WO2025001925A1 - 仿生手指、夹具及仿生手指的制造方法 - Google Patents

仿生手指、夹具及仿生手指的制造方法 Download PDF

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Publication number
WO2025001925A1
WO2025001925A1 PCT/CN2024/099917 CN2024099917W WO2025001925A1 WO 2025001925 A1 WO2025001925 A1 WO 2025001925A1 CN 2024099917 W CN2024099917 W CN 2024099917W WO 2025001925 A1 WO2025001925 A1 WO 2025001925A1
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WIPO (PCT)
Prior art keywords
liquid outlet
epidermis
liquid
bionic finger
delivery tube
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2024/099917
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English (en)
French (fr)
Inventor
马源
王京
胡晓丹
陈殷彤
观晋宇
沈卓诚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jiao Tong University
Hong Kong Polytechnic University HKPU
Original Assignee
Shanghai Jiao Tong University
Hong Kong Polytechnic University HKPU
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Filing date
Publication date
Application filed by Shanghai Jiao Tong University, Hong Kong Polytechnic University HKPU filed Critical Shanghai Jiao Tong University
Publication of WO2025001925A1 publication Critical patent/WO2025001925A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/007—Means or methods for designing or fabricating manipulators

Definitions

  • the present application relates to the field of bionic mechanical technology, and in particular to a bionic finger, a clamp and a method for manufacturing the bionic finger.
  • Bionic machinery is a cutting-edge technology developed in modern times, such as bionic animals, bionic mechanical arms, and bionic fingers. At present, the friction between bionic fingers and the grasped object is fixed during the grasping process, resulting in the grasped object being easily slipped if the friction is too small, and the grasped object being easily flattened or deformed if the friction is too large, and the grasped object cannot be grasped with appropriate force.
  • the existing bionic fingers have the technical problem that the friction force cannot be adjusted.
  • the purpose of the present application is to provide a bionic finger, a clamp and a method for manufacturing the bionic finger, aiming to solve the technical problem that the friction force of the existing bionic finger cannot be adjusted.
  • the present application provides a bionic finger, the bionic finger comprising:
  • the elastic body is wrapped and installed in the epidermis, the elastic body has a second liquid outlet hole, and the second liquid outlet hole is connected to the first liquid outlet hole;
  • a rigid support member wherein the rigid support member is wrapped and installed in the skin
  • a liquid delivery tube wherein the first end of the liquid delivery tube is wrapped and installed in the epidermis, the first end of the liquid delivery tube is supported between the rigid support member and the elastic body, the side of the first end of the liquid delivery tube has a third liquid outlet hole, the third liquid outlet hole is connected to the second liquid outlet hole, and the second end of the liquid delivery tube extends to the outside of the epidermis.
  • the present application provides a clamp, comprising an opening and closing driving member and at least two bionic fingers as described above, wherein the opening and closing driving member is connected to the bionic fingers to drive at least two bionic fingers to move closer to or away from each other.
  • the present application provides a method for manufacturing the bionic finger as described above, the method comprising the following steps:
  • the first end of the liquid delivery tube is mounted on a side of the elastic body away from the epidermis, and the second end of the liquid delivery tube is located outside the epidermis;
  • the skin is folded so as to wrap the elastic body, the first end of the liquid delivery tube and the rigid support member.
  • the beneficial effects of the bionic finger, clamp and bionic finger manufacturing method provided in the present application are: when the epidermis of the bionic finger contacts the grasped object, polar liquids or non-polar liquids such as bionic sweat, pure water, saline or oil can flow from the second end of the liquid delivery tube located outside the epidermis to the first end of the liquid delivery tube located inside the epidermis, and successively pass through the third liquid outlet, the second liquid outlet and the first liquid outlet to reach between the epidermis and the grasped object, thereby changing the friction coefficient between the bionic finger and the grasped object, and then changing the friction between the two, thereby solving the technical problem that the friction of the existing bionic finger cannot be adjusted.
  • polar liquids or non-polar liquids such as bionic sweat, pure water, saline or oil
  • FIG1 is a schematic diagram of the structure of a bionic finger provided in an embodiment of the present application.
  • FIG2 is a physical picture of a bionic finger provided in an embodiment
  • FIG3 is a physical picture of the epidermis of a bionic finger provided in an embodiment
  • FIG4 is a 20-fold partial physical picture of the epidermis of a bionic finger provided in an embodiment
  • FIG5 is a fifty-fold partial physical picture of the epidermis of a bionic finger provided in an embodiment
  • FIG6 is a schematic structural diagram of a rigid support member of a bionic finger provided in an embodiment
  • FIG7 is another schematic structural diagram of a rigid support member of a bionic finger provided in an embodiment
  • FIG8 is a physical diagram of a rigid support member of a bionic finger provided in an embodiment
  • FIG9 is another physical diagram of the rigid support member of the bionic finger provided in the embodiment.
  • FIG10 is a test diagram of the average friction force of dry human fingers
  • FIG11 is a test diagram of the average friction force of a dry bionic finger
  • FIG12 is a test diagram of the average friction force of semi-dry human fingers
  • FIG13 is a test diagram of the average friction force of a wet human finger
  • FIG14 is a test diagram of the average friction force of a dry human finger on a glass material
  • FIG15 is a test diagram of the average friction force of the bionic finger on the glass material when the injection pump supplies different amounts of water;
  • FIG16 is a test graph showing a curve diagram of the average friction force of the bionic finger changing with the amount of water injected;
  • FIG17 is a test diagram of the average friction force of dry human fingers on leather material
  • FIG18 is a test diagram of the average friction force of a dry bionic finger on leather material
  • FIG19 is a test diagram of the average friction force of the bionic finger on the leather material when the injection pump supplies different amounts of water;
  • FIG20 is a test diagram of the average friction coefficient of the bionic finger on the leather material when the injection pump supplies different amounts of water;
  • FIG21 is a schematic diagram of the structure of a clamp provided in an embodiment
  • FIG22 is a schematic diagram of a process for preparing a bionic finger provided in an embodiment
  • FIG23 is a schematic diagram of a process for providing a skin in the manufacturing method provided in an embodiment
  • FIG25 is a physical picture of the punching component in the embodiment placed on the forming mold
  • FIG. 26 is a physical picture of the punching component provided in the embodiment.
  • Liquid feeding pipe 401. First end; 402. Second end; 410. Third liquid outlet hole;
  • first and second are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include one or more of the features.
  • the terms “installed”, “connected”, “connected”, “fixed” and the like should be understood in a broad sense.
  • it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or a detachable connection.
  • It is an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements.
  • the specific meanings of the above terms in this application can be understood according to specific circumstances.
  • the inventor of the present application has conducted an in-depth analysis of the tribological mechanism of bionic fingers.
  • the friction force Ff between the contact surfaces of two objects is linearly proportional to the applied load N and the roughness of the contact surface.
  • the friction coefficient is expressed as express.
  • the Amonton friction law is suitable for macro friction, but not for the calculation of friction force of nanoscale contact of bionic fingers.
  • friction force is proportional to the actual contact area.
  • friction force is also related to the shear strength of the lubricating film between the contact surfaces of two objects, especially under the boundary lubrication state, the shear strength of the lubricating film has a great influence on friction force, and human fingers will sweat in real state, that is, there is a lubricating film between human fingers and the grasped object. Therefore, the inventor plans to adjust the friction force by changing the lubrication state between the bionic finger and the grasped object, which is more in line with the actual friction force of human fingers.
  • the bionic finger 10 provided in the present application includes an epidermis 100, an elastomer 200, a rigid support member 300, and a liquid delivery tube 400.
  • the epidermis 100 has a first liquid outlet 110.
  • the elastomer 200 is wrapped and installed in the epidermis 100, and the elastomer 200 has a second liquid outlet 210, and the second liquid outlet 210 is connected to the first liquid outlet 110.
  • the rigid support member 300 is wrapped and installed in the epidermis 100.
  • the first end 401 of the liquid delivery tube 400 is wrapped and installed in the epidermis 100, and the first end 401 of the liquid delivery tube 400 is supported between the rigid support member 300 and the elastomer 200, and the side of the first end 401 of the liquid delivery tube 400 has a third liquid outlet 410, and the third liquid outlet 410 is connected to the second liquid outlet 210, and the second end 402 of the liquid delivery tube 400 extends to the outside of the epidermis 100.
  • the liquid can flow from the second end 402 of the liquid delivery tube 400 located outside the epidermis 100 to the first end 401 of the liquid delivery tube 400 located inside the epidermis 100, and successively pass through the third liquid outlet hole 410, the second liquid outlet hole 210 and the first liquid outlet hole 110 to reach between the epidermis 100 and the grasped object, thereby changing the lubrication state and friction coefficient between the bionic finger 10 and the grasped object, and thus being able to adjust the friction between the bionic finger 10 and the grasped object.
  • the liquid can be a polar liquid or a non-polar liquid such as bionic sweat, pure water, salt water or oil, and can be a mixture of two or more liquids, which is not specifically limited here.
  • the liquid can be introduced into the liquid delivery tube 400 by a power pump.
  • a syringe pump can be used to deliver a constant and controllable liquid to the liquid delivery tube 400.
  • the syringe pump includes a liquid reservoir and a movable piston, the former stores the liquid, and the latter controls the liquid delivery.
  • FIG2 is a physical picture of the bionic finger 10 provided in the embodiment.
  • the epidermis 100 is equivalent to the skin of the bionic finger 10
  • the elastic member is equivalent to the tissue of the bionic finger 10
  • the rigid support member 300 is equivalent to the skeleton of the bionic finger 10
  • the liquid delivery tube 400 is equivalent to the blood vessel of the bionic finger 10.
  • the epidermis 100 wraps the elastomer 200, the rigid support member 300 and the liquid delivery tube 400. Among them, the second end 402 of the liquid delivery tube 400 is exposed in the epidermis 100 for the injection of external liquid.
  • the rigid support member 300 can be completely wrapped in the epidermis 100, or partially exposed outside the epidermis 100.
  • the bionic finger 10 provided in this embodiment can simulate the sweating of fingers, and can be applied to various scenarios and realize various purposes.
  • the bionic finger 10 can control the friction force by discharging liquid to realize reliable grasping. For example, by controlling the friction force, objects of different types, different stiffness and different sizes can be grasped, and the grasped object will not be damaged due to excessive friction, nor will the grasped object fall off due to too little friction.
  • the bionic finger 10 can measure the friction coefficient between the grasped object by discharging liquid, and then realize the surface recognition of the grasped object.
  • the bionic finger 10 can simulate the sweating situation, simulate the actual behavior of human fingers more realistically, and can replace human fingers for scientific research or simulate human behaviors such as touch.
  • the skin 100 wraps the sleeve elastic body 200, the rigid support member 300 and the liquid delivery tube 400.
  • the skin 100 is folded to form a sleeve body.
  • the main material of the epidermis 100 includes at least one of silicone, polyurethane, acrylate, natural rubber, silicone, fluorinated silicone, styrene thermoplastic elastomer and latex. That is, the epidermis 100 can be composed of one or more of silicone, polyurethane, acrylate and latex, and the epidermis 100 can be composed of one or more of silicone, polyurethane, acrylate and latex, as well as other auxiliary materials.
  • the auxiliary material can be a color pigment, which also makes the epidermis 100 appear in different skin colors. Among them, the total mass of silicone, polyurethane, acrylate and latex accounts for more than 50% of the mass of the epidermis 100.
  • the main material of the epidermis 100 is silicone.
  • silicone is an inorganic-organic polymer containing Si, O, C and H and other secondary elements. Silicone alone has a refractive index and color similar to those of the skin, and the refractive index and color can be further adjusted by combining other substances and different material structures.
  • silicone can also allow surface regeneration to produce the surface morphology of the finger skin.
  • silicone-based models can be used to simulate a variety of properties, and are easy to process, non-toxic and have long-term stability. From a materials science perspective, the skin of a real finger is a very complex active open system composed of a highly inhomogeneous and anisotropic composite material. The skin is also used to actively exchange mass and heat between the body and the environment. Therefore, using silicone as the main material to prepare the epidermis 100 can obtain properties similar to those of the finger skin.
  • the main material of the epidermis 100 is polyurethane. Since polyurethane is a material with strong plasticity, it can be made into a model with skin-like texture and elasticity, and can well simulate finger skin.
  • the main material of the epidermis 100 is acrylate, which is a transparent material that can be mixed with a compliant material to form a soft, skin-like epidermis 100.
  • the transparent epidermis 100 can facilitate the staff to penetrate the internal operating state of the bionic finger 10.
  • the main material of the epidermis 100 is latex, which is soft, elastic and transparent, and is suitable for preparing simulated skin.
  • FIG3 shows an epidermis 100 made by the inventor using silicone as the main material.
  • the epidermis 100 is soft, elastic, and has micropores (i.e., the first liquid outlet hole 110) that can simulate human skin.
  • FIG4 is a partial physical picture of the epidermis 100 magnified twenty times
  • FIG5 is a partial physical picture of the epidermis 100 magnified fifty times.
  • the first liquid outlet hole 110 in the dotted circle can be seen.
  • the inventor confirmed that water can pass through the first liquid outlet hole 110 by dripping water on the epidermis 100 using a dripper, which creates sufficient pressure for the water to drip. Without pressure, water cannot pass through the first liquid outlet hole 110.
  • the high surface tension of the epidermis 100 was determined to be the cause of this phenomenon, confirming the expected result: the liquid outlet function can be controlled by applying water pressure.
  • the number of the first liquid outlet holes 110 may be one or more than two.
  • the first liquid outlet holes 110 may be distributed at various positions of the epidermis 100, or may be distributed on the side of the epidermis 100 that is used to contact the grasped object.
  • the first liquid outlet holes 110 may be naturally formed during the material molding process, or may be artificially obtained by puncturing using the first microneedle 41 described below.
  • the number of the first liquid outlet holes 110 is greater than 3 to increase the liquid outlet area of the epidermis 100 and the maximum liquid outlet volume, so that the bionic finger 10 can control the liquid outlet rate in a larger range and has a wider application scenario.
  • the plurality of first liquid outlet holes 110 may be distributed on the epidermis 100 at intervals according to a preset pattern.
  • the plurality of first liquid outlet holes 110 are arranged in a rectangular array, a circular array, or a "X" shape.
  • the plurality of first liquid outlet holes 110 are arranged in a fingerprint shape to form a plurality of circles nested in sequence.
  • the depth direction of the first liquid outlet hole 110 is substantially perpendicular to the length direction X of the liquid delivery tube 400.
  • the angle between the depth direction of the first liquid outlet hole 110 and the length direction X of the liquid delivery tube 400 may be 80° to 100°.
  • the depth directions of the multiple first liquid outlet holes 110 may be all the same or may not be all the same.
  • the depth direction of the first liquid outlet 110 is the same as the radial direction Z of the liquid delivery tube 400 , and the radial direction Z is perpendicular to the length direction X.
  • the plurality of first liquid outlets 110 are spaced apart along the length direction X to achieve uniform liquid discharge and uniform distribution of friction between the bionic finger 10 and the grasped object.
  • the aperture of the first liquid outlet 110 is 40 ⁇ m to 1000 ⁇ m, so that the first liquid outlet 110 has the characteristics of a capillary tube, which can form Laplace pressure between the bionic finger 10 and the grasped object, so that the two attract each other and realize the grasping action.
  • the pore diameter of the first liquid outlet hole 110 is 40 ⁇ m, 60 ⁇ m, 100 ⁇ m, 500 ⁇ m or 1000 ⁇ m.
  • the pore size of the first liquid outlet hole 110 may also be 30 ⁇ m, 1100 ⁇ m or 1200 ⁇ m.
  • the epidermis 100 is embedded with conductive particles, and the epidermis 100 has the conductivity of human skin and can be used for the identification of charged scenes, etc.
  • the conductive particles may be added to the main material of the skin 100 as an auxiliary material.
  • the conductive particles are CNT particles (Carbon Nanotubes), which have high flexibility, electrical conductivity and thermal conductivity, and can enhance the strength and rigidity of the skin 100 and improve the electrical and thermal conductivity. It is understood that in other embodiments, the conductive particles can also be particles made of conductive materials such as graphene particles, silver nanowires, copper powder particles, silver powder particles, and iron powder particles.
  • the outer surface of the epidermis 100 is provided with a patterned groove 120, and the end of the first liquid outlet 110 is connected to the patterned groove 120.
  • the liquid enters the patterned groove 120 after passing through the first liquid outlet 110 and contacts the grasped object.
  • the patterned groove 120 can increase the contact area of the liquid and improve the uniformity of the friction force.
  • the patterned groove 120 is formed into a plurality of circles nested in sequence in the shape of a fingerprint, which can more realistically simulate the behavior of a finger grasping or touching an object. It is understood that in other embodiments, the shape of the patterned groove 120 can also be a geometric figure, an animal figure, or a bird figure, etc., which is not limited here.
  • the main material of the elastomer 200 includes at least one of sponge, thermoplastic rubber and thermoplastic vulcanized rubber, which can simulate the elasticity of tissues and realize the elastic touch or grasping of objects by the bionic finger 10, and these materials are easy to form a porous structure, and can generate a second liquid outlet 210.
  • the elastomer 200 can be composed of one or more of sponge, thermoplastic rubber and thermoplastic vulcanized rubber, or the elastomer 200 can be composed of one or more of sponge, thermoplastic rubber and thermoplastic vulcanized rubber, and other auxiliary materials. Among them, the mass of sponge, thermoplastic rubber and thermoplastic vulcanized rubber accounts for more than 50% of the mass of the elastomer 200.
  • the main material of the elastic body 200 is polyurethane sponge.
  • the density of the polyurethane sponge can be selected to be 0.09 g.cm -3 , and it has a porous structure that allows liquid to pass through, and has a Young's modulus E similar to that of finger tissue.
  • the Young's modulus of finger tissue is about 0.04 MPa, while the Young's modulus of 0.09 g.cm -3 polyurethane sponge is about 0.08 MPa.
  • the number of the second liquid outlet holes 210 may be one or more than two.
  • the second liquid outlet holes 210 may be distributed at various positions of the elastic body 200, or may be distributed on the side of the second liquid outlet holes 210 that is used to contact the epidermis 100.
  • the second liquid outlet holes 210 may be naturally formed during the material molding process, or may be artificially obtained by puncturing using the second microneedle described below.
  • the aperture of the second liquid outlet hole 210 is larger than the aperture of the first liquid outlet hole 110 to facilitate smooth flow of liquid.
  • the pore size of the second liquid outlet 210 is 1 ⁇ m to 1000 ⁇ m, so that the second liquid outlet 210 has the characteristics of a capillary, and the liquid can be adsorbed in the second liquid outlet 210 without directly pressing the epidermis 100 due to an excessively large pore size, nor causing difficulty in liquid discharge from the epidermis 100 due to a too small pore size.
  • the pore size of the second liquid outlet hole 210 is 1 ⁇ m, 50 ⁇ m, 100 ⁇ m, 300 ⁇ m, 500 ⁇ m or 1000 ⁇ m. It is understood that in other embodiments, the pore size of the second liquid outlet hole 210 may also be 1100 ⁇ m or 1200 ⁇ m.
  • the number of the second liquid outlet holes 210 is greater than 3 to increase the maximum liquid outlet and ensure liquid supply to the epidermis 100 .
  • the depth direction of the second liquid outlet hole 210 is substantially perpendicular to the length direction X of the liquid delivery tube 400.
  • the angle between the depth direction of the second liquid outlet hole 210 and the length direction X of the liquid delivery tube 400 may be 80° to 100°.
  • the depth directions of the multiple second liquid outlet holes 210 may be all the same or may not be all the same.
  • the depth direction of the second liquid outlet 210 is the same as the radial direction Z of the liquid delivery tube 400.
  • the plurality of second liquid outlets 210 are spaced apart along the length direction X to uniformly supply liquid to the first liquid outlet 110, so that the hydraulic pressure on the epidermis 100 is uniform, and the outer surface shape of the flexible epidermis 100 remains relatively stable.
  • the liquid does not directly rush to the first liquid outlet 110 through the second liquid outlet 210, but enters the first liquid outlet 110 along the inner surface of the epidermis 100.
  • the surface of the elastomer 200 refers to the inner surface and the outer surface.
  • the surface of the elastomer 200 includes a hydrophobic surface and a hydrophilic surface.
  • the hydrophobic surface is provided with a hydrophobic layer so that the liquid does not easily wet the hydrophobic surface.
  • the hole wall of the second liquid outlet 210 is located on the hydrophilic surface.
  • the liquid falls on the elastomer 200 and can be guided to flow to the hydrophilic surface.
  • the second liquid outlet 210 located on the hydrophilic surface can absorb the liquid and guide it to the epidermis 100 through the hydrophobic surface. In this way, the setting of the hydrophobic surface allows the liquid on the elastomer 200 to flow into the second liquid outlet 210 in a directionally controlled manner, which is used to control the flow and mixing of the liquid, and can also avoid non-specific cell attachment.
  • a hydrophobic agent is used to soak a surface of the elastomer 200 close to the epidermis 100 to maintain the texture and reduce the water absorption rate of the elastomer 200.
  • the second microneedle is inserted into the second liquid outlet 210, so that the elastomer 200 forms a hydrophobic surface and a hydrophilic surface, and the hole wall of the second liquid outlet 210 belongs to the hydrophilic surface.
  • the hydrophobic agent is polydimethylsiloxane (PDMS). Due to the presence of methyl groups and siloxane bonds in the molecular structure of PDMS, its surface has a lower surface energy, causing water molecules to form spherical water droplets on its surface instead of spreading.
  • the hydrophobic surface may also be made of silicone pressure-sensitive adhesive.
  • the number of the third liquid outlet hole 410 may be one or more than two.
  • the third liquid outlet hole 410 may be distributed at various positions of the liquid delivery pipe 400, or may be distributed at a side of the liquid delivery pipe 400 for contacting the elastic body 200.
  • the third liquid outlet hole 410 may be directly formed during the molding process, or may be obtained through subsequent processing.
  • the diameter of the third liquid outlet hole 410 is larger than the diameter of the second liquid outlet hole 210 to facilitate smooth flow of liquid.
  • the inner diameter of the liquid delivery tube 400 is 1 mm to 10 mm, so as to avoid an inner diameter that is too small and difficult to inject liquid, and an inner diameter that is too large and causes excessive liquid supply, resulting in excessive lubrication and reduced friction.
  • the liquid output of the first liquid outlet 110 is controlled to be 0.0005 mL. This is achieved by at least one of the diameter and number of the first liquid outlet hole 110 , the diameter and number of the second liquid outlet hole 210 , the diameter and number of the third liquid outlet hole 410 , and the inner diameter of the liquid delivery pipe 400 .
  • the number of the third liquid outlet holes 410 is greater than 3 to increase the maximum liquid outlet and ensure the liquid supply to the elastic body 200 .
  • the main material of the rigid support member 300 includes at least one of plastic, steel, copper, aluminum alloy and nickel-titanium alloy. These materials have good rigidity and strength, and can support the bionic finger 10, which is equivalent to bones.
  • the rigid support member 300 may be composed of one or more of plastic, steel, copper, aluminum alloy and nickel-titanium alloy; the rigid support member 300 may be composed of one or more of plastic, steel, copper, aluminum alloy and nickel-titanium alloy, as well as other auxiliary materials.
  • the mass of plastic, steel, copper, aluminum alloy and nickel-titanium alloy together accounts for more than 50% of the mass of the rigid support member 300.
  • At least one of plastic, steel, copper, aluminum alloy, and nickel-titanium alloy is used to make the rigid support 300 by additive manufacturing, injection molding, or casting.
  • additive manufacturing can create complex designs, especially the shape of bones that are difficult to produce using traditional manufacturing methods, and can be easily modified and customized to meet specific design requirements.
  • additive manufacturing can create multiple iterations of products within a few hours, thereby performing rapid prototyping in a more cost-effective manner.
  • FIG8 and FIG9 are both actual pictures of the rigid support member 300 manufactured by additive manufacturing.
  • a first support surface 311 and a second support surface 312 are provided on one side of the rigid support member 300, the first support surface 311 and the second support surface 312 are substantially vertically connected, the first support surface 311 faces the first liquid outlet 110, the side of the liquid delivery tube 400 away from the elastic body 200 is supported on the first support surface 311, and the end of the first end 401 of the liquid delivery tube 400 and the end of the elastic body 200 are against the second support surface 312.
  • the first support surface 311 is used to provide support for the liquid delivery tube 400
  • the second support surface 312 is used to provide support for the liquid delivery tube 400 and the elastic body 200, thereby ensuring that the positions of the various components of the bionic finger 10 are relatively stable and will not shift.
  • the included angle between the first supporting surface 311 and the second supporting surface 312 is 80° to 100°.
  • the first support surface 311 is a plane, which can provide a stable support force.
  • the second support surface 312 is a plane.
  • a support groove 310 is provided on one side of the rigid support member 300, the bottom of the support groove 310 forms a first support surface 311, and the groove wall at one end of the support groove 310 forms a second support surface 312, and the liquid delivery tube 400 and the elastomer 200 are installed in the support groove 310 to achieve their stable position.
  • the supporting groove 310 further has two opposite third supporting surfaces 313 , the third supporting surfaces 313 are substantially perpendicular to the second supporting surface 312 , and opposite sides of the elastic body 200 abut against the two third supporting surfaces 313 .
  • the rigid support member 300 is provided with a side surface of the support groove 310 as a rigid support plane 320, and the elastomer 200 is located in the support groove 310, that is, the rigid support plane 320 faces the object.
  • the rigid support plane 320 can provide rigid plane support, so that the epidermis 100 is in basic plane contact with the object, thereby improving the effect of grasping and touching.
  • a rigid support arc surface 330 is provided on one side of the rigid support member 300 away from the support groove 310, and the rigid support arc surface 330 makes the back of the bionic finger 10 smooth to avoid interference and scratches with other objects.
  • the rigid support arc surface 330 includes a cylindrical arc surface 331 and a spherical arc surface 332 connected in sequence along the length direction of the liquid delivery tube 400.
  • the cylindrical arc surface 331 is arranged opposite to the support groove 310, increasing the thickness of the rigid support member 300 corresponding to the support groove 310 and improving the supporting force of the elastomer 200.
  • the spherical arc surface 332 is located on the side of the cylindrical arc surface 331 away from the second end 402 of the liquid delivery tube 400, and the spherical arc surface 332 gradually reduces the thickness of the rigid support member 300, making the end of the rigid support member 300 smooth.
  • the edge of the rigid support arc surface 330 may be directly connected to the edge of the rigid support plane 320 , or may be connected to the rigid support plane 320 through other side surfaces.
  • the bionic finger 10 further includes a rigid sheet 500, one end of which is mounted on the outer surface of the epidermis 100, and the other end of which extends to the outside of the epidermis 100 and is spaced from the epidermis 100.
  • the other end of the rigid sheet 500 protrudes from the epidermis 100, so that the bionic finger 10 can achieve complex actions such as scraping, picking, and scratching.
  • the rigid sheet 500 and the first liquid outlet 110 are located on opposite sides of the epidermis 100, and the distance between the rigid sheet 500 and the first liquid outlet 110 is increased as much as possible, so that the action of the bionic finger 10 grasping or touching an object by discharging liquid and the action of scratching by the rigid sheet 500 can be relatively independent and do not interfere with each other.
  • the rigid sheet 500 and the first liquid outlet 110 can be located on the same side of the epidermis 100, or the rigid sheet 500 and the first liquid outlet 110 can be located on two adjacent sides of the epidermis 100, which is not limited here.
  • the end of the rigid sheet 500 located outside the epidermis 100 and the second end 402 of the liquid delivery tube 400 are located at opposite ends of the epidermis 100.
  • the rigid sheet 500 and the second end 402 of the liquid delivery tube 400 are located at opposite ends of the epidermis 100 in the length direction X, and the distance between the rigid sheet 500 and the second end 402 of the liquid delivery tube 400 is increased as much as possible, so that the two are relatively independent and do not interfere with each other.
  • the rigid sheet 500 and the second end 402 of the liquid delivery tube 400 may be located at the same end of the epidermis 100, or the rigid sheet 500 may be located in the middle of the epidermis 100, which is not a sole limitation herein.
  • the outer surface of the skin 100 is provided with a mounting groove 130, and one end of the rigid sheet 500 is installed in the mounting groove 130.
  • the provision of the mounting groove 130 is conducive to the positioning and stable installation of the rigid sheet 500.
  • the skin 100 may not be provided with the mounting groove 130 , and the rigid sheet 500 may be directly mounted on the outer surface of the skin 100 , or a mounting bracket for mounting the rigid sheet 500 may be installed on the outer surface of the skin 100 .
  • the side of the rigid sheet 500 close to the epidermis 100 can be attached to the surface of the rigid support member 300, so that even if the epidermis 100 is spaced between the rigid sheet 500 and the rigid support member 300, the rigid sheet 500 can still obtain support from the rigid support member 300 and the support area is large.
  • the rigid sheet 500 is equivalent to the nail sheet of the bionic finger 10 .
  • the elastomer 200 can be installed in the epidermis 100 by bonding, welding, sleeve or abutment.
  • the rigid support member 300 can be installed in the epidermis 100 by bonding, welding, sleeve or abutment.
  • the rigid support member 300 can be fixed to the elastomer 200 by bonding, welding, clamping, fastener connection or abutment.
  • the liquid delivery tube 400 can be installed in the epidermis 100 by bonding, welding, sleeve or abutment.
  • the liquid delivery tube 400 and the rigid support member 300 can be fixed by bonding, welding, clamping, sleeve, plugging, fastener connection or abutment.
  • the liquid delivery tube 400 and the elastomer 200 can be fixed by bonding, welding, clamping, sleeve, fastener connection or abutment.
  • the rigid sheet 500 and the epidermis 100 can be fixed by bonding, welding or fastener connection.
  • the main material of the epidermis 100 is silicone
  • the main material of the elastomer 200 is polyurethane sponge
  • the material of the rigid support member 300 is ABS plastic, which is integrally formed using an additive manufacturing process.
  • the experimental equipment includes: a syringe pump connected to the second end 402 of the liquid delivery tube 400, and the syringe pump is used to supply pure water; a tribometer.
  • the syringe pump is set to an injection rate of 0.5mL/min
  • the tribometer includes a horizontally movable platform and a sensor installed under the platform. The sensor is used to record the friction force at 1000Hz, the ambient temperature is 22.7°C, the air humidity is 60%, the applied pressing force is 0.5N, and each test lasts 60s.
  • the average friction force refers to the average value of the friction force repeated 10 times.
  • FIG10 shows the average friction force of a dry human finger
  • FIG11 shows the average friction force of a dry bionic finger 10.
  • Figure 12 shows the average friction force of semi-dry human fingers
  • Figure 13 shows the average friction force of wet human fingers.
  • the friction force of semi-dry human fingers is the highest, followed by the friction force of dry human fingers, and the friction force of wet human fingers is the lowest.
  • semi-dry human fingers refer to fingers that are partially wet but not saturated.
  • FIG14 shows the average friction of a dry human finger on a glass material
  • FIG15 shows the average friction of the bionic finger 10 on a glass material when the injection pump supplies different amounts of water.
  • the average friction of the bionic finger 10 changes with the amount of water injected. When 0 to 2.5 mL of pure water is injected, the average friction increases. When the injection volume is 3 mL to 3.5 mL, the average friction drops sharply. When the injection volume exceeds 3.5 mL, the average friction is stably low. It can be seen that the bionic finger 10 also has a larger friction in a semi-dry state, which is similar to the performance of a human finger, that is, the bionic finger 10 can imitate the friction of a human finger on glass.
  • Figure 17 shows the average friction force of a dry human finger on leather material
  • Figure 18 shows the average friction force of a dry bionic finger 10 on leather material. It can be concluded that the friction performance of the human finger and the bionic finger 10 on leather material is basically the same.
  • Figure 19 shows the average friction force of the bionic finger 10 on the leather material with different amounts of water supplied by the injection pump
  • Figure 20 shows the average friction coefficient of the bionic finger 10 on the leather material with different amounts of water supplied by the injection pump.
  • the friction coefficient is equal to the friction force divided by 0.5N.
  • Figure 20 shows how the friction coefficient of the bionic finger 10 changes with the amount of water injected. When 0 to 5mL of pure water is injected, the average friction force increases. When the water injection volume exceeds 5mL, the friction coefficient decreases. When the bionic finger 10 is filled with water, the reduction in the friction coefficient is less than 0.01N. Therefore, compared with the effect of sweating on glass, the effect of sweating on leather is not very significant, probably because the leather may absorb moisture from the surface of the finger skin.
  • This embodiment proves that the bionic finger 10 and the human finger have similarities in friction performance and can realistically simulate the human finger.
  • the friction coefficient increases first and then decreases with the wetness.
  • the friction coefficients and changes of different materials are different, which can be used to identify interfaces of different materials.
  • the clamp 20 provided in the present application includes an opening and closing driving member 21 and at least two bionic fingers 10 of any one of the first embodiment.
  • the opening and closing driving member 21 is connected to the bionic fingers 10 to drive at least two bionic fingers 10 to move closer to or away from each other, thereby achieving Grip or release the gripped object.
  • the clamp 20 further includes a syringe pump, the outlet of which is connected to the second end 402 of the liquid delivery tube 400, for providing liquid to the liquid delivery tube 400.
  • the liquid may be pure water, saline, oil, etc.
  • the syringe pump may be a quantitative syringe pump.
  • the number of bionic fingers 10 of the fixture 20 can be two, three, four, five or more than five, which is not limited here.
  • the number of bionic fingers 10 is five, and the fixture 20 is used to simulate the palm of a human body and realize the operation of the palm of a human body.
  • bionic finger 10 of the fixture 20 can be any bionic finger 10 in the first embodiment, which will not be described in detail here.
  • the present application provides a method for manufacturing the bionic finger 10 in Embodiment 1, comprising the following steps:
  • S300 Install the first end 401 of the liquid delivery tube 400 on the side of the elastomer 200 away from the epidermis 100 , with at least part of the third liquid outlet 410 of the liquid delivery tube 400 facing the elastomer 200 , and the second end 402 of the liquid delivery tube 400 located outside the epidermis 100 .
  • the bionic finger 10 in the first embodiment can be manufactured.
  • the liquid can flow from the second end 402 of the liquid delivery tube 400 located outside the epidermis 100 to the first end 401 of the liquid delivery tube 400 located inside the epidermis 100, and sequentially pass through the third liquid outlet 410, the second liquid outlet 210 and the first liquid outlet 110 to reach between the epidermis 100 and the grasped object, thereby changing the lubrication state and friction coefficient between the bionic finger 10 and the grasped object, and thus being able to adjust the friction between the bionic finger 10 and the grasped object.
  • step S100 specifically includes:
  • S110 Provide a molding die 30, wherein the molding die 30 has a molding groove 31 (see FIG. 24 ).
  • S120 pouring a liquid first material into the molding groove 31, wherein the first material includes at least one of silicone, polyurethane, acrylate, natural rubber, silica gel, fluorinated silica gel, styrene-based thermoplastic elastomer and latex.
  • the first material includes at least one of silicone, polyurethane, acrylate, natural rubber, silica gel, fluorinated silica gel, styrene-based thermoplastic elastomer and latex.
  • step S110 includes:
  • S111 Put water and alginate into a molding container to form a mixture, and place the mixture for no longer than a first preset time.
  • the first preset time is 45s to 60s.
  • S112 Press the finger on the mixture and keep it for a second preset time.
  • the first preset time is 3 minutes to 5 minutes.
  • the mixture of water and alginate can be quickly solidified to form a molding mold 30, and the required molding mold 30 can be quickly and easily manufactured.
  • a molding groove 31 identical to that of a human finger can be obtained, making it easy to manufacture an epidermis 100 with a shape that meets the requirements.
  • the method further includes:
  • step S120 the method further includes:
  • the first microneedle 41 is inserted into the first material. Before the first material is solidified, the first microneedle 41 is inserted into the first material, which is conducive to deterministically generating the first liquid outlet hole 110, and the aperture and shape of the first liquid outlet hole 110 are the same as those of the first microneedle 41, that is, the formation of the first liquid outlet hole 110 is controllable.
  • the pores formed during the molding process of the first material are used as the first liquid outlet 110 .
  • the first microneedle 41 is not required to mold the first liquid outlet 110 .
  • the diameter of the first microneedle 41 is 40 ⁇ m to 1000 ⁇ m.
  • the number of the first microneedles 41 is multiple, and the multiple first microneedles 41 are arranged along a preset pattern, thereby forming a plurality of first liquid outlet holes 110 arranged in a preset pattern.
  • the preset pattern can be a rectangular array, a circular array, or a "X"-shaped arrangement.
  • the multiple first microneedles 41 are arranged in a fingerprint shape to form a plurality of circles nested in sequence.
  • this embodiment uses a punching component 40 to form the first liquid outlet 110, and the punching component 40 includes a handle 43 and a first microneedle 41 mounted on the handle 43. The operator can conveniently insert the first microneedle 41 into the first material by holding the handle 43.
  • the punching component 40 further includes a roller 42 rotatably mounted on the handle 43, and the first microneedle 41 is mounted on the roller 42.
  • the operator can quickly make a plurality of first liquid outlet holes 110 by rolling the roller 42.
  • the number of the first microneedles 41 is multiple, and the plurality of first microneedles 41 are spaced apart and distributed on the roller 42.
  • the method before step S120, the method further includes:
  • a first microneedle 41 is inserted into the molding mold 30.
  • a plurality of micropores are formed at the bottom of the molding groove 31, and corresponding micropores can appear on the outer surface of the generated epidermis 100, and a first liquid outlet 110 connected to the micropores is generated inside the first material during the solidification process.
  • the method before step S120, the method further includes:
  • S160 Measure the amount of the first material, so that the weight and thickness of the skin 100 can be accurately controlled.
  • the method before step S120, the method further includes:
  • S170 Mix the first material and the color pigment.
  • the color pigment is used as an auxiliary material to make the prepared epidermis 100 display different skin colors.
  • the method before step S120, the method further includes:
  • the conductive particles are particles made of conductive materials such as graphene particles, silver nanowires, CNT particles, copper powder particles, silver powder particles or iron powder particles.
  • the method before step S120, the method further includes:
  • patterned grooves 120 are formed in the molded grooves 31.
  • the outer surface of the obtained epidermis 100 is provided with patterned grooves 120, and the end of the first liquid outlet 110 is connected to the patterned grooves 120.
  • the liquid enters the patterned grooves 120 after passing through the first liquid outlet 110 and contacts the grasped object.
  • the patterned grooves 120 can increase the contact area of the liquid and improve the uniformity of the friction force.
  • the patterned groove 120 is formed into a plurality of circles nested in sequence in the shape of a fingerprint, which can more realistically simulate the behavior of a finger grasping or touching an object.
  • the patterned groove 120 is in the shape of a geometric figure, an animal figure, or a bird figure, etc., which is not limited here.
  • step S200 the method further includes the following steps:
  • the second material includes at least one of sponge, thermoplastic rubber and thermoplastic vulcanized rubber.
  • S220 Insert the second microneedle into the porous structure to form a second liquid outlet 210.
  • the molding of the second liquid outlet 210 is controllable.
  • the number of second microneedles can be one or more than two.
  • the diameter of the second microneedle is 1 ⁇ m to 1000 ⁇ m.
  • the second microneedle can also be installed on the above-mentioned perforated component 40. It can be understood that the second liquid outlet 210 can also be a pore naturally formed during the molding process of the second material, which does not require puncture by the second microneedle.
  • S230 Immerse one side of the porous structure with the second microneedle in a hydrophobic solution. Specifically, the side of the porous structure close to the epidermis 100 is immersed in the hydrophobic solution, and the side of the porous structure away from the epidermis 100 is not immersed in the hydrophobic solution. Furthermore, the wetting depth of the porous structure is 10% to 60% of its thickness.
  • the porous structure is taken out from the hydrophobic solution, and the second microneedle is pulled out.
  • the porous structure forms an elastomer 200, and the surface of the elastomer 200 in contact with the hydrophobic solution forms a hydrophobic surface.
  • the pore wall of the second liquid outlet 210 is not in contact with the hydrophobic solution and forms a hydrophilic surface.
  • a surface of one side of the elastomer 200 is soaked in a hydrophobic solution to maintain the texture and reduce the water absorption rate of the elastomer 200, and the second microneedle is inserted into the second liquid outlet 210, so that the elastomer 200 forms a hydrophobic surface and a hydrophilic surface, and the hole wall of the second liquid outlet 210 is a hydrophilic surface.
  • the hydrophobic solution is polydimethylsiloxane.
  • the method further includes:
  • the main material of the rigid support member 300 includes at least one of plastic, steel, copper, aluminum alloy and nickel-titanium alloy.
  • the method before step S400, the method further includes:
  • a rigid support member 300 is machined using additive manufacturing technology.
  • Additive manufacturing can create complex designs, especially bone shapes that are difficult to produce using traditional manufacturing methods, and can be easily modified and customized to meet specific design requirements.
  • additive manufacturing can create multiple iterations of a product within hours, allowing for rapid prototyping at a lower cost.
  • step S500 the method further includes:
  • one end of the rigid sheet 500 is mounted on the outer surface of the skin 100 , and the other end of the rigid sheet 500 extends to the skin
  • the rigid sheet 500 is located outside the skin 100 and is spaced apart from the epidermis 100.
  • the other end of the rigid sheet 500 protrudes from the epidermis 100, so that the bionic finger 10 can perform complex actions such as scraping, picking, and scratching.
  • the rigid sheet 500 and the first liquid outlet 110 are located on opposite sides of the epidermis 100 .
  • the end of the rigid sheet 500 located outside the epidermis 100 and the second end 402 of the liquid delivery tube 400 are located at opposite ends of the epidermis 100 .
  • bionic finger 10 manufactured in the third embodiment may have any technical features of any bionic finger 10 in the first embodiment, which will not be described one by one here.

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Abstract

一种仿生手指（10），包括表皮（100）、弹性体（200）、刚性支撑件（300）和送液管（400），表皮（100）具有第一出液孔（110）；弹性体（200）包裹安装于表皮（100）中，弹性体（200）具有第二出液孔（210），刚性支撑件（300）包裹安装于表皮（100）中；送液管（400）的第一端（401）的侧部具有第三出液孔（410），第三出液孔（410）、第二出液孔（210）和第一出液孔（110）连通，送液管（400）的第二端（402）延伸至表皮（100）的外部。其中，仿生手指（10）的表皮（100）接触被抓取物时，液体可以从位于表皮（100）外部的送液管（400）的第二端（402）流到位于表皮（100）内部的送液管（400）的第一端（401），依次通过第三出液孔（410）、第二出液孔（210）和第一出液孔（110）到达表皮（100）与被抓取物之间，改变仿生手指（10）与被抓取物之间的摩擦系数，进而改变二者的摩擦力，解决了仿生手指存在着摩擦力不能调节的技术问题。还提供一种夹具及仿生手指的制造方法。

Description

仿生手指、夹具及仿生手指的制造方法
本申请要求于2023年6月27日在中国专利局提交的、申请号为202310768913.7、发明名称为“仿生手指、夹具及仿生手指的制造方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及仿生机械技术领域，尤其是涉及一种仿生手指、夹具及仿生手指的制造方法。
背景技术
仿生机械为现代发展的一种前沿技术，例如仿生动物、仿生机械臂以及仿生手指等。目前，仿生手指在抓取过程中与被抓取物之间的摩擦力固定，导致如果摩擦力过小，被抓取物容易被滑落，如果摩擦力过大，被抓取物容易被抓扁或变形，不能采用合适的力度实现对被抓取物的抓取。
因此，现有的仿生手指存在着摩擦力不能调节的技术问题。
技术问题
本申请的目的在于提供一种仿生手指、夹具及仿生手指的制造方法，旨在解决现有的仿生手指摩擦力不能调节的技术问题。
技术解决方案
第一方面，本申请提供了一种仿生手指，所述仿生手指包括：
表皮，所述表皮具有第一出液孔；
弹性体，所述弹性体包裹安装于所述表皮中，所述弹性体具有第二出液孔，所述第二出液孔和所述第一出液孔连通；
刚性支撑件，所述刚性支撑件包裹安装于所述表皮中；
送液管，所述送液管的第一端包裹安装于所述表皮中，所述送液管的第一端支撑于所述刚性支撑件和所述弹性体之间，所述送液管的第一端的侧部具有第三出液孔，所述第三出液孔和所述第二出液孔连通，所述送液管的第二端延伸至所述表皮的外部。
第二方面，本申请提供了一种夹具，所述夹具包括张合驱动件和至少两个上述任意一项所述仿生手指，所述张合驱动件与所述仿生手指连接，以驱动至少两个所述仿生手指相互靠近或相互远离。
第三方面，本申请提供了一种制造如上述仿生手指的方法，所述方法包括以下步骤：
提供具有第一出液孔的表皮；
将弹性体安装在所述表皮的一表面，且所述弹性体至少覆盖部分所述第一出液孔；
将送液管的第一端安装在所述弹性体远离所述表皮的一侧，且所述送液管的第二端位于所述表皮的外部；
将刚性支撑件安装于所述送液管；
将所述表皮折叠，以使所述表皮包裹所述弹性体、所述送液管的第一端和所述刚性支撑件。
有益效果
本申请提供的仿生手指、夹具及仿生手指的制造方法的有益效果是：仿生手指的表皮接触被抓取物时，诸如仿生汗液、纯净水、盐水或油等极性液体或非极性液体可以从位于表皮外部的送液管的第二端流到位于表皮内部的送液管的第一端，依次通过第三出液孔、第二出液孔和第一出液孔到达表皮与被抓取物之间，改变仿生手指与被抓取物之间的摩擦系数，进而改变二者的摩擦力，解决了现有的仿生手指存在着摩擦力不能调节的技术问题。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的仿生手指的结构示意图；
图2为实施例提供的仿生手指的实物图；
图3为实施例提供的仿生手指的表皮的实物图；
图4为实施例提供的仿生手指的表皮的二十倍局部实物图；
图5为实施例提供的仿生手指的表皮的五十倍局部实物图；
图6为实施例提供的仿生手指的刚性支撑件的结构示意图；
图7为实施例提供的仿生手指的刚性支撑件的又一结构示意图；
图8为实施例提供的仿生手指的刚性支撑件的实物图；
图9为实施例提供的仿生手指的刚性支撑件的又一实物图；
图10为干燥的人体手指的平均摩擦力的测试图；
图11为干燥的仿生手指的平均摩擦力的测试图；
图12为半干燥的人体手指的平均摩擦力的测试图；
图13为湿润的人体手指的平均摩擦力的测试图；
图14为干燥的人体手指在玻璃材质上的平均摩擦力的测试图；
图15为注射泵供应不同水量下的仿生手指在玻璃材质上的平均摩擦力的测试图；
图16为仿生手指的平均摩擦力随着注射的水量的变化曲线图的测试图；
图17为干燥的人体手指在皮革材质上的平均摩擦力的测试图；
图18为干燥的仿生手指在皮革材质上的平均摩擦力的测试图；
图19为注射泵供应不同水量下的仿生手指在皮革材质上的平均摩擦力的测试图；
图20为注射泵供应不同水量下的仿生手指在皮革材质上的平均摩擦系数的测试图；
图21为实施例提供的夹具的结构示意图；
图22为实施例提供的仿生手指的制备方法的流程示意图；
图23为实施例提供的制造方法中的提供表皮的流程示意图；
图24为实施例提供的成型模具的实物图；
图25为实施例中的打孔部件放置在成型模具上的实物图；
图26为实施例提供的打孔部件的实物图。
其中，图中各附图标记：
10、仿生手指；20、夹具；21、张合驱动件；30、成型模具；31、成型凹槽；40、打孔部件；41、第一微针；42、滚轮；43、手柄；
100、表皮；110、第一出液孔；120、图案化凹槽；130、安装槽；
200、弹性体；210、第二出液孔；
300、刚性支撑件；310、支撑槽；311、第一支撑面；312、第二支撑面；313、第三支撑面；320、刚性支撑平面；330、刚性支撑弧面；331、圆柱弧面；332、球形弧面；
400、送液管；401、第一端；402、第二端；410、第三出液孔；
500、刚性片。
本发明的实施方式
下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
在整个说明书中参考“一个实施例”或“实施例”意味着结合实施例描述的特定特征，结构或特性包括在本申请的至少一个实施例中。因此，“在一个实施例中”或“在一些实施例中”的短语出现在整个说明书的各个地方，并非所有的指代都是相同的实施例。此外，在一个或多个实施例中，可以以任何合适的方式组合特定的特征，结构或特性。
在本申请的描述中，需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以 是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
实施例一
针对现有的仿生手指抓取被抓取物时摩擦力不能调节的技术问题，本申请的发明人深入分析仿生手指的摩擦学机理。
参见式(1)，根据阿蒙顿摩擦定律，在两个物体接触表面之间的摩擦力Ff与所施加的载荷N成线性比例，还与接触面的粗糙程度成线性比例，用摩擦系数表示。
然而，阿蒙顿摩擦定律适合宏观摩擦，不适合仿生手指的纳米级接触的摩擦力计算。根据波登-塔伯摩擦定律(the Bowden-tabor law of friction)，摩擦力与实际接触面积成正比。同时，摩擦力还与两个物体接触表面之间的润滑膜的剪切强度有关，尤其是在边界润滑状态下，润滑膜的剪切强度对摩擦力的影响很大，而且人体手指在真实状态下会出汗，即人体手指与被抓取物体之间存在润滑膜，因此，发明人计划通过改变仿生手指与被抓取物之间的润滑状态实现调节摩擦力，更符合实际人体手指的摩擦力情况。
结合图1，本申请提供的仿生手指10包括表皮100、弹性体200、刚性支撑件300和送液管400。表皮100具有第一出液孔110。弹性体200包裹安装于表皮100中，弹性体200具有第二出液孔210，第二出液孔210和第一出液孔110连通。刚性支撑件300包裹安装于表皮100中。送液管400的第一端401包裹安装于表皮100中，送液管400的第一端401支撑于刚性支撑件300和弹性体200之间，送液管400的第一端401的侧部具有第三出液孔410，第三出液孔410和第二出液孔210连通，送液管400的第二端402延伸至表皮100的外部。
其中，仿生手指10的表皮100接触被抓取物时，液体可以从位于表皮100外部的送液管400的第二端402流到位于表皮100内部的送液管400的第一端401，依次通过第三出液孔410、第二出液孔210和第一出液孔110到达表皮100与被抓取物之间，改变仿生手指10与被抓取物之间的润滑状态及摩擦系数，进而能够调节仿生手指10与被抓取物体之间的摩擦力。
本实施例中，液体可以是仿生汗液、纯净水、盐水或油等极性液体或非极性液体，可以是两种以上的液体的混合物，在此不再具体限定。液体可以通过动力泵导入送液管400内，比如，采用注射泵可以向送液管400输送恒定且可控的液体。注射泵包括储液器和可移动活塞，前者储存液体，后者控制液体输送。
图2为实施例提供的仿生手指10的实物图。表皮100相当于仿生手指10的皮肤，弹性件相当于仿生手指10的组织，刚性支撑件300相当于仿生手指10的骨骼，送液管400相当于仿生手指10的血管。表皮100包裹了弹性体200、刚性支撑件300和送液管400。其中，送液管400的第二端402露出于表皮100，用于外部液体的注入。刚性支撑件300可以全部包裹于表皮100中，也可以部分露出于表皮100外。
本实施例提供的仿生手指10可以模拟手指出汗情况，可应用于多种场景，实现多种用途。在一些场景中，仿生手指10可以通过出液的方式控制摩擦力，实现可靠的抓取。例如，通过控制摩擦力可以抓取不同种类、不同刚度及不同尺寸的物体，既不会因摩擦力过大而损坏被抓取物，也不会因摩擦力过小而导致被抓取物脱落。在一些场景中，由于相同润滑状态下，仿生手指10与不同材料种类的被抓取物之间的摩擦系数不同，仿生手指10可以通过出液的方式，测量与被抓取物之间的摩擦系数，进而实现对被抓取物的表面识别。在一些场景中，仿生手指10能够模拟出汗的情况，更加真实地模拟人体手指的实际行为，能够代替人体手指用于科学研究或者模拟触摸等人类行为。
在一些实施例中，表皮100包裹套接弹性体200、刚性支撑件300和送液管400。表皮100折叠形成一个套体。
在一些实施例中，表皮100的主要材料包括硅酮、聚氨酯、丙烯酸酯、天然橡胶、硅胶、氟化硅胶、苯乙烯类热塑性弹性体和乳胶中的至少一种。即，表皮100可以是由硅酮、聚氨酯、丙烯酸酯和乳胶中一种或多种构成，表皮100可以是由硅酮、聚氨酯、丙烯酸酯和乳胶中一种或多种，以及其他的辅助材料构成。辅助材料可以是彩色颜料，也使表皮100显示为不同肤色。其中，硅酮、聚氨酯、丙烯酸酯和乳胶的质量合计占表皮100的质量的50％以上。
具体地，表皮100的主要材料为硅酮。第一，硅酮是含有Si、O、C和H以及其他次生元素的无机-有机聚合物，单独的硅树脂具有与皮肤相似的折射率和颜色，可以通过结合其他物质和不同材料结构进一步调节折射率和颜色。第二，硅酮还可以允许表面再生，产生手指皮肤的表面形态。第三，基于硅树脂的模型可以用于模拟多种特性，且具有易于加工制备、无毒性和长期稳定性的特点。从材料科学的角度来看，真实手指的皮肤是一个非常复杂的主动开放系统，由高度不均匀和各向异性的复合材料组成，皮肤还用于身体和环境积极地交换质量和热量。因此，采用硅酮作为主要材料制备表皮100，能够获得和手指皮肤相似的特性。
具体地，表皮100的主要材料为聚氨酯。由于聚氨酯是一种可塑性较强的材料，可以制成具有类似皮肤质感和弹性的模型，能够很好地模拟手指皮肤。
具体地，表皮100的主要材料为丙烯酸酯，丙烯酸酯是一种透明的材料，可以和柔顺材料混合，制成柔软的、类似皮肤的表皮100。透明的表皮100，能够方便工作人员贯穿仿生手指10的内部运行状态。
具体地，表皮100的主要材料为乳胶，乳胶具有柔软、弹性好且透明性的特点，适用于制备仿真皮肤。
图3为发明人采用硅酮作为主要材料制成的表皮100，柔软，具有弹性，具有微孔(即第一出液孔110)，能够仿真人体皮肤。图4为表皮100放大二十倍的局部实物图，图5为表皮100放大五十倍的局部实物图，可以看到虚线圆圈中的第一出液孔110。发明人通过使用滴头在表皮100滴水来确认水可以通过第一出液孔110，这为水的滴落创造了足够的压力。没有压力，水就无法通过第一出液孔110。表皮100的高表面张力被确定为这种现象的原因，证实了预期的结果：通过施加水压可以控制出液功能。
本实施例中，第一出液孔110的数量可以是一个，也可以是两个以上。第一出液孔110可以分布于表皮100的各个位置，也可以分布于表皮100用于与被抓取物接触的一侧。第一出液孔110可以是在材料成型过程中自然形成，也可以是人为地使用下述的第一微针41穿刺而得。
在其中一个实施例中，结合图1，第一出液孔110的数量大于3个，以增大表皮100的出液面积，增大最大出液量，使得仿生手指10可以在更大的范围内控制出液率，应用场景更广。
多个第一出液孔110可以按预设图形间隔分布于表皮100上。例如，多个第一出液孔110按矩形阵列、圆形阵列或几字形排列。例如，多个第一出液孔110按指纹形状，围成多个依次嵌套的圆圈。
在其中一个实施例中，结合图1，第一出液孔110的深度方向大致垂直于送液管400的长度方向X。换言之，第一出液孔110的深度方向与送液管400的长度方向X之间的夹角可以为80°～100°。当第一出液孔110的数量为多个时，多个第一出液孔110的深度方向可以全部相同，也可以不全部相同。
具体地，在图1示出的仿生手指10的截面中，第一出液孔110的深度方向与送液管400的径向Z相同，径向Z与长度方向X相垂直。多个第一出液孔110沿长度方向X间隔分布，实现均匀出液，实现仿生手指10与被抓取物之间的摩擦力均匀分布。
在其中一个实施例中，第一出液孔110的孔径为40μm～1000μm，从而第一出液孔110具有毛细管的特性，能够实现仿生手指10与被抓取物之间形成拉普拉斯压力，使得二者相互吸引，实现抓取动作。
可选地，第一出液孔110的孔径为40μm、60μm、100μm、500μm或1000μm。
可以理解，在其他实施例中，第一出液孔110的孔径也可以为30μm、1100μm或1200μm。
在其中一个实施例中，表皮100嵌设有导电颗粒，表皮100具有人体皮肤的导电性，能够用于带电场景的识别等。
在表皮100的制备中，导电颗粒可以作为辅助材料，添加到表皮100的主要材料中。
可选地，导电颗粒为CNT颗粒(Carbon Nanotube)，具有高度的柔韧性、导电性和导热性，可以增强表皮100的强度和刚度，改善导电和导热性能。可以理解，在其他实施例中，导电颗粒还可以是石墨烯颗粒、银纳米线、铜粉末颗粒、银粉末颗粒、铁粉末颗粒等导电材料制成的颗粒。
在其中一个实施例中，结合图1，表皮100的外表面设置有图案化凹槽120，第一出液孔110的末端与图案化凹槽120连通。液体经第一出液孔110后进入图案化凹槽120内，并与被抓取物体接触。图案化凹槽120可以增大液体的接触面积，提高摩擦力的均匀性。
具体地，图案化凹槽120按指纹形状，围成多个依次嵌套的圆圈，能够更加真实地模拟手指抓取物体或触摸物体的行为情况。可以理解，在其他实施例中，图案化凹槽120的形状还可以是几何图形、动物图形或鸟类图形等，在此不做限定。
在一些实施例中，弹性体200的主要材料包括海绵、热塑性橡胶和热塑性硫化橡胶中的至少一种，能够模拟出组织的弹性，实现仿生手指10弹性触摸或抓取物体，且这些材料容易形成多孔结构，能够生成第二出液孔210。弹性体200可以是由海绵、热塑性橡胶和热塑性硫化橡胶中一种或多种构成，或者，弹性体200可以是由海绵、热塑性橡胶和热塑性硫化橡胶中一种或多种，以及其他的辅助材料构成。其中，海绵、热塑性橡胶和热塑性硫化橡胶的质量合计占弹性体200的质量的50％以上。
具体地，弹性体200的主要材料为聚氨酯海绵。聚氨酯海绵的密度可选为0.09g.cm-3，具有允许液体通过的多孔结构，并且具有与手指组织相似的杨氏模量E。手指组织的杨氏模量约为0.04兆帕，而0.09g.cm-3聚氨酯海绵的杨氏模量约为0.08兆帕。
本实施例中，第二出液孔210的数量可以是一个，也可以是两个以上。第二出液孔210可以分布于弹性体200的各个位置，也可以分布于第二出液孔210用于与表皮100接触的一侧。第二出液孔210可以是在材料成型过程中自然形成，也可以是人为地使用下述的第二微针穿刺而得。
在一些实施例中，结合图1，第二出液孔210的孔径大于第一出液孔110的孔径，以便于液体的顺畅流动。
在一些实施例中，第二出液孔210的孔径为1μm～1000μm，从而第二出液孔210具有毛细管的特性，液体能够吸附在第二出液孔210内，不会因孔径过大而直接冲压表皮100，也不会因孔径太小而造成表皮100难以出液。
可选地，第二出液孔210的孔径为1μm、50μm、100μm、300μm、500μm或1000μm。可以理解，在其他实施例中，第二出液孔210的孔径也可以为1100μm或1200μm。
在其中一个实施例中，结合图1，第二出液孔210的数量大于3个，以增大最大出液量，保证对表皮100的液体供给。
在其中一个实施例中，结合图1，第二出液孔210的深度方向大致垂直于送液管400的长度方向X。换言之，第二出液孔210的深度方向与送液管400的长度方向X之间的夹角可以为80°～100°。当第二出液孔210的数量为多个时，多个第二出液孔210的深度方向可以全部相同，也可以不全部相同。
具体地，在图1示出的仿生手指10的截面中，第二出液孔210的深度方向与送液管400的径向Z相同。多个第二出液孔210沿长度方向X间隔分布，实现均匀向第一出液孔110供给液体，使得表皮100受到的液压均匀，柔性的表皮100的外表面形状保持相对稳定。
在其中一个实施例中，结合图1，第二出液孔210与第一出液孔110之间具有间隔，该间隔形成缓冲。液体经过第二出液孔210不会直接冲向第一出液孔110，而是沿着表皮100的内表面进入第一出液孔110内。
在其中一个实施例中，弹性体200的表面是指内表面和外表面。弹性体200的表面包括疏水面和亲水面，例如，疏水面设置有疏水层，以使液体不易湿润疏水面。第二出液孔210的孔壁位于亲水面。液体落在弹性体200上，能够被引导流向亲水面，位于亲水面的第二出液孔210能够吸收液体，并经疏水面导向表皮100。如此，疏水面的设置使得弹性体200上的液体定向地流入第二出液孔210内，用于控制液体的流动和混合，以及还可以避免非特定的细胞附着。
具体地，采用疏水剂浸泡弹性体200靠近表皮100的一表面，保持质地并降低弹性体200的吸水率，第二微针插设在第二出液孔210内，使得弹性体200形成疏水面和亲水面，第二出液孔210的孔壁属于亲水面。可选地，疏水剂为聚二甲基硅氧烷(Poly dimethyl siloxane，PDMS)。由于PDMS分子结构中的甲基基团和硅氧烷键的存在，使其表面具有较低的表面能，导致水分子在其表面上形成球状的水滴而不是展开。
可以理解，在其他实施例中，疏水面还可以采用有机硅类压敏胶制作。
本实施例中，第三出液孔410的数量可以是一个，也可以是两个以上。第三出液孔410可以分布于送液管400的各个位置，也可以分布于送液管400用于与弹性体200接触的一侧。第三出液孔410可以是在成型过程中直接制成，也可以通过后续工艺加工而得。
在其中一个实施例中，结合图1，第三出液孔410的孔径大于第二出液孔210的孔径，以便于液体的顺畅流动。
在其中一个实施例中，送液管400的内径为1mm～10mm，避免内径过小难以注射液体，也避免内径过大，导致液体供给量过大造成过度润滑，减弱了摩擦力。
可以理解，为了增强摩擦力，第一出液孔110的出液量控制为0.0005mL。为此，可以通过控制第 一出液孔110的孔径及数量，第二出液孔210的孔径及数量，第三出液孔410的孔径及数量，送液管400的内径中的至少一种而实现。
在其中一个实施例中，第三出液孔410的数量大于3个，以增大最大出液量，保证对弹性体200的液体供给。
在其中一个实施例中，结合图6和图7，刚性支撑件300的主要材料包括塑料、钢、铜、铝合金和镍钛合金中的至少一种。这些材料具有良好的刚度和强度，能够支撑仿生手指10，相当于骨骼。刚性支撑件300可以是由塑料、钢、铜、铝合金和镍钛合金中一种或多种构成；刚性支撑件300可以是由塑料、钢、铜、铝合金和镍钛合金中一种或多种，以及其他的辅助材料构成。其中，塑料、钢、铜、铝合金和镍钛合金的质量合计占刚性支撑件300的质量的50％以上。
具体地，塑料、钢、铜、铝合金和镍钛合金中的至少一种通过增材制造、注塑成型或铸造成型制得刚性支撑件300。其中，增材制造可以创建复杂的设计，尤其是使用传统的制造方法很难生产骨骼的形状，并且可以很容易地进行修改和定制以满足特定的设计要求。此外，增材制造能够在数小时内创建产品的多次迭代，从而以更低成本的方式进行快速原型设计。
图8和图9均为采用增材制造制备的刚性支撑件300的实物图。
在其中一个实施例中，结合图1、图6至图9，刚性支撑件300的一侧设置有第一支撑面311和第二支撑面312，第一支撑面311和第二支撑面312大致垂直连接，第一支撑面311朝向第一出液孔110，送液管400远离弹性体200的一侧支撑于第一支撑面311，送液管400的第一端401的端部和弹性体200的端部抵靠于第二支撑面312。如此，第一支撑面311用于为送液管400提供支撑，第二支撑面312用于对送液管400和弹性体200提供支撑，从而保证仿生手指10的各个部件的位置相对稳定，不会移位。
具体地，第一支撑面311和第二支撑面312的夹角为80°～100°。
具体地，第一支撑面311为平面，能够提供稳定的支撑力。类似地，第二支撑面312为平面。
具体地，结合图6和图7，刚性支撑件300的一侧设置有支撑槽310，支撑槽310的槽底形成第一支撑面311，支撑槽310的一端槽壁形成第二支撑面312，送液管400和弹性体200安装于支撑槽310内，实现其位置稳定。
可选地，支撑槽310还具有两个相对的第三支撑面313，第三支撑面313与第二支撑面312大致垂直，弹性体200的相对两侧抵靠于两个第三支撑面313之间。
可选地，刚性支撑件300设置有支撑槽310的一侧表面为刚性支撑平面320，弹性体200位于支撑槽310内，即刚性支撑平面320朝向物体，刚性支撑平面320能够提供刚性平面支撑，使得表皮100与物体基本平面接触，提高抓取和触摸的效果。
可选地，刚性支撑件300远离支撑槽310的一侧设置有刚性支撑弧面330，刚性支撑弧面330使得仿生手指10的背面圆滑，避免与其他物体干涉及刮伤。进一步地，刚性支撑弧面330包括沿送液管400的长度方向依次连接的圆柱弧面331和球形弧面332。圆柱弧面331与支撑槽310相对设置，增大支撑槽310对应的刚性支撑件300的厚度，提高对弹性体200的支撑力。球形弧面332位于圆柱弧面331远离送液管400的第二端402的一侧，球形弧面332使得刚性支撑件300厚度逐渐减小，使得刚性支撑件300的末端圆滑。
可选地，刚性支撑弧面330的边缘可以直接和刚性支撑平面320的边缘连接，也可以通过其他侧面与刚性支撑平面320连接。
在其中一个实施例中，结合图1，仿生手指10还包括刚性片500，刚性片500的一端安装于表皮100的外表面，刚性片500的另一端延伸至表皮100的外部、且与表皮100具有间隔。换言之，刚性片500的另一端突出于表皮100，使得仿生手指10能够实现刮、抠、挠等复杂动作。
具体地，结合图1，刚性片500和第一出液孔110位于表皮100的相对两侧，尽量地增大刚性片500和第一出液孔110之间的距离，从而仿生手指10采用出液的方式进行抓取或触摸物体的动作和采用刚性片500进行刮挠等动作能够相对独立，互不干扰。
可以理解，在其他实施例中，刚性片500和第一出液孔110可以位于表皮100的同一侧，或者，刚性片500和第一出液孔110位于表皮100的相邻两侧，在此不做唯一限定。
具体地，结合图1，刚性片500位于表皮100外部的端部和送液管400的第二端402位于表皮100的相对两端。刚性片500和送液管400的第二端402位于表皮100在长度方向X上的相对两端，尽量地增大刚性片500和送液管400的第二端402之间的距离，使得二者相对独立，互不干扰。
可以理解，在其他实施例中，刚性片500可以和送液管400的第二端402位于表皮100的同一端，或者，刚性片500位于表皮100的中部，在此不做唯一限定。
具体地，结合图1，表皮100的外表面设置有安装槽130，刚性片500的一端安装于安装槽130中。安装槽130的设置有利于刚性片500的定位安装及稳定安装。
可以理解，表皮100也可以不设置安装槽130，刚性片500直接安装于表皮100的外表面，或者，表皮100的外表面安装有供刚性片500安装的安装支架。
具体地，刚性片500靠近表皮100的一侧能够与刚性支撑件300的表面贴合，从而刚性片500即使和刚性支撑件300之间间隔中表皮100，但仍获得刚性支撑件300的支撑，且支撑面积大。
可以理解地，刚性片500相当于仿生手指10的指甲片。
在一些实施例中，结合图1，弹性体200可以采用粘接、熔接、套接或抵接的方式安装于表皮100中。刚性支撑件300可以采用粘接、熔接、套接或抵接的方式安装于表皮100。刚性支撑件300和弹性体200之间可以采用粘接、熔接、卡接、紧固件连接或抵接的方式固定。送液管400可以采用粘接、熔接、套接或抵接的方式安装于表皮100。送液管400和刚性支撑件300之间可以采用粘接、熔接、卡接、套接、插接、紧固件连接或抵接的方式固定。送液管400和弹性体200之间可以采用粘接、熔接、卡接、套接、紧固件连接或抵接的方式固定。刚性片500和表皮100之间可以采用粘接、熔接或紧固件连接的方式固定。
在一些实施例中，表皮100的主要材料为硅酮，弹性体200的主要材料为聚氨酯海绵，刚性支撑件300的材料为ABS塑料，采用增材制造工艺一体成型。为了验证仿生手指10与人体手指的相似性，实验设备包括：用于与送液管400的第二端402连接的注射泵连接，注射泵用于供应纯净水；摩擦计。其中，注射泵设置为0.5mL/min的注射速率，摩擦计包括可水平移动的平台和安装于平台下方的传感器，传感器用于记录1000Hz下的摩擦力，环境温度为22.7℃，空气湿度为60％，施加的按压力均为0.5N，每次测试时长为60s，平均摩擦力是指重复测试10次的摩擦力的平均值。
图10为干燥的人体手指的平均摩擦力，图11为干燥的仿生手指10的平均摩擦力。通过图10和图11的对比可知，在相同的条件下，干燥的仿生手指10和干燥的人体手指的摩擦力相近，证明本实施例提供的仿生手指10的摩擦性能接近人体手指的摩擦性能。
图12为半干燥的人体手指的平均摩擦力，图13为湿润的人体手指的平均摩擦力。通过图10、图12和图13对比可知，人体手指的表面上有不同水量时人体手指的摩擦模式不同，半干燥的人体手指的摩擦力最高，其次是干燥的人体手指的摩擦力，而湿润的人体手指的摩擦力最低。其中，半干燥的人体手指是指部分湿润、但湿润未饱和的手指。
图14为干燥的人体手指在玻璃材质上的平均摩擦力，图15为注射泵供应不同水量下的仿生手指10在玻璃材质上的平均摩擦力。参见图16，仿生手指10的平均摩擦力随着注射的水量的变化而变化。当注入0至2.5mL的纯净水时，平均摩擦力增加。当注射量为3mL至3.5mL时，平均摩擦力急剧下降。当注射量超过3.5mL时平均摩擦力稳定地较低。由此可知，仿生手指10也是半干燥状态下摩擦力较大，和人体手指的性能相似，即仿生手指10可以模仿人体手指在玻璃上的摩擦力。
图17为干燥的人体手指在皮革材质上的平均摩擦力，图18为干燥的仿生手指10在皮革材质上的平均摩擦力。由此得出，人体手指和仿生手指10在皮革材质上的摩擦性能基本相同。
图19为注射泵供应不同水量下的仿生手指10在皮革材质上的平均摩擦力，图20为注射泵供应不同水量下的仿生手指10在皮革材质上的平均摩擦系数。摩擦系数等于摩擦力除以0.5N。图20显示了仿生手指10的摩擦系数如何随着注射的水量而变化。当注入0至5mL的纯净水时，平均摩擦力增加。当注水量超过5mL时，摩擦系数降低。当仿生手指10充满水时，摩擦系数的降低量小于0.01N。因此，与在玻璃上出汗的效果相比，在皮革上出汗的影响不太显著，原因可能在于皮革可能会吸收手指皮肤表面的水分。
本实施例证明了仿生手指10和人体手指在摩擦性能上具有相似性，能够真实地模拟人体手指，摩擦系数随湿润情况先增加后减小，不同材质的摩擦系数及变化不同，可以用于识别不同材质界面。
实施例二
结合图21，本申请提供的夹具20包括张合驱动件21和至少两个实施例一中任意一种的仿生手指10。张合驱动件21与仿生手指10连接，以驱动至少两个仿生手指10相互靠近或相互远离，从而实现 夹取或释放被抓取物。
可选地，夹具20还包括注射泵，注射泵的出口与送液管400的第二端402连接，用于向送液管400提供液体。液体可以是纯净水、盐水、油等。注射泵可选为定量注射泵。
具体地，夹具20的仿生手指10的数量可以是两个、三个、四个、五个或超过五个，在此不做唯一限定。例如，仿生手指10的数量为五个，夹具20用于模拟人体的手掌，实现人体手掌的操作动作。
此外，夹具20的仿生手指10可以是实施例一中的任意一种仿生手指10，在此不再一一赘述。
实施例三：
结合图22，本申请提供一种制造实施例一中的仿生手指10的制造方法，包括以下步骤：
S100：提供具有第一出液孔110的表皮100。
S200：将弹性体200安装在表皮100的一表面，且弹性体200至少覆盖部分第一出液孔110。
S300：将送液管400的第一端401安装在弹性体200远离表皮100的一侧，送液管400的至少部分第三出液孔410朝向弹性体200，且送液管400的第二端402位于表皮100的外部。
S400：将刚性支撑件300安装于送液管400。
S500：将表皮100折叠，以使表皮100包裹弹性体200、送液管400的第一端401和刚性支撑件300。
如此，通过上述步骤S100至S500，可以制得实施例一中的仿生手指10。其中，仿生手指10的表皮100接触被抓取物时，液体可以从位于表皮100外部的送液管400的第二端402流到位于表皮100内部的送液管400的第一端401，依次通过第三出液孔410、第二出液孔210和第一出液孔110到达表皮100与被抓取物之间，改变仿生手指10与被抓取物之间的润滑状态及摩擦系数，进而能够调节仿生手指10与被抓取物体之间的摩擦力。
在其中一个实施例中，结合图23，步骤S100具体包括：
S110：提供成型模具30，成型模具30具有成型凹槽31(参见图24)。
S120：将液态的第一材料倒入成型凹槽31中，第一材料包括硅酮、聚氨酯、丙烯酸酯、天然橡胶、硅胶、氟化硅胶、苯乙烯类热塑性弹性体和乳胶中的至少一种。
S130：第一材料固化后形成表皮100(参见图3)，并从成型模具30中取出。
通过成型模具30能够快速制造出形状符合要求的表皮100，生产效率高，节省产品迭代的时长。
具体地，步骤S110具体包括：
S111：在成型容器中放入水和藻酸盐，形成混合物，并放置不超过第一预设时间。可选地，第一预设时间为45s～60s。
S112：将手指按压在混合物上，并保持第二预设时间。可选地，第一预设时间为3min～5min。
S113：将手指与混合物脱离，手指在混合物上按压形成成型凹槽31，混合物形成成型模具30。
如此，利用水和藻酸盐的混合物能够快速固化形成成型模具30，能够快速、简便地制造出所需的成型模具30，且采用人体手指按压混合物，能够得到与人体手指相同的成型凹槽31，便于制造出形状符合要求的表皮100。
可选地，在步骤S111之前，该方法还包括：
S114：测量水和藻酸盐的用量。如此能够获得配比精确地混合物，进而获得容易成型的成型模具30。
在其中一个实施例中，步骤S120之后，上述方法还包括：
S140：结合图25和图26，使用第一微针41插入第一材料中。在第一材料未固化之前，第一微针41插入第一材料中，有利于确定性地生成第一出液孔110，且第一出液孔110的孔径及形状与第一微针41相同，即第一出液孔110的形成可控。
当然，在其他实施例中，利用第一材料的成型过程中形成的气孔，作为第一出液孔110，此时，可以不需要第一微针41进行第一出液孔110的成型。
可选地，第一微针41的直径为40μm～1000μm。
可选地，第一微针41的数量为多个，多个第一微针41沿预设图形排布，从而形成呈预设图形排布的多个第一出液孔110。预设图形可以是矩形阵列、圆形阵列或几字形排列。例如，多个第一微针41按指纹形状，围成多个依次嵌套的圆圈。
具体地，结合图25，本实施例采用打孔部件40形成第一出液孔110，打孔部件40包括手柄43和安装于手柄43上的第一微针41。操作者手持手柄43可以方便地将第一微针41插入第一材料中。
可选地，打孔部件40还包括可旋转地安装于手柄43的滚轮42，第一微针41安装于滚轮42上。如此，操作者通过滚动滚轮42能够快速地制作多个第一出液孔110。进一步地，第一微针41的数量为多个，多个第一微针41间隔分布于滚轮42上。
在其中一个实施例中，步骤S120之前，方法还包括：
S150：结合图25和图26，使用第一微针41插入成型模具30中。如此，在成型凹槽31的槽底形成多个微孔，进而生成的表皮100的外表面能够出现相对应的微孔，以及第一材料在固话过程中内部生成与微孔连通的第一出液孔110。
在其中一个实施例中，步骤S120之前，上述方法还包括：
S160：测量第一材料的用量。如此能够精确地控制表皮100的重量及厚度。
在其中一个实施例中，步骤S120之前，方法还包括：
S170：将第一材料和彩色颜料混合。彩色颜料作为辅助材料，使得制得的表皮100显示为不同肤色。
在其中一个实施例中，步骤S120之前，方法还包括：
S180：在成型凹槽31的槽底洒落导电颗粒。如此，制得的表皮100嵌设有导电颗粒，表皮100具有人体皮肤的导电性，能够用于带电场景的识别等。
可选地，导电颗粒为石墨烯颗粒、银纳米线、CNT颗粒、铜粉末颗粒、银粉末颗粒或铁粉末颗粒等导电材料制成的颗粒。
在其中一个实施例中，步骤S120之前，上述方法还包括：
S190：结合图1，在成型凹槽31的制作图案化凹槽120。如此，制得的表皮100的外表面设置有图案化凹槽120，第一出液孔110的末端与图案化凹槽120连通。液体经第一出液孔110后进入图案化凹槽120内，并与被抓取物体接触。图案化凹槽120可以增大液体的接触面积，提高摩擦力的均匀性。
可选地，图案化凹槽120按指纹形状，围成多个依次嵌套的圆圈，能够更加真实地模拟手指抓取物体或触摸物体的行为情况。或者，图案化凹槽120的形状为几何图形、动物图形或鸟类图形等，在此不做限定。
在其中一个实施例中，步骤S200之前，上述方法还包括以下步骤：
S210：采用第二材料制作多孔结构，第二材料包括海绵、热塑性橡胶和热塑性硫化橡胶中的至少一种。
S220：将第二微针插入多孔结构中，形成第二出液孔210。如此，第二出液孔210的成型可控。可选地，第二微针的数量可以是一个，也可以是两个以上。第二微针的直径为1μm～1000μm。进一步地，第二微针也可以安装于上述的打孔部件40。可以理解，第二出液孔210也可以是第二材料成型过程中自然形成的气孔，不需要第二微针穿刺而得。
S230：将带有第二微针的多孔结构的一侧浸入疏水溶液中。具体地，多孔结构靠近表皮100的一侧浸入疏水溶液中，多孔结构远离表皮100的一侧未进入疏水溶液中。进一步地，多孔结构的浸湿深度为其厚度的10％～60％。
S240：将多孔结构从疏水溶液中取出，拔出第二微针，多孔结构形成弹性体200，弹性体200与疏水溶液接触的表面形成疏水面，第二出液孔210的孔壁未与疏水溶液接触而形成亲水面。
如此，采用疏水溶液浸泡弹性体200的一侧表面，保持质地并降低弹性体200的吸水率，第二微针插设在第二出液孔210内，使得弹性体200形成疏水面和亲水面，第二出液孔210的孔壁属于亲水面。可选地，疏水溶液为聚二甲基硅氧烷。
可选地，在步骤S210之前，该方法还包括：
S211：测量第二材料的用量。
在其中一个实施例中，刚性支撑件300的主要材料包括塑料、钢、铜、铝合金和镍钛合金中的至少一种。
在其中一个实施例中，步骤S400之前，上述方法还包括：
S410：采用增材制造技术加工出刚性支撑件300。增材制造可以创建复杂的设计，尤其是使用传统的制造方法很难生产骨骼的形状，并且可以很容易地进行修改和定制以满足特定的设计要求。此外，增材制造能够在数小时内创建产品的多次迭代，从而以更低成本的方式进行快速原型设计。
在其中一个实施例中，步骤S500之后，上述方法还包括：
S600：结合图1，将刚性片500的一端安装于表皮100的外表面，刚性片500的另一端延伸至表皮 100的外部、且与表皮100具有间隔。换言之，刚性片500的另一端突出于表皮100，使得仿生手指10能够实现刮、抠、挠等复杂动作。
具体地，刚性片500和第一出液孔110位于表皮100的相对两侧。
具体地，刚性片500位于表皮100外部的端部和送液管400的第二端402位于表皮100的相对两端。
此外，实施例三中制造的仿生手指10可以具有实施例一中任意一种仿生手指10的任一个技术特征，在此不再一一赘述。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。

Claims (16)

  1. 一种仿生手指，其特征在于，所述仿生手指包括：
    表皮，所述表皮具有第一出液孔；
    弹性体，所述弹性体包裹安装于所述表皮中，所述弹性体具有第二出液孔，所述第二出液孔和所述第一出液孔连通；
    刚性支撑件，所述刚性支撑件包裹安装于所述表皮中；
    送液管，所述送液管的第一端包裹安装于所述表皮中，所述送液管的第一端支撑于所述刚性支撑件和所述弹性体之间，所述送液管的第一端的侧部具有第三出液孔，所述第三出液孔和所述第二出液孔连通，所述送液管的第二端延伸至所述表皮的外部。
  2. 根据权利要求1所述的仿生手指，其特征在于：所述表皮嵌设有导电颗粒。
  3. 根据权利要求1所述的仿生手指，其特征在于：所述表皮的外表面设置有图案化凹槽，所述第一出液孔的末端与所述图案化凹槽连通。
  4. 根据权利要求1所述的仿生手指，其特征在于：所述弹性体的表面包括疏水面和亲水面，所述第二出液孔的孔壁位于所述亲水面。
  5. 根据权利要求1所述的仿生手指，其特征在于：所述刚性支撑件的一侧设置有第一支撑面和第二支撑面，所述第一支撑面和所述第二支撑面大致垂直连接，所述第一支撑面朝向所述第一出液孔，所述送液管远离所述弹性体的一侧支撑于所述第一支撑面，所述送液管的第一端的端部和所述弹性体的端部抵靠于所述第二支撑面。
  6. 根据权利要求1所述的仿生手指，其特征在于：所述仿生手指还包括刚性片，所述刚性片的一端安装于所述表皮的外表面，所述刚性片的另一端延伸至所述表皮的外部、且与所述表皮具有间隔。
  7. 根据权利要求6所述的仿生手指，其特征在于：所述刚性片和所述第一出液孔位于所述表皮的相对两侧；
    和/或，所述刚性片位于所述表皮外部的端部和所述送液管的第二端位于所述表皮的相对两端；
    和/或，所述表皮的外表面设置有安装槽，所述刚性片的一端安装于所述安装槽中。
  8. 根据权利要求1所述的仿生手指，其特征在于：所述仿生手指还包括以下中的至少一种：
    所述第一出液孔的数量大于3个；
    所述第二出液孔的孔径为1μm～1000μm；
    所述第二出液孔的数量大于3个；
    所述第二出液孔与所述第一出液孔之间具有间隔；
    所述第三出液孔的数量大于3个。
  9. 根据权利要求1至8任意一项所述的仿生手指，其特征在于：所述表皮的主要材料包括硅酮、聚氨酯、丙烯酸酯、天然橡胶、硅胶、氟化硅胶、苯乙烯类热塑性弹性体和乳胶中的至少一种；所述弹性体的主要材料包括海绵、热塑性橡胶和热塑性硫化橡胶中的至少一种；所述刚性支撑件的主要材料包括塑料、钢、铜、铝合金和镍钛合金中的至少一种。
  10. 一种夹具，其特征在于，所述夹具包括张合驱动件和至少两个权利要求1至9任意一项所述仿生手指，所述张合驱动件与所述仿生手指连接，以驱动至少两个所述仿生手指相互靠近或相互远离。
  11. 一种权利要求1所述的仿生手指的制造方法，其特征在于，所述方法包括以下步骤：
    提供具有第一出液孔的表皮；
    将弹性体安装在所述表皮的一表面，且所述弹性体至少覆盖部分所述第一出液孔；
    将送液管的第一端安装在所述弹性体远离所述表皮的一侧，且所述送液管的第二端位于所述表皮的外部；
    将刚性支撑件安装于所述送液管；
    将所述表皮折叠，以使所述表皮包裹所述弹性体、所述送液管的第一端和所述刚性支撑件。
  12. 根据权利要求11所述的制造方法，其特征在于，所述提供具有第一出液孔的表皮的步骤具体包括：
    提供成型模具，所述成型模具具有成型凹槽；
    将液态的第一材料倒入所述成型凹槽中，所述第一材料包括硅酮、聚氨酯、丙烯酸酯、天然橡胶、硅胶、氟化硅胶、苯乙烯类热塑性弹性体和乳胶中的至少一种；
    所述第一材料固化后形成所述表皮，并从所述成型模具中取出。
  13. 根据权利要求12所述的制造方法，其特征在于，所述提供成型模具，所述成型模具具有成型凹槽的步骤具体包括：
    在成型容器中放入水和藻酸盐，形成混合物，并放置不超过第一预设时间；
    将手指按压在所述混合物上，并保持第二预设时间；
    将所述手指与所述混合物脱离，所述手指在所述混合物上按压形成所述成型凹槽，所述混合物形成所述成型模具。
  14. 根据权利要求12所述的制造方法，其特征在于，
    在所述将液态的第一材料倒入所述成型凹槽中的步骤之后，所述方法还包括：使用第一微针插入所述第一材料中；
    和/或，在所述将液态的第一材料倒入所述成型凹槽中的步骤之前，所述方法还包括：使用第一微针插入所述成型模具中。
  15. 根据权利要求11所述的制造方法，其特征在于，在所述将弹性体安装在所述表皮的一表面的步骤之前，所述方法还包括以下步骤：
    采用第二材料制作多孔结构，所述第二材料包括海绵、热塑性橡胶和热塑性硫化橡胶中的至少一种；
    将第二微针插入所述多孔结构中，形成第二出液孔；
    将带有所述第二微针的所述多孔结构的一侧浸入疏水溶液中；
    将所述多孔结构从所述疏水溶液中取出，拔出所述第二微针，所述多孔结构形成所述弹性体，所述弹性体与所述疏水溶液接触的表面形成疏水面，所述第二出液孔的孔壁未与所述疏水溶液接触而形成亲水面。
  16. 根据权利要求11至15任意一项所述的制造方法，其特征在于，在所述将刚性支撑件安装于所述送液管的步骤之前，所述方法还包括：采用增材制造技术加工出刚性支撑件。
PCT/CN2024/099917 2023-06-27 2024-06-18 仿生手指、夹具及仿生手指的制造方法 Ceased WO2025001925A1 (zh)

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