around the heat-insulating elastic layer; the elastic reset layer and the sensor are embedded in the elastic matrix, the thermal expansion fluid channel or the non-special-shaped cavity; the thermal expansion fluid control valve is assembled in the thermal expansion fluid channel; a fiber yarn limiting layer is arranged outside the elastic matrix; the non-special-shaped cavity is communicated with the thermal expansion fluid channel and is provided with thermal expansion fluid; the thermal expansion fluid, the electric control heating material, the non-special-shaped cavity, the heat insulation elastic layer, the thermal expansion fluid channel, the elastic base body, the heat conduction layer, the elastic reset layer, the sensor, the fiber yarn limiting layer and the thermal expansion fluid control valve jointly form a thermal expansion fluid and electric control heating material composite non-special-shaped cavity single-side driver; the non-special-shaped cavity adopts single cavities with the same wall thickness or the same material, or adopts multiple cavities with the same shape, or adopts multiple cavities with the same wall thickness, or adopts multiple cavities with the same material according to the requirements of various gripping functions; the thermal expansion fluid and electric control heating material composite non-special-shaped cavity single-side driver has a single-side bending driving effect of the thermal expansion fluid after the electric control heating material is heated; the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot is provided with: a thermal expansion fluid storage and electric control heating regulation and control chamber, a power supply and device circuit and an intelligent controller; the non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving type robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot through a thermal expansion fluid channel provided with a thermal expansion fluid control valve; the electric control heating material in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving type robot is connected with a power supply in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot and a device circuit through a telescopic lead; the thermal expansion fluid control valve, the electric control heating material, the power supply and device circuit, the sensor, the thermal expansion fluid storage and electric control heating regulation and control chamber are all connected with the intelligent controller; the thermal expansion fluid control valve, the electric control heating material, the power supply and device circuit, the thermal expansion fluid storage and electric control heating regulation and control chamber are all controlled by an intelligent controller; the intelligent controller sends out a working instruction; the thermal expansion fluid storage and electric control heating regulation and control room heats the thermal expansion fluid after receiving the working instruction; the power supply and device circuit provides working current to the electric control heating material after receiving the working instruction; after the temperature of the electric control heating material is raised, heat is transferred to thermal expansion fluid, and the thermal expansion fluid is raised in temperature to generate a thermal expansion effect, so that the thermal expansion fluid and the electric control heating material are compounded with a non-special-shaped cavity single-side driver to generate a single-side bending driving function; the thermal expansion fluid composite non-special-shaped cavity body driving type robot soft body finger is connected with the thermal expansion fluid composite non-special-shaped cavity body driving type robot palm to form the thermal expansion fluid composite non-special-shaped cavity body driving type robot soft body hand.

In the above aspect, the thermal expansion fluid includes: heat-conducting expansion mixed fluid, thermal expansion liquid and thermal expansion gas; the thermal expansion fluid has thermal conductivity, fluidity, thermal expansibility and thermal drivability; the heat-conducting expansion mixed fluid is mainly characterized in that: the heat expansion substance is dispersed in the heat conduction fluid; the heat-conducting expansion mixed fluid mainly comprises: thermally expanding nano-microcapsule fluid, thermally expanding composite fluid; the thermally expanded nano-microcapsule fluid comprises: thermally expanding nanocapsule fluid, thermally expanding microencapsulated fluid; the thermally expansive nanocapsule fluid comprises: thermally expanding nanocapsules, a thermally conductive fluid; the heat expansion nanocapsule is in a nanoscale range, and a capsule shell of the heat expansion nanocapsule has elasticity and is coated with nanoparticles capable of heat expansion; the heat expansion micro-capsules are in the micron scale range, and the capsule shells of the heat expansion micro-capsules are elastic and coat nano-particles or micro-particles capable of heat expansion; the heat transfer fluid includes: heat conducting gas and heat conducting liquid; the thermal expansion-type fluid includes: a mixture of a gas and thermally expansive microparticles; the thermal expansion fluid can be combined with a thermal expansion fluid control valve to cooperatively regulate and control the rigidity of the thermal expansion fluid and the electric control heating material composite non-special-shaped cavity single-side driver; the thermal expansion fluid control valve adopts a control valve through which only gas can flow; the electrically controlled heating material comprises: the electric heating device comprises an electric control heating material wire, an electric control heating material sheet, an electric control heating material block, an electric control heating material wire woven mesh, an electric control heating material wire array, an electric control heating material sheet array and an electric control heating material block array; the thermal expansion fluid storage and electric control heating regulation and control chamber has the functions of flow buffering and storage of the thermal expansion fluid, controlled heating of the thermal expansion fluid and regulation and control of the flow pressure of the thermal expansion fluid at different temperatures; the controlled heating method of the thermal expansion fluid comprises the following steps: laser heating method, electromagnetic heating method, microwave heating method, and resistance wire heating method.

A thermal expansion fluid composite non-shaped cavity driven robot soft hand comprises: the robot comprises two or more thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm; the thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger adopts a thermal expansion fluid and shape memory alloy composite non-special-shaped cavity double-side driver; the thermal expansion fluid and shape memory alloy composite non-profiled cavity double-side driver comprises: an upper structure, an intermediate layer, a lower structure; the above structure includes: the thermal expansion fluid on the upper surface, the shape memory alloy on the upper surface, the non-special-shaped cavity on the upper surface, the heat insulation elastic layer on the upper surface, the thermal expansion fluid channel on the upper surface, the thermal expansion fluid control valve on the upper surface, the elastic base body on the upper surface, the heat conduction layer on the upper surface, the sensor on the upper surface and the fiber yarn limiting layer on the upper surface; the middle layer is a middle elastic reset layer; the following structure includes: the thermal expansion fluid is arranged on the lower surface of the thermal expansion fluid control valve, the lower surface of the thermal expansion fluid control valve is provided with a thermal insulation elastic layer, a thermal expansion fluid channel, a thermal expansion fluid control valve, a thermal insulation elastic base body, a thermal conduction layer, a sensor and a fiber yarn limiting layer; an upper heat conduction layer is embedded on the side face or the periphery of the upper non-special-shaped cavity in the upper structure; the upper heat conducting layer is connected with the embedded upper shape memory alloy, and the outer side of the upper heat conducting layer is provided with an upper heat insulation elastic layer; the outer side and the periphery of the upper heat insulation elastic layer are provided with upper elastic matrixes; the outer side of the upper elastic matrix is provided with an upper fiber yarn limiting layer; the upper sensor is embedded in the upper elastic matrix, the upper thermal expansion fluid channel or the upper non-special-shaped cavity; the upper thermal expansion fluid control valve is fitted in the upper thermal expansion fluid passage; the upper non-special-shaped cavity is communicated with the upper thermal expansion fluid channel and is provided with upper thermal expansion fluid; a lower heat conducting layer is embedded on the side face or the periphery of the lower non-special-shaped cavity in the lower structure; the lower heat conducting layer is connected with the embedded lower shape memory alloy, and the outer side of the lower heat conducting layer is provided with a lower heat insulating elastic layer; the outer side and the periphery of the lower heat insulation elastic layer are provided with lower elastic matrixes; the outer side of the lower elastic matrix is provided with a lower fiber yarn limiting layer; the lower sensor is embedded in the lower elastic matrix, the lower thermal expansion fluid channel or the lower non-special-shaped cavity; the lower thermal expansion fluid control valve is fitted in the lower thermal expansion fluid passage; the lower non-special-shaped cavity is communicated with the lower thermal expansion fluid channel and is provided with lower thermal expansion fluid; an intermediate elastic reset layer is arranged between the upper structure and the lower structure; the upper structure, the middle elastic reset layer and the lower structure form a thermal expansion fluid and shape memory alloy composite non-special-shaped cavity double-side driver with an integrated composite structure; the upper non-special-shaped cavity and the lower non-special-shaped cavity adopt single cavities with the same wall thickness or the same material, or adopt multi-cavities with the same shape, or adopt multi-cavities with the same wall thickness, or adopt multi-cavities with the same material according to the requirements of various gripping functions; the thermal expansion fluid and shape memory alloy composite non-special-shaped cavity double-side driver has a thermal expansion fluid driving effect and a shape memory alloy driving effect which are doubly superposed to cooperatively enhance a double-side bending driving effect; the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot is provided with: a thermal expansion fluid storage and electric control heating regulation and control chamber, a power supply and device circuit and an intelligent controller; the upper non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driven robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driven robot through an upper thermal expansion fluid channel provided with an upper thermal expansion fluid control valve; the lower non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driving robot through a lower thermal expansion fluid channel assembled with a lower thermal expansion fluid control valve; the upper shape memory alloy and the lower shape memory alloy in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving type robot are connected with a power supply and a device circuit in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot through telescopic leads; the upper thermal expansion fluid control valve, the lower thermal expansion fluid control valve, the upper shape memory alloy, the lower shape memory alloy, the power supply and device circuit, the upper sensor, the lower sensor and the thermal expansion fluid storage and electric control heating regulation and control chamber are connected with an intelligent controller; the upper thermal expansion fluid control valve, the lower thermal expansion fluid control valve, the upper shape memory alloy, the lower shape memory alloy, the power supply and device circuit, the thermal expansion fluid storage and electric control heating regulation and control room are all controlled by an intelligent controller; the intelligent controller is used for sending out a working instruction; the thermal expansion fluid storage and electric control heating regulation and control chamber is used for heating the upper thermal expansion fluid or the lower thermal expansion fluid, and the upper thermal expansion fluid or the lower thermal expansion fluid generates a thermal expansion effect after being heated, so that the thermal expansion fluid and the shape memory alloy composite non-special-shaped cavity double-side driver respectively generate a double-side bending driving function of driving the thermal expansion fluid to bend downwards or upwards; the power supply and device circuit is used for providing working current for the upper shape memory alloy or the lower shape memory alloy, the upper shape memory alloy or the lower shape memory alloy generates shape memory effect after being heated, and the two-side bending enhanced driving function of cooperatively superposing bending driving towards the lower side or the upper side is respectively generated; the thermal expansion fluid composite non-special-shaped cavity body driving type robot soft body finger is connected with the thermal expansion fluid composite non-special-shaped cavity body driving type robot palm to form the thermal expansion fluid composite non-special-shaped cavity body driving type robot soft body hand.

In the above aspect, the upper thermal expansion fluid and the lower thermal expansion fluid each include: heat-conducting expansion mixed fluid, thermal expansion liquid and thermal expansion gas; the thermal expansion fluid has thermal conductivity, fluidity, thermal expansibility and thermal drivability; the heat-conducting expansion mixed fluid is mainly characterized in that: the heat expansion substance is dispersed in the heat conduction fluid; the heat-conducting expansion mixed fluid mainly comprises: thermally expanding nano-microcapsule fluid, thermally expanding composite fluid; the thermally expanded nano-microcapsule fluid comprises: thermally expanding nanocapsule fluid, thermally expanding microencapsulated fluid; the thermally expansive nanocapsule fluid comprises: thermally expanding nanocapsules, a thermally conductive fluid; the heat expansion nanocapsule is in a nanoscale range, and a capsule shell of the heat expansion nanocapsule has elasticity and is coated with nanoparticles capable of heat expansion; the heat expansion micro-capsules are in the micron scale range, and the capsule shells of the heat expansion micro-capsules are elastic and coat nano-particles or micro-particles capable of heat expansion; the heat transfer fluid includes: heat conducting gas and heat conducting liquid; the thermal expansion-type fluid includes: a mixture of a gas and thermally expansive microparticles; the thermal expansion fluid can be combined with an upper thermal expansion fluid control valve and a lower thermal expansion fluid control valve to cooperatively regulate and control the rigidity of the thermal expansion fluid and the shape memory alloy composite non-special-shaped cavity bilateral driver; the upper thermal expansion fluid control valve and the lower thermal expansion fluid control valve adopt control valves through which only gas can flow; the upper shape memory alloy and the lower shape memory alloy respectively comprise a shape memory alloy wire, a shape memory alloy sheet, a shape memory alloy block, a shape memory alloy wire woven mesh, a shape memory alloy wire array, a shape memory alloy sheet array and a shape memory alloy block array; the thermal expansion fluid storage and electric control heating regulation and control chamber has the functions of flow buffering and storage of the thermal expansion fluid, controlled heating of the thermal expansion fluid and regulation and control of the flow pressure of the thermal expansion fluid at different temperatures; the controlled heating method of the thermal expansion fluid comprises the following steps: laser heating method, electromagnetic heating method, microwave heating method, and resistance wire heating method.

In the above solution, the upper sensor and the lower sensor each include: angle sensor, force sensor, temperature sensor, thermal expansion fluid flow sensor; the upper and lower elastomeric matrices each comprise: thermoplastic polyurethane elastomer rubber (TPU), silicone rubber materials, silicone rubber materials, nylon materials, elastomers, polymeric elastic materials, elastic hydrogels; the intermediate elastic reset layer comprises: an elastic reset plate; the upper and lower fiber yarn limiting layers each comprise: the carbon nano tube fiber yarn winding layer, the inorganic fiber yarn winding layer, the organic fiber yarn winding layer and the composite fiber yarn winding layer.

A thermal expansion fluid composite non-shaped cavity driven robot soft hand comprises: the robot comprises two or more thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm; the thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger adopts a thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver; the thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver comprises: an upper structure, an intermediate layer, a lower structure; the above structure includes: the thermal expansion fluid, the electric control heating material, the non-special-shaped cavity, the heat insulation elastic layer, the thermal expansion fluid channel, the thermal expansion fluid control valve, the elastic base body, the heat conduction layer, the sensor and the fiber yarn limiting layer are arranged on the upper surface; the middle layer is a middle elastic reset layer; the following structure includes: the thermal expansion fluid is arranged on the lower surface of the thermal expansion fluid guide plate, the lower surface of the thermal expansion fluid guide plate is provided with an electric control heating material, a lower non-special-shaped cavity, a lower thermal insulation elastic layer, a lower thermal expansion fluid channel, a lower thermal expansion fluid control valve, a lower elastic base body, a lower heat conduction layer, a lower sensor and a lower fiber yarn limiting layer; an upper heat conduction layer is embedded on the side face or the periphery of the upper non-special-shaped cavity in the upper structure; the upper heat conduction layer is connected with the embedded upper electric control heating material, and the outer side of the upper heat conduction layer is provided with an upper heat insulation elastic layer; the outer side and the periphery of the upper heat insulation elastic layer are provided with upper elastic matrixes; the outer side of the upper elastic matrix is provided with an upper fiber yarn limiting layer; the upper sensor is embedded in the upper elastic matrix, the upper thermal expansion fluid channel or the upper non-special-shaped cavity; the upper thermal expansion fluid control valve is fitted in the upper thermal expansion fluid passage; the upper non-special-shaped cavity is communicated with the upper thermal expansion fluid channel and is provided with upper thermal expansion fluid; a lower heat conducting layer is embedded on the side face or the periphery of the lower non-special-shaped cavity in the lower structure; the lower heat conducting layer is connected with the embedded lower electric control heating material, and the outer side of the lower heat conducting layer is provided with a lower heat insulation elastic layer; the outer side and the periphery of the lower heat insulation elastic layer are provided with lower elastic matrixes; the lower elastic matrix is externally provided with a lower fiber yarn limiting layer; the lower sensor is embedded in the lower elastic matrix, the lower thermal expansion fluid channel or the lower non-special-shaped cavity; the lower thermal expansion fluid control valve is fitted in the lower thermal expansion fluid passage; the lower non-special-shaped cavity is communicated with the lower thermal expansion fluid channel and is provided with lower thermal expansion fluid; an intermediate elastic reset layer is arranged between the upper structure and the lower structure; the upper structure, the middle elastic reset layer and the lower structure form a thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver with an integrated composite structure; the upper non-special-shaped cavity and the lower non-special-shaped cavity adopt single cavities with the same wall thickness or the same material, or adopt multi-cavities with the same shape, or adopt multi-cavities with the same wall thickness, or adopt multi-cavities with the same material according to the requirements of various gripping functions; the thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver has a thermal expansion fluid driving double-side bending driving effect after the electric control heating material is heated; the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot is provided with: a thermal expansion fluid storage and electric control heating regulation and control chamber, a power supply and device circuit and an intelligent controller; the upper non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driven robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driven robot through an upper thermal expansion fluid channel provided with an upper thermal expansion fluid control valve; the lower non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driving robot through a lower thermal expansion fluid channel assembled with a lower thermal expansion fluid control valve; the upper electric control heating material and the lower electric control heating material in the soft fingers of the thermal expansion fluid composite non-special-shaped cavity driving type robot are connected with a power supply and a device circuit in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot through telescopic leads; the upper thermal expansion fluid control valve, the lower thermal expansion fluid control valve, the upper electric control heating material, the lower electric control heating material, the power supply and device circuit, the upper sensor, the lower sensor and the thermal expansion fluid storage and electric control heating regulation and control chamber are all connected with the intelligent controller; the upper thermal expansion fluid control valve, the lower thermal expansion fluid control valve, the upper electric control heating material, the lower electric control heating material, the power supply and device circuit, the thermal expansion fluid storage and electric control heating regulation and control room are all controlled by an intelligent controller; the intelligent controller is used for sending out a working instruction; the thermal expansion fluid storage and electric control heating regulation and control chamber is used for heating the upper thermal expansion fluid or the lower thermal expansion fluid; the power supply and device circuit is used for providing working current for the upper electric control heating material or the lower electric control heating material; the upper electric control heating material transfers heat to the upper thermal expansion fluid after being heated; the lower electric control heating material transfers heat to the lower thermal expansion fluid after being heated; the thermal expansion effect is generated after the temperature of the upper thermal expansion fluid or the lower thermal expansion fluid is increased, so that the thermal expansion fluid and the electric control heating material composite non-special-shaped cavity double-side driver respectively generate a double-side bending driving function of driving the thermal expansion fluid to bend downwards or upwards; the thermal expansion fluid composite non-special-shaped cavity body driving type robot soft body finger is connected with the thermal expansion fluid composite non-special-shaped cavity body driving type robot palm to form the thermal expansion fluid composite non-special-shaped cavity body driving type robot soft body hand.

In the above aspect, the upper thermal expansion fluid and the lower thermal expansion fluid each include: heat-conducting expansion mixed fluid, thermal expansion liquid and thermal expansion gas; the thermal expansion fluid has thermal conductivity, fluidity, thermal expansibility and thermal drivability; the heat-conducting expansion mixed fluid is mainly characterized in that: the heat expansion substance is dispersed in the heat conduction fluid; the heat-conducting expansion mixed fluid mainly comprises: thermally expanding nano-microcapsule fluid, thermally expanding composite fluid; the thermally expanded nano-microcapsule fluid comprises: thermally expanding nanocapsule fluid, thermally expanding microencapsulated fluid; the thermally expansive nanocapsule fluid comprises: thermally expanding nanocapsules, a thermally conductive fluid; the heat expansion nanocapsule is in a nanoscale range, and a capsule shell of the heat expansion nanocapsule has elasticity and is coated with nanoparticles capable of heat expansion; the heat expansion micro-capsules are in the micron scale range, and the capsule shells of the heat expansion micro-capsules are elastic and coat nano-particles or micro-particles capable of heat expansion; the heat transfer fluid includes: heat conducting gas and heat conducting liquid; the thermal expansion-type fluid includes: a mixture of a gas and thermally expansive microparticles; the thermal expansion fluid can be combined with an upper thermal expansion fluid control valve and a lower thermal expansion fluid control valve to cooperatively regulate and control the rigidity of the thermal expansion fluid and the electric control heating material composite non-special-shaped cavity bilateral driver; the upper thermal expansion fluid control valve and the lower thermal expansion fluid control valve adopt control valves through which only gas can flow; the upper electrically controlled heating material and the lower electrically controlled heating material both comprise: the electric heating device comprises an electric control heating material wire, an electric control heating material sheet, an electric control heating material block, an electric control heating material wire woven mesh, an electric control heating material wire array, an electric control heating material sheet array and an electric control heating material block array; the thermal expansion fluid storage and electric control heating regulation and control chamber has the functions of flow buffering and storage of the thermal expansion fluid, controlled heating of the thermal expansion fluid and regulation and control of the flow pressure of the thermal expansion fluid at different temperatures; the controlled heating method of the thermal expansion fluid comprises the following steps: laser heating method, electromagnetic heating method, microwave heating method, and resistance wire heating method.

The utility model discloses the working process of the compound non-special-shaped cavity of thermal energy fluid drive type robot software hand is as follows:

(1) the working process of the thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand adopting the thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side driver is as follows:

an intelligent controller in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot sends out an article grabbing work instruction of a thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand, a thermal expansion fluid storage and electric control heating regulation and control chamber starts to heat thermal expansion fluid, and the thermal expansion fluid adopts thermal expansion fluid; the power supply and the device circuit start to provide certain working current for the shape memory alloy; the intelligent controller starts to regulate and control the thermal expansion fluid control valve, so that the thermal expansion fluid storage is communicated with the thermal expansion fluid of the electric control heating regulation and control chamber, the thermal expansion fluid of the thermal expansion fluid pipeline and the thermal expansion fluid of the non-special-shaped cavity; the thermal expansion fluid control valve adopts a control valve through which only gas can pass; the temperature of the shape memory alloy begins to rise, and heat is transmitted to the thermal expansion fluid of the non-special-shaped cavity through the heat conduction layer; because the thermal expansion fluid adopts thermal expansion fluid, the thermal expansion fluid comprises: a mixture of a gas and thermally expansive microparticles; the thermal expansion fluid can be combined with a thermal expansion fluid control valve to cooperatively regulate and control the rigidity of the thermal expansion fluid and the shape memory alloy composite non-special-shaped cavity single-side driver; the thermal expansion fluid control valve adopts a control valve through which only gas can flow; the temperature of the thermal expansion type fluid of the non-shaped cavity begins to rise; the angle sensor, the force sensor, the temperature sensor and the thermal expansion fluid flow sensor transmit detection information to the intelligent controller; the intelligent controller regulates and controls the magnitude of working current provided by the power supply and the device circuit to the shape memory alloy, and regulates and controls the heating temperature of the thermal expansion fluid storage and electric control heating regulation and control chamber to the thermal expansion fluid, so that the temperature of the thermal expansion fluid in the shape memory alloy heating non-special-shaped cavity is higher than the heating temperature in the thermal expansion fluid storage and electric control heating regulation and control chamber; regulating and controlling the opening of the thermal expansion fluid control valve to a certain extent; under a certain temperature condition, the thermal expansion fluid of the non-special-shaped cavity generates a thermal expansion effect; because the temperature and the pressure in the non-special-shaped cavity are higher than those in the thermal expansion fluid storage and electric control heating regulation and control chamber, part of gas in the thermal expansion fluid in the non-special-shaped cavity flows back to the thermal expansion fluid storage and electric control heating regulation and control chamber through the thermal expansion fluid control valve, so that the gas components in the thermal expansion fluid in the non-special-shaped cavity are reduced, the proportion of solid particles is increased, and the rigidity of the non-special-shaped cavity is enhanced; the thermal expansion fluid and the shape memory alloy composite non-special-shaped cavity generate a rigidity enhancing function of single-side bending driving; under a certain temperature condition, the shape memory alloy generates a shape memory effect, a synergistic superposition unilateral bending enhanced driving function is generated, and the thermal expansion fluid is compounded with the soft fingers of the non-special-shaped cavity driving type robot to firmly grab articles.

When the intelligent controller sends an instruction of stopping grabbing articles, the power supply and the device circuit stop providing working current for the shape memory alloy, and the thermal expansion fluid storage and electric control heating regulation and control chamber stops heating the thermal expansion fluid; the temperature of the shape memory alloy is rapidly reduced and rapidly recovered to the original state; the temperature of the thermal expansion fluid of the non-special-shaped cavity is rapidly reduced, and the temperature of the thermal expansion fluid storage and electric control heating regulation and control chamber is also rapidly reduced; at the moment, the temperature and the pressure of the thermal expansion fluid of the non-special-shaped cavity are similar to those of the thermal expansion fluid storage and heating thermal expansion fluid of the electric control heating regulation and control chamber, and thermodynamic equilibrium is achieved; under the cooling condition, the non-special-shaped cavity is quickly shrunk, and the thermal expansion fluid is compounded with the soft fingers of the non-special-shaped cavity driven robot to release the grabbed objects under the assistance of the elastic reset layer.

(2) The working process of the thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand adopting the thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver is as follows:

an intelligent controller in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot sends out a working instruction that a soft hand of the thermal expansion fluid composite non-special-shaped cavity driving type robot points to one direction for bending driving, a thermal expansion fluid storage and electric control heating regulation and control room starts to heat the thermal expansion fluid on the thermal expansion fluid, and a power supply and a device circuit start to provide certain working current for an electric control heating material on the upper surface of the upper surface structure; the intelligent controller starts to regulate and control the upper thermal expansion fluid control valve of the upper structure, so that the upper thermal expansion fluid of the thermal expansion fluid storage and electric control heating regulation and control chamber is communicated with the upper thermal expansion fluid of the upper thermal expansion fluid pipeline of the upper structure and the upper thermal expansion fluid of the upper non-special-shaped cavity; the temperature of the electrically-controlled heating material on the upper structure begins to rise, and heat is transmitted to thermal expansion fluid on the non-special-shaped cavity on the upper structure through the upper heat conducting layer of the upper structure; the temperature of the upper thermal expansion fluid of the upper non-contoured cavity of the upper structure begins to rise; the angle sensor, the force sensor, the temperature sensor and the thermal expansion fluid flow sensor in the structure transmit detection information to the intelligent controller; the intelligent controller regulates and controls the magnitude of working current provided by the power supply and the device circuit to the upper electric control heating material of the upper structure, regulates and controls the heating temperature of the upper thermal expansion fluid of the upper structure by the thermal expansion fluid storage and electric control heating regulation and control chamber, and regulates and controls the opening magnitude of the upper thermal expansion fluid control valve of the upper structure; under a certain temperature condition, the thermal expansion fluid on the non-special-shaped cavity on the upper structure generates a thermal expansion effect to generate unilateral one-direction bending drive, and the thermal expansion fluid is compounded with the soft fingers of the non-special-shaped cavity drive type robot to complete the unilateral one-direction bending drive function.

When the intelligent controller sends out a driving instruction for stopping the unilateral-to-one-direction bending, the power supply and the device circuit stop providing working current for the upper electric control heating material of the upper structure, and the thermal expansion fluid storage and electric control heating regulation and control chamber stops heating the upper thermal expansion fluid; the temperature of the electrically controlled heating material on the upper structure is quickly reduced and quickly recovered to the original state; the temperature of the thermal expansion fluid on the non-special-shaped cavity on the upper structure is rapidly reduced, and the temperature of the thermal expansion fluid on the thermal expansion fluid storage and electric control heating regulation and control chamber is also rapidly reduced; under the cooling condition, the non-special-shaped cavity on the upper structure is quickly shrunk, and the thermal expansion fluid is compounded with the soft fingers of the non-special-shaped cavity driven robot to restore to the original state under the assistance of the middle elastic reset layer.

The intelligent controller in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot sends out a working instruction of bending and driving the soft fingers of the thermal expansion fluid composite non-special-shaped cavity driving type robot in opposite directions, the thermal expansion fluid storage and electric control heating regulation and control room starts to heat the thermal expansion fluid below, and the power supply and the device circuit start to provide certain working current for the electric control heating material below the lower structure; the intelligent controller starts to regulate and control a lower thermal expansion fluid control valve of a lower structure, so that the lower thermal expansion fluid of the thermal expansion fluid storage and electric control heating regulation and control chamber is communicated with the lower thermal expansion fluid of a lower thermal expansion fluid pipeline of the lower structure and the lower thermal expansion fluid of a lower non-special-shaped cavity; the temperature of the electric control heating material below the lower structure begins to rise, and heat is transmitted to the thermal expansion fluid below the non-special-shaped cavity below the lower structure through the lower heat conduction layer of the lower structure; the temperature of the lower thermal expansion fluid of the lower non-contoured cavity of the lower structure begins to rise; the angle sensor, the force sensor, the temperature sensor and the thermal expansion fluid flow sensor of the following structure transmit detection information to the intelligent controller; the intelligent controller regulates and controls the power supply and the device circuit to provide working current for the lower electric control heating material of the lower structure, regulates and controls the heating temperature of the lower thermal expansion fluid of the lower structure by the thermal expansion fluid storage and electric control heating regulation and control chamber, and regulates and controls the opening size of the lower thermal expansion fluid control valve of the lower structure; under a certain temperature condition, thermal expansion fluid under the non-special-shaped cavity under the lower structure generates a thermal expansion effect to generate opposite-direction bending drive, and the thermal expansion fluid is compounded with the soft fingers of the robot driven by the non-special-shaped cavity to complete the function of driving the robot to bend in the opposite direction.

When the intelligent controller sends out a bending driving instruction of stopping bending in the opposite direction, the power supply and device circuit stops providing working current for the lower electric control heating material of the lower structure, and the thermal expansion fluid storage and electric control heating regulation and control chamber stops heating the lower thermal expansion fluid; the temperature of the electric control heating material below the lower structure is quickly reduced and quickly recovered to the original state; the temperature of the thermal expansion fluid below the non-special-shaped cavity below the lower structure is rapidly reduced, and the temperature of the thermal expansion fluid below the thermal expansion fluid storage and electric control heating regulation and control chamber is also rapidly reduced; under the cooling condition, the lower non-special-shaped cavity of the lower structure is quickly shrunk, and the thermal expansion fluid is compounded with the soft fingers of the non-special-shaped cavity driven robot to restore to the original state under the assistance of the middle elastic reset layer.

The utility model discloses a compound non-special-shaped cavity drive type robot software hand of thermal energy fluid has following beneficial effect:

a. the utility model discloses a thermal energy fluid include: heat-conducting expansion mixed fluid, thermal expansion liquid and thermal expansion gas; the thermal expansion fluid has thermal conductivity, fluidity, thermal expansibility and thermal drivability; the heat-conducting expansion mixed fluid is mainly characterized in that: the heat expansion substance is dispersed in the heat conduction fluid; the heat-conducting expansion mixed fluid mainly comprises: thermally expanding nano-microcapsule fluid, thermally expanding composite fluid; the thermally expanded nano-microcapsule fluid comprises: thermally expanding nanocapsule fluid, thermally expanding microencapsulated fluid; the thermally expansive nanocapsule fluid comprises: thermally expanding nanocapsules, a thermally conductive fluid; the heat expansion nanocapsule is in a nanoscale range, and a capsule shell of the heat expansion nanocapsule has elasticity and is coated with nanoparticles capable of heat expansion; the heat expansion micro-capsules are in the micron scale range, and the capsule shells of the heat expansion micro-capsules are coated with nano-particles or micro-particles capable of heat expansion; the heat transfer fluid includes: heat conducting gas and heat conducting liquid; the thermal expansion fluid comprises a mixture of gas and thermal expansion particles; because the thermal expansion fluid is adopted in the thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand, the driving controllability is improved, and the driving capability is obviously improved.

b. The utility model combines the thermal expansion deformation drive of the thermal expansion fluid composite non-special-shaped cavity with the deformation drive of the shape memory alloy, thereby having the enhancement effect of synergistic superposition dual drive; the utility model discloses a thermal energy fluid compound non-special-shaped cavity combines thermal energy fluid control valve, regulates and control the unidirectional flow of part material in the thermal energy fluid under higher temperature and pressure condition, can improve the gripping article rigidity that the software pointed.

c. The utility model discloses a two regulation and control heating drive modes, include: (1) the power supply and the device circuit are electrified to heat the shape memory alloy or the electric control heating material to heat the thermal expansion fluid in the thermal expansion fluid composite non-special-shaped cavity to generate driving; (2) the thermal expansion fluid storage and electric control heating regulation and control chamber is used for heating the stored thermal expansion fluid to regulate and control the thermal driving performance of the thermal expansion fluid; and through sensor information feedback, the thermal expansion fluid control valve is combined with the intelligent controller, a double-regulation heating driving mode is realized, a thermal expansion fluid driving regulation system is formed, and the controllability, flexibility and effectiveness of driving are improved.

d. The thermal expansion fluid is a thermal expansion fluid, and comprises: a mixture of a gas and thermally expansive microparticles; the intelligent controller regulates and controls the magnitude of working current provided by the power supply and the device circuit to the shape memory alloy, and regulates and controls the heating temperature of the thermal expansion fluid storage and electric control heating regulation and control chamber to the thermal expansion fluid, so that the temperature of the thermal expansion fluid in the shape memory alloy heating non-special-shaped cavity is higher than the heating temperature in the thermal expansion fluid storage and electric control heating regulation and control chamber; regulating and controlling the opening of the thermal expansion fluid control valve to a certain extent; under a certain temperature condition, the thermal expansion fluid of the non-special-shaped cavity generates a thermal expansion effect; because the temperature and the pressure in the non-special-shaped cavity are higher than those in the thermal expansion fluid storage and electric control heating regulation and control chamber, part of gas in the thermal expansion fluid in the non-special-shaped cavity flows back to the thermal expansion fluid storage and electric control heating regulation and control chamber through the thermal expansion fluid control valve, so that the gas components in the thermal expansion fluid in the non-special-shaped cavity are reduced, the proportion of solid particles is increased, and the rigidity of the non-special-shaped cavity is enhanced; the thermal expansion fluid and the shape memory alloy composite non-special-shaped cavity generate a rigidity enhancing function of unilateral bending driving.

e. The electrified shape memory alloy can transmit and provide heat energy to the thermal expansion fluid in the composite non-special-shaped cavity, and the shape memory alloy also has the effect of cooperating with the thermal expansion fluid to compound the non-special-shaped cavity to generate thermal expansion driving and enhance the superposition heating driving effect.

f. The adopted thermal expansion fluid storage and electric control heating regulation and control chamber has the functions of buffering, regulating and storing the thermal expansion fluid and also has the function of controllable auxiliary heating of the thermal expansion fluid; the auxiliary heating can be selected to adopt a plurality of different heating methods according to different using environment conditions, and comprises the following steps: a laser heating method, an electromagnetic heating method, a microwave heating method and a resistance wire heating method; therefore, the utility model discloses can expand the range of application of the compound non-special-shaped cavity drive type robot software hand of thermal energy fluid.

Drawings

The invention will be further explained with reference to the drawings and examples, wherein:

FIG. 1 is a schematic structural diagram of a thermal expansion fluid composite non-shaped cavity driven robot soft hand according to the present invention;

fig. 2 is a schematic structural view of a thermal expansion fluid and shape memory alloy composite non-irregular cavity single-side driver according to embodiment 1 of the present invention;

fig. 3 is a schematic structural diagram of a thermal expansion fluid and electrically controlled heating material composite non-shaped cavity double-side driver according to embodiment 2 of the present invention.

In the figure: 1-thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand; 2-thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side driver; 3-thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger; 4-thermal expansion fluid is compounded with the non-special-shaped cavity to drive the robot palm; 5-thermal expansion fluid storage and electric control heating regulation and control chamber; 6-power supply and device circuitry; 7-an intelligent controller; 8-thermal expansion fluid (example 1); 9-shape memory alloy (example 1); 10-non-profiled cavity (example 1); 11-insulating elastic layer (example 1); 12-elastomeric matrix (example 1); 13-thermally conductive layer (example 1); 14-elastic reset layer (example 1); 15-sensor (example 1); 16-fiber yarn restriction layer (example 1); 17-thermal expansion fluid and electric control heating material are compounded with the non-special-shaped cavity double-side driver; 18-above structure (example 2); 19-intermediate layer (example 2); 20-the following structure (example 2); 21-thermal expansion fluid above (example 2); 22-electrically controlled heating material above (example 2); 23-non-profiled cavity above (example 2); 24-upper thermally insulating elastic layer (example 2); 25-upper elastomeric matrix (example 2); 26 — upper thermally conductive layer (example 2); 27-upper sensor (example 2); 28-upper fiber yarn restriction layer (example 2); 29-lower thermal expansion fluid (example 2); 30-electrically controlled heating material below (example 2); 31-lower non-profiled cavity (example 2); 32-lower thermally insulating elastic layer (example 2); 33-underlying elastomeric matrix (example 2); 34-lower thermally conductive layer (example 2); 35-lower sensor (example 2); 36-lower fiber yarn restriction layer (example 2).

Detailed Description

In order to clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Embodiment 1. thermal expansion fluid composite non-shaped cavity driving type robot soft hand 1 adopting thermal expansion fluid and shape memory alloy composite non-shaped cavity single-side driver 2.

The structure schematic diagram of the thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand 1 adopting the thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side driver 2 in the embodiment 1 of the utility model is shown in figure 1; the structural schematic diagram of the thermal expansion fluid and shape memory alloy composite non-profiled cavity single-side driver 2 is shown in fig. 2.

The utility model discloses thermal energy fluid compound non-special-shaped cavity drive type robot software hand 1 of embodiment 1 includes: five thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers 3 and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm 4 (see figure 1); the five thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers 3 are connected with the thermal expansion fluid composite non-special-shaped cavity driving type robot palm 4 to form a thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand 1; the five thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers 3 adopt thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side drivers 2; the thermal expansion fluid composite non-special-shaped cavity driving type robot palm 4 is provided with: a thermal expansion fluid storage and electric control heating regulation and control chamber 5, a power supply and device circuit 6 and an intelligent controller 7.

Referring to fig. 2, the thermal expansion fluid and shape memory alloy composite non-irregular cavity single-sided actuator 2 according to embodiment 1 of the present invention includes: the thermal expansion fluid 8, the shape memory alloy 9, the non-special-shaped cavity 10, the heat insulation elastic layer 11, a thermal expansion fluid channel, a thermal expansion fluid control valve, an elastic matrix 12, a heat conduction layer 13, an elastic reset layer 14, a sensor 15 and a fiber yarn limiting layer 16; a heat conducting layer 13 is embedded on the side surface or the periphery of the non-special-shaped cavity 10; the heat conducting layer 13 is connected with the embedded shape memory alloy 9, and the outer side of the heat conducting layer is provided with a heat insulating elastic layer 11; the outer side and the periphery of the heat insulation elastic layer 11 are provided with elastic matrixes 12; the elastic reset layer 14 is embedded in the elastic matrix 12; the sensor 15 is embedded in the non-special-shaped cavity 10 of the elastic matrix 12; the thermal expansion fluid control valve is assembled in the thermal expansion fluid channel; a fiber yarn limiting layer 16 is arranged outside the elastic matrix 12; the non-special-shaped cavity 10 is communicated with the thermal expansion fluid channel and is provided with thermal expansion fluid 8; the thermal expansion fluid 8 is a thermal expansion fluid, and includes: a mixture of a gas and thermally expansive microparticles; under the regulation and control of the intelligent controller 7, the thermal expansion fluid control valve and the sensor 15 are combined, so that the rigidity of the thermal expansion fluid composite non-special-shaped cavity driven robot soft hand 1 when gripping an object is effectively improved. The thermal expansion fluid 8, the shape memory alloy 9, the non-special-shaped cavity 10, the heat insulation elastic layer 11, the thermal expansion fluid channel, the elastic matrix 12, the heat conduction layer 13, the elastic reset layer 14, the sensor 15, the fiber yarn limiting layer 16 and the thermal expansion fluid control valve jointly form the thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side driver 2; the thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side driver 2 is connected with the thermal expansion fluid storage and electric control heating regulation and control chamber 5 through a thermal expansion fluid channel assembled with a thermal expansion fluid control valve and a thermal expansion fluid storage and electric control heating regulation and control chamber 5 in the thermal expansion fluid storage and electric control heating regulation and control chamber 5 power supply and device circuit 6 intelligent controller 7 thermal expansion fluid composite non-special-shaped cavity driving robot soft finger 3; the shape memory alloy 9 in the thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger 3 is connected with a power supply in the thermal expansion fluid composite non-special-shaped cavity driving type robot palm 4 and a device circuit 6 through a telescopic lead; the thermal expansion fluid control valve, the shape memory alloy 9, the power supply and device circuit 6, the sensor 15, the sensor 19, the thermal expansion fluid storage and electric control heating regulation and control chamber 5 are all connected with the intelligent controller 7; the thermal expansion fluid control valve, the shape memory alloy 9, the power supply and device circuit 6 and the thermal expansion fluid storage and electric control heating regulation and control chamber 5 are all controlled by an intelligent controller 7.

In this embodiment 1, the working process of the thermal expansion fluid composite non-shaped cavity driven robot soft hand 1 adopting the thermal expansion fluid and shape memory alloy composite non-shaped cavity single-side driver 2 is as follows:

an intelligent controller 7 in the thermal expansion fluid composite non-special-shaped cavity driving type robot palm 4 sends an article grabbing work instruction of a thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand 4, a thermal expansion fluid storage and electric control heating regulation and control chamber 5 starts to heat a thermal expansion fluid 8, and the thermal expansion fluid 8 adopts a thermal expansion fluid; the power supply and device circuit 6 starts to provide a certain working current to the shape memory alloy 9; the intelligent controller 7 starts to regulate and control the thermal expansion fluid control valve, so that the thermal expansion fluid storage is communicated with the thermal expansion fluid of the electric control heating regulation and control chamber 5, the thermal expansion fluid of the thermal expansion fluid pipeline and the thermal expansion fluid of the non-special-shaped cavity 10; the thermal expansion fluid control valve adopts a control valve through which only gas can pass; the temperature of the shape memory alloy 9 begins to rise, and heat is transmitted to the thermal expansion fluid of the non-special-shaped cavity 10 through the heat conduction layer 13; since the thermal expansion fluid 8 is a thermal expansion fluid, it includes: a mixture of a gas and thermally expansive microparticles; the thermal expansion fluid can be combined with a thermal expansion fluid control valve to cooperatively regulate the rigidity of the thermal expansion fluid and the shape memory alloy composite non-special-shaped cavity single-side driver 47; the thermal expansion fluid control valve may employ a control valve through which only gas can flow; the temperature of the thermal expansion type fluid of the non-shaped cavity 10 starts to rise; the sensor 15 transmits the detection information to the intelligent controller 7; the intelligent controller 7 regulates and controls the magnitude of the working current provided by the power supply and device circuit 6 to the shape memory alloy 9, and regulates and controls the heating temperature of the thermal expansion fluid storage and electric control heating regulation and control chamber 5 to the thermal expansion fluid, so that the temperature of the thermal expansion fluid in the non-special-shaped cavity 10 heated by the shape memory alloy 9 is higher than the heating temperature in the thermal expansion fluid storage and electric control heating regulation and control chamber 5; regulating and controlling the opening of the thermal expansion fluid control valve to a certain extent; under a certain temperature condition, the thermal expansion fluid of the non-special-shaped cavity 10 generates a thermal expansion effect; because the temperature and the pressure in the non-special-shaped cavity 10 are higher than those in the thermal expansion fluid storage and electric control heating regulation and control chamber 5, part of gas in the thermal expansion fluid in the non-special-shaped cavity 10 flows back to the thermal expansion fluid storage and electric control heating regulation and control chamber 5 through a thermal expansion fluid control valve, so that the gas content in the thermal expansion fluid in the non-special-shaped cavity 10 is reduced, the proportion of solid particles is increased, and the rigidity of the non-special-shaped cavity 10 is enhanced; the non-special-shaped cavity 10 generates a rigidity enhancing function of unilateral bending driving; under a certain temperature condition, the shape memory alloy 9 generates a shape memory effect to generate a synergistic superposition unilateral bending enhanced driving function, and the thermal expansion fluid is compounded with the non-special-shaped cavity driving type robot soft finger 3 to firmly grab an article.

When the intelligent controller 7 sends an instruction of stopping grabbing articles, the power supply and device circuit 6 stops supplying working current to the shape memory alloy 9, and the thermal expansion fluid storage and electric control heating regulation and control chamber 5 stops heating the thermal expansion fluid 8; the temperature of the shape memory alloy 9 is rapidly reduced and rapidly recovered to the original state; the temperature of the thermal expansion fluid 8 of the non-special-shaped cavity 10 is rapidly reduced, and the temperature of the thermal expansion fluid 8 of the thermal expansion fluid storage and electric control heating regulation and control chamber 5 is also rapidly reduced; the temperature and pressure of the thermal expansion fluid storage and electric control heating regulation and control chamber 5 are similar to those of the thermal expansion fluid in the non-special-shaped cavity 10 heated by the shape memory alloy 9, and thermal balance is achieved; under the cooling condition, the non-shaped cavity 10 is rapidly shrunk and is restored to the original state under the assistance of the elastic reset layer 14, and the five thermal expansion fluids are compounded with the non-shaped cavity to drive the robot soft fingers 3 to release the grabbed objects.

Embodiment 2. thermal expansion fluid and electric control heating material are adopted to compound the non-shaped cavity double-side driver 17, and the thermal expansion fluid is compounded with the non-shaped cavity driving type robot soft hand 1.

The structural schematic diagram of the thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand 1 adopting the thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver 17 in the embodiment 2 of the utility model is shown in figure 1; the schematic structural diagram of the thermal expansion fluid and electrically controlled heating material composite non-shaped cavity double-sided driver 17 is shown in fig. 3.

The utility model discloses thermal energy fluid compound non-special-shaped cavity drive type robot software hand 1 of embodiment 2 includes: five thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers 3 and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm 4 (see figure 1); the five thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers 3 are connected with the thermal expansion fluid composite non-special-shaped cavity driving type robot palm 4 to form a thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand 1; the five thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers 3 adopt thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side drivers 17; the thermal expansion fluid composite non-special-shaped cavity driving type robot palm 4 is provided with: a thermal expansion fluid storage and electric control heating regulation and control chamber 5, a power supply and device circuit 6 and an intelligent controller 7.

Referring to fig. 3, the thermal expansion fluid and electric control heating material composite non-shaped cavity double-side driver 17 according to embodiment 2 of the present invention includes: upper structure 18, intermediate layer 19, lower structure 20; the above structure 18 includes: an upper thermal expansion fluid 21, an upper electrically controlled heating material 22, an upper non-shaped cavity 23, an upper thermally insulating elastic layer 24, an upper thermal expansion fluid channel, an upper thermal expansion fluid control valve, an upper elastic matrix 25, an upper heat conductive layer 26, an upper sensor 27, an upper fiber yarn limiting layer 28; the middle layer 19 is a middle elastic reset layer; the following structure 20 includes: a lower thermal expansion fluid 29, a lower electrically controlled heating material 30, a lower non-profiled cavity 31, a lower thermally insulating elastic layer 32, a lower thermal expansion fluid channel, a lower thermal expansion fluid control valve, a lower elastic matrix 33, a lower thermally conductive layer 34, a lower sensor 35, a lower fiber yarn confining layer 36; an upper heat conduction layer 26 is embedded on the side surface or the periphery of the upper non-special-shaped cavity 23 in the upper structure 18; the upper heat conducting layer 26 is connected with the embedded upper electric control heating material 22, and the outer side of the upper heat conducting layer is provided with an upper heat insulation elastic layer 24; the outer side and the periphery of the upper heat insulation elastic layer 24 are provided with an upper elastic matrix 25; an upper fiber yarn limiting layer 28 is arranged outside the upper elastic matrix 25; the upper sensor 27 is embedded in the upper elastic matrix 25 or the upper non-special-shaped cavity 23; an upper thermal expansion fluid control valve fitted in the upper thermal expansion fluid passage; the upper non-special-shaped cavity 23 is communicated with the upper thermal expansion fluid channel and is provided with an upper thermal expansion fluid 21; the upper thermal expansion fluid 21 is a thermal expansion gas; a lower heat conducting layer 34 is embedded on the side surface or the periphery of the lower non-special-shaped cavity 31 in the lower structure 20; the lower heat conducting layer 34 is connected with the embedded lower electric control heating material 30, and the outer side of the lower heat conducting layer is provided with a lower heat insulation elastic layer 32; the outer side and the periphery of the lower heat insulation elastic layer 32 are provided with a lower elastic matrix 33; a lower fiber yarn limiting layer 36 is arranged outside the lower elastic matrix 33; the lower sensors 35 are embedded in the lower elastic matrix 33 or the lower non-special-shaped cavity 31; the lower thermal expansion fluid control valve is fitted in the lower thermal expansion fluid passage; the lower non-special-shaped cavity 31 is communicated with the lower thermal expansion fluid channel and is provided with a lower thermal expansion fluid 29; the lower thermal expansion fluid 29 is a thermal expansion gas; an intermediate elastic reset layer is arranged between the upper structure 18 and the lower structure 20; the upper structure 18, the middle elastic reset layer and the lower structure 20 together form a thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver 17 with an integrated composite structure; the thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver 17 is connected with the thermal expansion fluid storage and electric control heating regulation and control chamber 5 in the thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger 3 through the upper thermal expansion fluid channel assembled with the upper thermal expansion fluid control valve and the thermal expansion fluid storage and electric control heating regulation and control chamber 5 in the thermal expansion fluid composite non-special-shaped cavity driving type robot palm 4; the lower non-special-shaped cavity 31 in the thermal expansion fluid composite non-special-shaped cavity driving type robot soft body finger 3 is connected with the thermal expansion fluid storage and electric control heating regulation and control chamber 5 in the thermal expansion fluid composite non-special-shaped cavity driving type robot palm 4 through a lower thermal expansion fluid channel assembled with a lower thermal expansion fluid control valve; the upper electric control heating material 22 and the lower electric control heating material 30 in the soft finger 3 of the thermal expansion fluid composite non-special-shaped cavity driving type robot are connected with the device circuit 6 through a telescopic lead and a power supply in the palm 4 of the thermal expansion fluid composite non-special-shaped cavity driving type robot; the upper thermal expansion fluid control valve, the upper electric control heating material 22, the lower thermal expansion fluid control valve, the lower electric control heating material 30, the power supply and device circuit 6, the upper sensor 27 and the thermal expansion fluid storage and electric control heating regulation and control chamber 5 are all connected with the intelligent controller 7; the upper thermal expansion fluid control valve, the upper electric control heating material 22, the lower thermal expansion fluid control valve, the lower electric control heating material 30, the power supply and device circuit 6 and the thermal expansion fluid storage and electric control heating regulation and control chamber 5 are all controlled by an intelligent controller 7.

The working process of the thermal expansion fluid composite non-special-shaped cavity driving type robot soft hand 1 adopting the thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver 17 is as follows:

the intelligent controller 7 in the palm 4 of the thermal expansion fluid composite non-special-shaped cavity driving type robot sends out a working instruction of bending driving of the soft fingers 3 of the thermal expansion fluid composite non-special-shaped cavity driving type robot to one direction, the thermal expansion fluid storage and electric control heating regulation and control chamber 5 starts to heat the thermal expansion fluid 21 on the upper surface, and the power supply and device circuit 6 starts to provide certain working current to the electric control heating material 22 on the upper surface of the upper surface structure 18; the intelligent controller 7 starts to regulate the upper thermal expansion fluid control valve of the upper structure 18, so that the upper thermal expansion fluid 21 of the thermal expansion fluid storage and electric control heating regulation and control chamber 5 is communicated with the upper thermal expansion fluid 21 of the upper thermal expansion fluid pipeline of the upper structure 18 and the upper thermal expansion fluid 21 of the upper non-special-shaped cavity 23; the upper electrically controlled heating material 22 of the upper structure 18 begins to increase in temperature and heat is transferred through the upper heat conductive layer 26 of the upper structure 18 to the upper thermal expansion fluid 21 of the upper non-contoured cavity 23 of the upper structure 18; the temperature of the upper thermal expansion fluid 21 of the upper non-contoured cavity 23 of the upper structure 18 begins to rise; the upper sensor 27 of the upper structure 18 transmits the detection information to the intelligent controller 7; the intelligent controller 7 regulates and controls the power supply and device circuit 6 to provide working current for the upper electric control heating material 22 of the upper structure 18, regulates and controls the heating temperature of the upper thermal expansion fluid 21 of the upper structure 18 by the thermal expansion fluid storage and electric control heating regulation and control chamber 5, and regulates and controls the opening size of the upper thermal expansion fluid control valve of the upper structure 18; under a certain temperature condition, the thermal expansion fluid 21 on the non-special-shaped cavity 23 on the upper structure 18 generates a thermal expansion effect to generate unilateral one-direction bending driving, and the five thermal expansion fluids are compounded with the non-special-shaped cavity driving type robot soft fingers 3 to cooperatively complete the unilateral one-direction bending driving function to complete the gripping of the object.

When the intelligent controller 7 sends a driving instruction for stopping the one-side-to-one-direction bending, the power supply and device circuit 6 stops providing working current to the upper electric control heating material 22 of the upper structure 18, and the thermal expansion fluid storage and electric control heating regulation and control chamber 5 stops heating the upper thermal expansion fluid 21; the temperature of the electrically controlled heating material 22 on the upper structure 18 rapidly drops and rapidly returns to the original state; the temperature of the thermal expansion fluid 21 on the non-special-shaped cavity 23 on the upper structure 18 is rapidly reduced, and the temperature of the thermal expansion fluid 21 on the thermal expansion fluid storage and electric control heating regulation and control chamber 5 is also rapidly reduced; under the cooling condition, the non-special-shaped cavity 23 on the upper structure 18 is quickly shrunk, and the five thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers 3 are restored to the original state under the assistance of the middle elastic reset layer, so that the release of the gripped object is completed.

The intelligent controller 7 in the palm 4 of the thermal expansion fluid composite non-special-shaped cavity driving type robot sends out a working instruction that the soft fingers 3 of the thermal expansion fluid composite non-special-shaped cavity driving type robot are driven to bend in the opposite direction, the thermal expansion fluid storage and electric control heating regulation and control chamber 5 starts to heat the lower thermal expansion fluid 29, and the power supply and device circuit 6 starts to provide certain working current for the lower electric control heating material 30 of the lower structure 20; the intelligent controller 7 starts to regulate and control the lower thermal expansion fluid control valve of the lower structure 20, so that the lower thermal expansion fluid 29 of the thermal expansion fluid storage and electric control heating regulation and control chamber 5 is communicated with the lower thermal expansion fluid 29 of the lower thermal expansion fluid pipeline of the lower structure 20 and the lower thermal expansion fluid 29 of the lower non-special-shaped cavity 31; the lower electrically controlled heating material 30 of the lower structure 20 begins to increase in temperature and heat is transferred through the lower thermally conductive layer 34 of the lower structure 20 to the lower thermally expansive fluid 29 of the lower non-contoured cavity 31 of the lower structure 20; the temperature of the lower thermal expansion fluid 29 of the lower non-contoured cavity 31 of the lower structure 20 begins to rise; the lower sensor 35 of the lower structure 20 transmits the detection information to the intelligent controller 7; the intelligent controller 7 regulates and controls the power supply and device circuit 6 to provide working current for the lower electric control heating material 30 of the lower structure 20, regulates and controls the heating temperature of the lower thermal expansion fluid 29 of the lower structure 20 by the thermal expansion fluid storage and electric control heating regulation and control chamber 5, and regulates and controls the opening size of the lower thermal expansion fluid control valve of the lower structure 20; under a certain temperature condition, the thermal expansion fluid 29 under the lower non-shaped cavity 31 of the lower structure 20 generates a thermal expansion effect to generate a unilateral opposite direction bending drive, and the thermal expansion fluid is compounded with the non-shaped cavity driving type robot soft finger 3 to complete the unilateral opposite direction bending drive function.

When the intelligent controller 7 sends out a driving instruction for stopping the unilateral opposite direction bending, the power supply and device circuit 6 stops providing working current for the lower electric control heating material 30 of the lower structure 20, and the thermal expansion fluid storage and electric control heating regulation and control chamber 5 stops heating the lower thermal expansion fluid 29; the temperature of the electrically controlled heating material 30 under the lower structure 20 is rapidly decreased and rapidly restored to the original state; the temperature of the thermal expansion fluid 29 below the lower non-special-shaped cavity 31 of the lower structure 20 is rapidly reduced, and the temperature of the thermal expansion fluid 29 below the thermal expansion fluid storage and electric control heating regulation and control chamber 5 is also rapidly reduced; under the cooling condition, the lower non-shaped cavity 31 of the lower structure 20 is rapidly shrunk, and the thermal expansion fluid composite non-shaped cavity driven type robot soft finger 3 is restored to the original state under the assistance of the middle elastic reset layer.

While the embodiments of the present invention have been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many modifications may be made by one skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A thermal expansion fluid composite non-shaped cavity driving type robot soft hand is characterized by comprising: the thermal expansion fluid composite non-special-shaped cavity driving type robot comprises a plurality of thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm; the soft fingers of the thermal expansion fluid composite non-special-shaped cavity driving type robot are connected with the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot; the thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger adopts a thermal expansion fluid and shape memory alloy composite non-special-shaped cavity single-side driver; the thermal expansion fluid and shape memory alloy composite non-profiled cavity single-side driver comprises: the thermal expansion fluid, the shape memory alloy, the non-special-shaped cavity, the heat insulation elastic layer, the thermal expansion fluid channel, the thermal expansion fluid control valve, the elastic base body, the heat conduction layer, the elastic reset layer, the sensor and the fiber yarn limiting layer; the non-special-shaped cavity adopts single cavities with the same wall thickness or the same material, or adopts multiple cavities with the same shape, or adopts multiple cavities with the same wall thickness, or adopts multiple cavities with the same material according to the requirements of various gripping functions; a heat conduction layer is embedded in the side surface or the periphery of the non-special-shaped cavity; the heat conducting layer is connected with the embedded shape memory alloy, and a heat insulating elastic layer is assembled on the outer side of the heat conducting layer; elastic matrixes are arranged on the outer side and the periphery of the heat insulation elastic layer; the elastic reset layer and the sensor are embedded in the elastic matrix, the thermal expansion fluid channel or the non-special-shaped cavity; the thermal expansion fluid control valve is assembled in the thermal expansion fluid channel; the outer side of the elastic matrix is provided with a fiber yarn limiting layer; the non-special-shaped cavity is communicated with the thermal expansion fluid channel and is provided with thermal expansion fluid; the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot is provided with: a thermal expansion fluid storage and electric control heating regulation and control chamber, a power supply and device circuit and an intelligent controller; the non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving type robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot through a thermal expansion fluid channel provided with a thermal expansion fluid control valve; the shape memory alloy in the soft fingers of the thermal expansion fluid composite non-special-shaped cavity driving type robot and the power supply in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot are connected with a device circuit; the expansion fluid control valve, the shape memory alloy, the power supply and device circuit, the sensor, the thermal expansion fluid storage and electric control heating regulation and control chamber are all connected with the intelligent controller; the expansion fluid control valve, the shape memory alloy, the power supply and device circuit, the thermal expansion fluid storage and electric control heating regulation and control chamber are all controlled by an intelligent controller; the intelligent controller sends out a working instruction; the thermal expansion fluid storage and electric control heating regulation and control chamber heats the thermal expansion fluid after receiving the working instruction, and the thermal expansion fluid is heated to generate a thermal expansion effect, so that the thermal expansion fluid and the shape memory alloy composite non-special-shaped cavity single-side driver generate a single-side bending driving function; and the power supply and device circuit provides working current to the shape memory alloy after receiving the working instruction, and the shape memory alloy generates a shape memory effect after being heated, so that a synergistic superposition unilateral bending enhanced driving function is generated.

2. The thermally expansive fluid composite non-profiled cavity actuated robotic soft hand of claim 1, wherein said shape memory alloy comprises shape memory alloy wire, shape memory alloy sheet, shape memory alloy block, shape memory alloy wire mesh grid, shape memory alloy wire array, shape memory alloy sheet array, shape memory alloy block array.

3. The thermally expansive fluid composite non-profiled cavity actuated robotic soft hand of claim 1, wherein the thermally expansive fluid comprises: heat-conducting expansion mixed fluid, thermal expansion liquid and thermal expansion gas; the thermally conductive intumescent hybrid fluid comprises: thermally expanding nano-microcapsule fluid, thermally expanding composite fluid; the thermally expanded nano-microcapsule fluid comprises: thermally expanding nanocapsule fluid, thermally expanding microencapsulated fluid; the thermally expansive nanocapsule fluid comprises: thermally expanding nanocapsules, a thermally conductive fluid; the heat transfer fluid includes: heat conducting gas and heat conducting liquid; the thermal expansion-type fluid includes: a mixture of a gas and thermally expansive microparticles; the sensor includes: angle sensor, force sensor, temperature sensor, thermal expansion fluid flow sensor; the elastic base includes: thermoplastic polyurethane elastomer rubber, silicone rubber materials, silica gel materials, nylon materials, artificial rubber, high-molecular elastic materials and elastic hydrogel; the elastic reset layer comprises: an elastic reset plate; the fiber yarn restriction layer includes: the carbon nano tube fiber yarn winding layer, the inorganic fiber yarn winding layer, the organic fiber yarn winding layer and the composite fiber yarn winding layer.

4. A thermal expansion fluid composite non-shaped cavity driving type robot soft hand is characterized by comprising: the thermal expansion fluid composite non-special-shaped cavity driving type robot comprises a plurality of thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm; the soft fingers of the thermal expansion fluid composite non-special-shaped cavity driving type robot are connected with the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot; the thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger adopts a thermal expansion fluid and electric control heating material composite non-special-shaped cavity single-side driver; the thermal expansion fluid and electric control heating material composite non-special-shaped cavity single-side driver comprises: the thermal expansion fluid, the electric control heating material, the non-special-shaped cavity, the heat insulation elastic layer, the thermal expansion fluid channel, the thermal expansion fluid control valve, the elastic matrix, the heat conduction layer, the elastic reset layer, the sensor and the fiber yarn limiting layer; the non-special-shaped cavity adopts single cavities with the same wall thickness or the same material, or adopts multiple cavities with the same shape, or adopts multiple cavities with the same wall thickness, or adopts multiple cavities with the same material according to the requirements of various gripping functions; a heat conduction layer is embedded in the side surface or the periphery of the non-special-shaped cavity; the heat conducting layer is connected with the embedded electric control heating material, and a heat insulation elastic layer is assembled on the outer side of the heat conducting layer; elastic matrixes are arranged on the outer side and the periphery of the heat insulation elastic layer; the elastic reset layer and the sensor are embedded in the elastic matrix, the thermal expansion fluid channel or the non-special-shaped cavity; the thermal expansion fluid control valve is assembled in the thermal expansion fluid channel; the outer side of the elastic matrix is provided with a fiber yarn limiting layer; the non-special-shaped cavity is communicated with the thermal expansion fluid channel and is provided with thermal expansion fluid; the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot is provided with: a thermal expansion fluid storage and electric control heating regulation and control chamber, a power supply and device circuit and an intelligent controller; the non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving type robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot through a thermal expansion fluid channel provided with a thermal expansion fluid control valve; the electric control heating material in the soft fingers of the thermal expansion fluid composite non-special-shaped cavity driving type robot is connected with the power supply and device circuit in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot; the thermal expansion fluid control valve, the electric control heating material, the power supply and device circuit, the sensor, the thermal expansion fluid storage and electric control heating regulation and control chamber are all connected with the intelligent controller; the thermal expansion fluid control valve, the electric control heating material, the power supply and device circuit, the thermal expansion fluid storage and electric control heating regulation and control chamber are all controlled by an intelligent controller; the intelligent controller sends out a working instruction; the thermal expansion fluid storage and electric control heating regulation and control room heats the thermal expansion fluid after receiving the working instruction; the power supply and device circuit provides working current to the electric control heating material after receiving the working instruction; the electric control heating material transfers heat to the thermal expansion fluid after being heated, and the thermal expansion fluid generates thermal expansion effect after being heated, so that the thermal expansion fluid and the electric control heating material are combined with the non-special-shaped cavity single-side driver to generate a single-side bending driving function.

5. The thermally expansive fluid composite non-profiled cavity actuated robotic soft hand of claim 4, wherein said electrically controlled heating material comprises: the electric heating device comprises an electric control heating material wire, an electric control heating material sheet, an electric control heating material block, an electric control heating material wire woven mesh, an electric control heating material wire array, an electric control heating material sheet array and an electric control heating material block array.

6. The thermally expansive fluid composite non-profiled cavity actuated robotic soft hand of claim 4, wherein said thermally expansive fluid comprises: heat-conducting expansion mixed fluid, thermal expansion liquid and thermal expansion gas; the thermally conductive intumescent hybrid fluid comprises: thermally expanding nano-microcapsule fluid, thermally expanding composite fluid; the thermally expanded nano-microcapsule fluid comprises: thermally expanding nanocapsule fluid, thermally expanding microencapsulated fluid; the thermally expansive nanocapsule fluid comprises: thermally expanding nanocapsules, a thermally conductive fluid; the heat transfer fluid includes: heat conducting gas and heat conducting liquid; the thermal expansion-type fluid includes: a mixture of a gas and thermally expansive microparticles; the sensor includes: angle sensor, force sensor, temperature sensor, thermal expansion fluid flow sensor; the elastic base includes: thermoplastic polyurethane elastomer rubber, silicone rubber materials, silica gel materials, nylon materials, artificial rubber, high-molecular elastic materials and elastic hydrogel; the elastic reset layer comprises: an elastic reset plate; the fiber yarn restriction layer includes: the carbon nano tube fiber yarn winding layer, the inorganic fiber yarn winding layer, the organic fiber yarn winding layer and the composite fiber yarn winding layer.

7. A thermal expansion fluid composite non-shaped cavity driving type robot soft hand is characterized by comprising: the thermal expansion fluid composite non-special-shaped cavity driving type robot comprises a plurality of thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm; the soft fingers of the thermal expansion fluid composite non-special-shaped cavity driving type robot are connected with the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot; the thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger adopts a thermal expansion fluid and shape memory alloy composite non-special-shaped cavity double-side driver; the thermal expansion fluid and shape memory alloy composite non-profiled cavity double-side driver comprises: an upper structure, an intermediate layer, a lower structure; the above structure includes: the thermal expansion fluid on the upper surface, the shape memory alloy on the upper surface, the non-special-shaped cavity on the upper surface, the heat insulation elastic layer on the upper surface, the thermal expansion fluid channel on the upper surface, the thermal expansion fluid control valve on the upper surface, the elastic base body on the upper surface, the heat conduction layer on the upper surface, the sensor on the upper surface and the fiber yarn limiting layer on the upper surface; the middle layer is a middle elastic reset layer; the following structure includes: the thermal expansion fluid is arranged on the lower surface of the thermal expansion fluid control valve, the lower surface of the thermal expansion fluid control valve is provided with a thermal insulation elastic layer, a thermal expansion fluid channel, a thermal expansion fluid control valve, a thermal insulation elastic base body, a thermal conduction layer, a sensor and a fiber yarn limiting layer; the upper non-special-shaped cavity and the lower special-shaped cavity adopt single cavities with the same wall thickness or the same material, or adopt multi-cavities with the same shape, or adopt multi-cavities with the same wall thickness, or adopt multi-cavities with the same material according to the requirements of various gripping functions; an upper heat conduction layer is embedded on the side face or the periphery of the upper non-special-shaped cavity in the upper structure; the upper heat conducting layer is connected with the embedded upper shape memory alloy, and the outer side of the upper heat conducting layer is provided with an upper heat insulation elastic layer; the outer side and the periphery of the upper heat insulation elastic layer are provided with upper elastic matrixes; the outer side of the upper elastic matrix is provided with an upper fiber yarn limiting layer; the upper sensor is embedded in the upper elastic matrix, the upper thermal expansion fluid channel or the upper non-special-shaped cavity; the upper thermal expansion fluid control valve is fitted in the upper thermal expansion fluid passage; the upper non-special-shaped cavity is communicated with the upper thermal expansion fluid channel and is provided with upper thermal expansion fluid; a lower heat conducting layer is embedded in the side surface or the periphery of the lower non-special-shaped cavity in the lower structure; the lower heat conducting layer is connected with the embedded lower shape memory alloy, and the outer side of the lower heat conducting layer is provided with a lower heat insulating elastic layer; the outer side and the periphery of the lower heat insulation elastic layer are provided with lower elastic matrixes; the outer side of the lower elastic matrix is provided with a lower fiber yarn limiting layer; the lower sensor is embedded in the lower elastic matrix, the lower thermal expansion fluid channel or the lower non-special-shaped cavity; the lower thermal expansion fluid control valve is fitted in the lower thermal expansion fluid passage; the lower non-special-shaped cavity is communicated with the lower thermal expansion fluid channel and is provided with lower thermal expansion fluid; an intermediate elastic reset layer is arranged between the upper structure and the lower structure; the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot is provided with: a thermal expansion fluid storage and electric control heating regulation and control chamber, a power supply and device circuit and an intelligent controller; the upper non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driven robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driven robot through an upper thermal expansion fluid channel provided with an upper thermal expansion fluid control valve; the lower non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driving robot through a lower thermal expansion fluid channel assembled with a lower thermal expansion fluid control valve; the upper shape memory alloy and the lower shape memory alloy in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving type robot are both connected with a power supply and a device circuit in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot; the upper thermal expansion fluid control valve, the lower thermal expansion fluid control valve, the upper shape memory alloy, the lower shape memory alloy, the power supply and device circuit, the upper sensor, the lower sensor and the thermal expansion fluid storage and electric control heating regulation and control chamber are connected with an intelligent controller; the upper thermal expansion fluid control valve, the lower thermal expansion fluid control valve, the upper shape memory alloy, the lower shape memory alloy, the power supply and device circuit, the thermal expansion fluid storage and electric control heating regulation and control room are all controlled by an intelligent controller; the intelligent controller is used for sending out a working instruction; the thermal expansion fluid storage and electric control heating regulation and control chamber is used for heating the upper thermal expansion fluid or the lower thermal expansion fluid, and the upper thermal expansion fluid or the lower thermal expansion fluid generates a thermal expansion effect after being heated, so that the thermal expansion fluid and the shape memory alloy composite non-special-shaped cavity double-side driver respectively generate a double-side bending driving function of driving the thermal expansion fluid to bend downwards or upwards; the power supply and the device circuit are used for providing working current for the upper shape memory alloy or the lower shape memory alloy, and the upper shape memory alloy or the lower shape memory alloy generates shape memory effect after being heated, so that the synergistic superposition of the downward bending and the upward bending and the double-side bending enhanced driving functions are respectively generated.

8. The thermally expansive fluid composite non-profiled cavity actuated robotic soft hand of claim 7, wherein said upper and lower shape memory alloys each comprise a shape memory alloy wire, a shape memory alloy sheet, a shape memory alloy block, a woven mesh of shape memory alloy wires, an array of shape memory alloy sheets, an array of shape memory alloy blocks.

9. The thermally expansive fluid composite non-profiled cavity actuated robotic soft hand of claim 7, wherein said upper and lower thermally expansive fluids each comprise: heat-conducting expansion mixed fluid, thermal expansion liquid and thermal expansion gas; the upper and lower thermal expansion fluids have thermal conductivity, fluidity, thermal expansibility, and thermal drivability; the thermally conductive intumescent hybrid fluid comprises: thermally expanding nano-microcapsule fluid, thermally expanding composite fluid; the thermally expanded nano-microcapsule fluid comprises: thermally expanding nanocapsule fluid, thermally expanding microencapsulated fluid; the thermally expansive nanocapsule fluid comprises: thermally expanding nanocapsules, a thermally conductive fluid; the heat transfer fluid includes: heat conducting gas and heat conducting liquid; the thermal expansion fluid comprises a mixture of gas and thermal expansion particles; the upper and lower sensors each include: angle sensor, force sensor, temperature sensor, thermal expansion fluid flow sensor; the upper and lower elastomeric matrices each comprise: thermoplastic polyurethane elastomer rubber, silicone rubber materials, silica gel materials, nylon materials, artificial rubber, high-molecular elastic materials and elastic hydrogel; the middle elastic reset layer comprises an elastic reset plate; the upper and lower fiber yarn limiting layers each comprise: the carbon nano tube fiber yarn winding layer, the inorganic fiber yarn winding layer, the organic fiber yarn winding layer and the composite fiber yarn winding layer.

10. A thermal expansion fluid composite non-shaped cavity driving type robot soft hand is characterized by comprising: the thermal expansion fluid composite non-special-shaped cavity driving type robot comprises a plurality of thermal expansion fluid composite non-special-shaped cavity driving type robot soft fingers and a thermal expansion fluid composite non-special-shaped cavity driving type robot palm; the soft fingers of the thermal expansion fluid composite non-special-shaped cavity driving type robot are connected with the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot; the thermal expansion fluid composite non-special-shaped cavity driving type robot soft finger adopts a thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver; the thermal expansion fluid and electric control heating material composite non-special-shaped cavity double-side driver comprises: an upper structure, an intermediate layer, a lower structure; the above structure includes: the thermal expansion fluid, the electric control heating material, the non-special-shaped cavity, the heat insulation elastic layer, the thermal expansion fluid channel, the thermal expansion fluid control valve, the elastic base body, the heat conduction layer, the sensor and the fiber yarn limiting layer are arranged on the upper surface; the middle layer is a middle elastic reset layer; the following structure includes: the thermal expansion fluid is arranged on the lower surface of the thermal expansion fluid guide plate, the lower surface of the thermal expansion fluid guide plate is provided with an electric control heating material, a lower non-special-shaped cavity, a lower thermal insulation elastic layer, a lower thermal expansion fluid channel, a lower thermal expansion fluid control valve, a lower elastic base body, a lower heat conduction layer, a lower sensor and a lower fiber yarn limiting layer; the upper non-special-shaped cavity and the lower non-special-shaped cavity adopt single cavities with the same wall thickness or the same material, or adopt multi-cavities with the same shape, or adopt multi-cavities with the same wall thickness, or adopt multi-cavities with the same material according to the requirements of various gripping functions; an upper heat conduction layer is embedded in the side surface or the periphery of the upper non-special-shaped cavity in the upper structure; the upper heat conduction layer is connected with the embedded upper electric control heating material, and the outer side of the upper heat conduction layer is provided with an upper heat insulation elastic layer; the outer side and the periphery of the upper heat insulation elastic layer are provided with upper elastic matrixes; the outer side of the upper elastic matrix is provided with an upper fiber yarn limiting layer; the upper sensor is embedded in the upper elastic matrix, the upper thermal expansion fluid channel or the upper non-special-shaped cavity; the upper thermal expansion fluid control valve is fitted in the upper thermal expansion fluid passage; the upper non-special-shaped cavity is communicated with the upper thermal expansion fluid channel and is provided with upper thermal expansion fluid; a lower heat conducting layer is embedded in the side surface or the periphery of the lower non-special-shaped cavity in the lower structure; the lower heat conducting layer is connected with the embedded lower electric control heating material, and the outer side of the lower heat conducting layer is provided with a lower heat insulation elastic layer; the outer side and the periphery of the lower heat insulation elastic layer are provided with lower elastic matrixes; the outer side of the lower elastic matrix is provided with a lower fiber yarn limiting layer; the lower sensor is embedded in the lower elastic matrix or the lower non-special-shaped cavity; the lower thermal expansion fluid control valve is fitted in the lower thermal expansion fluid passage; the lower non-special-shaped cavity is communicated with the lower thermal expansion fluid channel and is provided with lower thermal expansion fluid; an intermediate elastic reset layer is arranged between the upper structure and the lower structure; the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot is provided with: a thermal expansion fluid storage and electric control heating regulation and control chamber, a power supply and device circuit and an intelligent controller; the upper non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driven robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driven robot through an upper thermal expansion fluid channel provided with an upper thermal expansion fluid control valve; the lower non-special-shaped cavity in the soft finger of the thermal expansion fluid composite non-special-shaped cavity driving robot is connected with a thermal expansion fluid storage and electric control heating regulation and control chamber in the palm of the thermal expansion fluid composite non-special-shaped cavity driving robot through a lower thermal expansion fluid channel assembled with a lower thermal expansion fluid control valve; the upper electric control heating material and the lower electric control heating material in the soft fingers of the thermal expansion fluid composite non-special-shaped cavity driving type robot are connected with a power supply and device circuit in the palm of the thermal expansion fluid composite non-special-shaped cavity driving type robot; the upper thermal expansion fluid control valve, the lower thermal expansion fluid control valve, the upper electric control heating material, the lower electric control heating material, the power supply and device circuit, the upper sensor, the lower sensor and the thermal expansion fluid storage and electric control heating regulation and control chamber are all connected with the intelligent controller; the upper thermal expansion fluid control valve, the lower thermal expansion fluid control valve, the upper electric control heating material, the lower electric control heating material, the power supply and device circuit, the thermal expansion fluid storage and electric control heating regulation and control room are all controlled by an intelligent controller; the intelligent controller is used for sending out a working instruction; the thermal expansion fluid storage and electric control heating regulation and control chamber is used for heating the upper thermal expansion fluid or the lower thermal expansion fluid; the power supply and device circuit is used for providing working current for the upper electric control heating material or the lower electric control heating material; the upper electric control heating material transfers heat to the upper thermal expansion fluid after being heated; the lower electric control heating material transfers heat to the lower thermal expansion fluid after being heated; the thermal expansion effect is generated after the temperature of the upper thermal expansion fluid or the lower thermal expansion fluid is increased, so that the thermal expansion fluid and the electric control heating material composite non-special-shaped cavity double-side driver respectively generate a double-side bending driving function of driving the thermal expansion fluid and the electric control heating material to bend downwards or upwards.

11. The thermally expansive fluid composite non-profiled cavity actuated robotic soft hand of claim 10, wherein said upper electrically controlled heating material and said lower electrically controlled heating material each comprise: the electric heating device comprises an electric control heating material wire, an electric control heating material sheet, an electric control heating material block, an electric control heating material wire woven mesh, an electric control heating material wire array, an electric control heating material sheet array and an electric control heating material block array.

12. The thermally expansive fluid composite non-profiled cavity actuated robotic soft hand of claim 10, wherein said upper and lower thermally expansive fluids each comprise: heat-conducting expansion mixed fluid, thermal expansion liquid and thermal expansion gas; the upper and lower thermal expansion fluids have thermal conductivity, fluidity, thermal expansibility, and thermal drivability; the thermally conductive intumescent hybrid fluid comprises: thermally expanding nano-microcapsule fluid, thermally expanding composite fluid; the thermally expanded nano-microcapsule fluid comprises: thermally expanding nanocapsule fluid, thermally expanding microencapsulated fluid; the thermally expansive nanocapsule fluid comprises: thermally expanding nanocapsules, a thermally conductive fluid; the heat transfer fluid includes: heat conducting gas and heat conducting liquid; the thermal expansion fluid comprises a mixture of gas and thermal expansion particles; the upper and lower sensors each include: angle sensor, force sensor, temperature sensor, thermal expansion fluid flow sensor; the upper and lower elastomeric matrices each comprise: thermoplastic polyurethane elastomer rubber, silicone rubber materials, silica gel materials, nylon materials, artificial rubber, high-molecular elastic materials and elastic hydrogel; the middle elastic reset layer comprises an elastic reset plate; the upper and lower fiber yarn limiting layers each comprise: the carbon nano tube fiber yarn winding layer, the inorganic fiber yarn winding layer, the organic fiber yarn winding layer and the composite fiber yarn winding layer.