技术领域Technical field
本发明涉及柔性抓手的技术领域，尤其涉及一种软体液气相变仿生柔性抓手及制作方法。The present invention relates to the technical field of flexible grippers, and in particular to a soft liquid gas phase change bionic flexible gripper and a manufacturing method.
背景技术Background technique
柔性执行器作为软体机器人核心动力部件，具备多自由度连续变形、高适应性和交互安全性等优异性能，柔性执行器在生物医学领域被广泛地应用。液气相变柔性执行器由柔性固体材料和低沸点有机溶剂组成。通过相变材料的液气及气液两相转换，控制结构变形行为。液气转换过程主要由温度和固体变形影响，温度逐渐升高，生成气体增多，柔性固体结构变形增大，气体膨胀驱动柔性结构大变形。利用热致液气相变中的气驱变形原理，该类执行器表现出与气动执行器一致的质量轻、输出力大、容易制造、大变形、大驱动力优异特性，与非接触式加热方法结合，可实现无缆气驱致动气动执行器以气体驱动，应用前景广阔。例如，在微创手术领域，软体气动执行器展现出卓越的灵活性，有效减少了患者的疼痛感，显著改善了临床效果，高效优化手术方案，提升手术的安全性水平。同时，软体气动执行器在工业自动化中发挥着重要的作用，对于提高工业生产水平和降低生产成本具有重要意义。As the core power component of soft robots, flexible actuators have excellent properties such as continuous deformation with multiple degrees of freedom, high adaptability, and interactive safety. Flexible actuators are widely used in the biomedical field. The liquid-gas phase change flexible actuator is composed of flexible solid materials and low-boiling point organic solvents. Through the liquid-gas and gas-liquid two-phase conversion of phase change materials, the structural deformation behavior is controlled. The liquid-gas conversion process is mainly affected by temperature and solid deformation. The temperature gradually increases, the generated gas increases, the deformation of the flexible solid structure increases, and the gas expansion drives large deformation of the flexible structure. Utilizing the principle of gas-driven deformation in thermoinduced liquid-gas phase change, this type of actuator exhibits the same characteristics as pneumatic actuators in terms of light weight, large output force, easy manufacturing, large deformation, and large driving force, and is consistent with the non-contact heating method. Combined, cableless air-driven actuation can be realized, and the pneumatic actuator can be driven by gas, which has broad application prospects. For example, in the field of minimally invasive surgery, soft pneumatic actuators have demonstrated excellent flexibility, effectively reducing patients' pain, significantly improving clinical results, efficiently optimizing surgical plans, and improving surgical safety. At the same time, soft pneumatic actuators play an important role in industrial automation and are of great significance for improving industrial production levels and reducing production costs.
然而，基于热致液气相变的柔性结构在实际应用时，仍存在以下问题。一方面，由于热致液气相变材料的流动性，无法通过加热精准控制柔性结构的形变，另一方面，热能加热效率较低，造成柔性执行器驱动存在速度慢的缺点。研究人员尝试了不同方法来解决这一问题。通常采用辅助加热的方式，利用通电时产生的焦耳热作为动力源。然而，这种方式需要另外连接电源，从而降低了执行器的动力输出，限制了该材料在实际应用中的范围。However, the following problems still exist in the practical application of flexible structures based on thermoinduced liquid-vapor phase change. On the one hand, due to the fluidity of thermotropic liquid-gas phase change materials, it is impossible to accurately control the deformation of flexible structures through heating. On the other hand, thermal heating efficiency is low, resulting in the disadvantage of slow driving speed of flexible actuators. Researchers have tried different approaches to solve this problem. Usually, auxiliary heating is used, using the Joule heat generated when electricity is applied as the power source. However, this method requires an additional power supply connection, which reduces the power output of the actuator and limits the range of practical applications of this material.
发明内容Contents of the invention
本部分的目的在于概述本发明的实施例的一些方面以及简要介绍一些较佳实施例。在本部分以及本申请的说明书摘要和发明名称中可能会做些简化或省略以避免使本部分、说明书摘要和发明名称的目的模糊，而这种简化或省略不能用于限制本发明的范围。The purpose of this section is to outline some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section, the abstract and the title of the invention to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions cannot be used to limit the scope of the invention.
鉴于上述现有软体液气相变仿生柔性抓手及制作方法存在的问题，提出了本发明。In view of the above-mentioned problems existing in the existing soft-liquid-vapor phase-change bionic flexible gripper and its manufacturing method, the present invention is proposed.
因此，本发明目的是提供一种软体液气相变仿生柔性抓手。Therefore, the object of the present invention is to provide a soft liquid-gas phase change bionic flexible gripper.
为解决上述技术问题，本发明提供如下技术方案：一种软体液气相变仿生柔性抓手，包括，本体，包括抓手主体、设置在抓手主体上的若干执行器；所述执行器包括形变部以及设置在形变部内的容纳腔，所述容纳腔内填充有填充物料。In order to solve the above technical problems, the present invention provides the following technical solution: a soft liquid gas phase change bionic flexible gripper, including a main body, a gripper body, and several actuators arranged on the gripper body; the actuator includes a deformation part and a receiving cavity provided in the deformation part, and the receiving cavity is filled with filling material.
作为本发明所述软体液气相变仿生柔性抓手的一种优选方案，其中：所述抓手主体包括底座以及设置在底座表面的不可伸缩膜层，所述底座上设置有若干与执行器表面形状匹配的伸出部，As a preferred solution of the soft liquid gas phase change bionic flexible gripper of the present invention, the gripper body includes a base and a non-stretchable film layer disposed on the surface of the base, and a plurality of actuator surfaces are provided on the base. Shape-matching extensions,
其中，所述容纳腔上开设有开口，所述伸出部用于将开口密封，所述不可伸缩膜层选用丝绸。Wherein, the accommodation cavity is provided with an opening, the extension part is used to seal the opening, and the non-stretchable film layer is made of silk.
作为本发明所述软体液气相变仿生柔性抓手的一种优选方案，其中：位于同一所述执行器上的若干容纳腔之间设置有隔断部，所述隔断部材料与执行器材料相同，且所述隔断部材料厚度设置范围为4.9mm-5.1mm之间，所述执行器呈圆周阵列设置，且后端共同连接到中央柱体上，As a preferred solution of the soft liquid-gas phase change bionic flexible gripper of the present invention, partitions are provided between several accommodation cavities located on the same actuator, and the material of the partitions is the same as the material of the actuator. And the setting range of the partition material thickness is between 4.9mm-5.1mm, the actuators are arranged in a circular array, and the rear ends are jointly connected to the central cylinder,
其中，所述执行器尺寸从靠近中央柱体一端向远离中央柱体一端逐渐增大，所述执行器远离中央柱体一端设置为外圆弧状，每个所述执行器内的容纳腔容积从靠近中央柱体一端向远离中央柱体一端逐渐增大。Wherein, the size of the actuator gradually increases from the end close to the central cylinder to the end far away from the central cylinder. The end of the actuator away from the central cylinder is arranged in an outer arc shape. The volume of the accommodation cavity in each actuator It gradually increases from the end close to the central cylinder to the end far away from the central cylinder.
作为本发明所述软体液气相变仿生柔性抓手的一种优选方案，其中：所述执行器材质为柔性材质，所述填充物料包括固态填料以及均匀分布在固态填料内银纳米粒子，所述固态填料内分布有若干相变液滴，所述相变液滴选用氟化液。As a preferred solution of the soft liquid-gas phase change bionic flexible gripper of the present invention, the actuator material is a flexible material, the filling material includes solid filler and silver nanoparticles evenly distributed in the solid filler, and the There are several phase change liquid droplets distributed in the solid filler, and the phase change liquid droplets are selected from fluorinated liquid.
作为本发明所述软体液气相变仿生柔性抓手的一种优选方案，其中：所述底座与执行器之间涂设有粘连剂，所述粘连剂包括等离子体和水。As a preferred solution of the soft liquid gas phase change bionic flexible gripper of the present invention, an adhesive agent is coated between the base and the actuator, and the adhesive agent includes plasma and water.
作为本发明还包括一种软体液气相变仿生柔性抓手制作方法，包括如下步骤，The present invention also includes a method for manufacturing a soft liquid-gas phase change bionic flexible gripper, comprising the following steps:
将EcoflexTM00-30液体分别充入至执行器和底座的制作模具内，并置于真空环境内静置；Fill the EcoflexTM 00-30 liquid into the production molds of the actuator and base respectively, and place them in a vacuum environment;
将固态填料、银纳米粒子和相变液滴按照一定比例进行预混合，并加入至执行器预留的容纳腔102a内；The solid filler, silver nanoparticles and phase change droplets are premixed according to a certain proportion and added to the accommodating cavity 102a reserved for the actuator;
在执行器表面涂设粘连剂，并对接执行器和底座。Apply adhesive on the surface of the actuator and connect the actuator and base.
作为本发明所述软体液气相变仿生柔性抓手制作方法的一种优选方案，其中：所述执行器材料由EcoflexTM00-30聚合物溶液和引发剂依照15:1比例进行混合；As a preferred solution of the soft liquid gas phase change bionic flexible gripper manufacturing method of the present invention, wherein: the actuator material is mixed with EcoflexTM 00-30 polymer solution and initiator in a ratio of 15:1;
并预先在25℃下进行固化。And cured at 25℃ in advance.
作为本发明所述软体液气相变仿生柔性抓手制作方法的一种优选方案，其中：还包括如下步骤，As a preferred solution of the manufacturing method of the soft liquid gas phase change bionic flexible gripper of the present invention, it also includes the following steps:
将氟化液加入Ecoflex00-30预聚物中，并于搅拌速度为30r/min的条件下处理10min；Add the fluorinated liquid to the Ecoflex00-30 prepolymer and process it for 10 minutes at a stirring speed of 30r/min;
加入银纳米粒子并在搅拌速度为30r/min的条件下继续处理5～30min，形成用于驱动的复合材料。Add silver nanoparticles and continue processing for 5 to 30 minutes at a stirring speed of 30 r/min to form a composite material for driving.
作为本发明所述软体液气相变仿生柔性抓手制作方法的一种优选方案，其中：预先对模具在65℃的烘箱中进行光固化、热固化72小时，并用硅烷气体对表面进行处理。As a preferred option of the manufacturing method of the soft liquid-gas phase change bionic flexible gripper of the present invention, the mold is photo-cured and heat-cured in an oven at 65° C. for 72 hours, and the surface is treated with silane gas.
本发明的有益效果：所提出的软体液气相变仿生柔性抓手，抓手本体上具有向外周伸出的多个手指，每个手指包括多个沿其伸出方向依次布置的形变部，每个形变部内部设有容纳腔，所述容纳腔内填充有固态填料，所述固态填料内分布有多个相变液滴。通过上述优化设计的软体液气相变仿生柔性抓手，结构设计合理，每个手指的多个形变部内分别设置容纳腔，并且每个容纳腔填充内部均匀分布相变液滴的固态填料，通过激光等热载荷驱动下，可精准控制制定区域的液滴的气液相变，模拟多个指节的弯曲动作，从而随着体积变化控制手指的形变，实现快速驱动柔性抓手的大形变。Beneficial effects of the present invention: the proposed soft liquid gas phase change bionic flexible gripper has a plurality of fingers extending toward the outer periphery on the gripper body. Each finger includes a plurality of deformation parts arranged sequentially along its extending direction. Each deformation part is provided with an accommodation cavity inside, the accommodation cavity is filled with solid filler, and a plurality of phase change liquid droplets are distributed in the solid filler. Through the above-mentioned optimized design of the soft liquid-gas phase change bionic flexible gripper, the structure is reasonably designed. Each finger has multiple deformation portions with accommodation cavities, and each accommodation cavity is filled with a solid filler with evenly distributed phase change droplets inside. Through laser Driven by equal thermal loads, the gas-liquid phase change of droplets in a specified area can be accurately controlled, simulating the bending action of multiple knuckles, thereby controlling the deformation of the finger as the volume changes, and achieving large deformation of the flexible gripper quickly.
附图说明Description of drawings
为了更清楚地说明本发明实施例的技术方案，下面将对实施例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发明的一些实施例，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它的附图。其中：In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:
图1为本发明软体液气相变仿生柔性抓手的整体结构爆炸示意图。FIG1 is an exploded schematic diagram of the overall structure of the soft liquid-gas phase change bionic flexible gripper of the present invention.
图2为本发明软体液气相变仿生柔性抓手所述的整体结构爆炸上视示意图。Figure 2 is an exploded top view of the overall structure of the soft liquid-gas phase change bionic flexible gripper of the present invention.
图3为本发明软体液气相变仿生柔性抓手制作方法所述的抓取压力随温度变化的示意图。Figure 3 is a schematic diagram showing the change of grasping pressure with temperature according to the manufacturing method of soft liquid gas phase change bionic flexible gripper of the present invention.
图4为本发明软体液气相变仿生柔性抓手制作方法所述的尺寸改变和压力改变的关系示意图。FIG. 4 is a schematic diagram showing the relationship between size change and pressure change described in the method for making a soft liquid-gas phase change bionic flexible gripper of the present invention.
图5为本发明软体液气相变仿生柔性抓手制作方法所述的执行器各部分尺寸示意图。Figure 5 is a schematic diagram of the dimensions of each part of the actuator according to the manufacturing method of soft liquid-gas phase change bionic flexible gripper of the present invention.
具体实施方式Detailed ways
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合说明书附图对本发明的具体实施方式做详细的说明。In order to make the above objects, features and advantages of the present invention more obvious and understandable, the specific implementation modes of the present invention will be described in detail below with reference to the accompanying drawings.
在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是本发明还可以采用其他不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本发明内涵的情况下做类似推广，因此本发明不受下面公开的具体实施例的限制。Many specific details are set forth in the following description to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Those skilled in the art can do so without departing from the connotation of the present invention. Similar generalizations are made, and therefore the present invention is not limited to the specific embodiments disclosed below.
其次，此处所称的“一个实施例”或“实施例”是指可包含于本发明至少一个实现方式中的特定特征、结构或特性。在本说明书中不同地方出现的“在一个实施例中”并非均指同一个实施例，也不是单独的或选择性的与其他实施例互相排斥的实施例。Second, reference herein to "one embodiment" or "an embodiment" refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. "In one embodiment" appearing in different places in this specification does not all refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.
再其次，本发明结合示意图进行详细描述，在详述本发明实施例时，为便于说明，表示器件结构的剖面图会不依一般比例作局部放大，而且所述示意图只是示例，其在此不应限制本发明保护的范围。此外，在实际制作中应包含长度、宽度及深度的三维空间尺寸。Next, the present invention will be described in detail with reference to schematic diagrams. When describing the embodiments of the present invention in detail, for the convenience of explanation, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples and should not be used here. Limit the scope of protection of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in actual production.
实施例1Example 1
参照图1-2，本发明公开了一种软体液气相变仿生柔性抓手，包括本体100，在本实施例中，本体100包括抓手主体101，抓手主体101形状为圆柱形，在抓手主体101上还设置有若干执行器102，执行器102从抓手主体101沿圆周阵列设置，在本实施例中，执行器102数量设置为8个，在本实施例中，执行器102包括形变部以及设置在形变部内的容纳腔102a，在容纳腔102a内填充有填充物料200。Referring to Figures 1-2, the present invention discloses a soft liquid gas phase change bionic flexible gripper, which includes a body 100. In this embodiment, the body 100 includes a gripper body 101. The gripper body 101 is cylindrical in shape. Several actuators 102 are also provided on the hand body 101. The actuators 102 are arranged in a circumferential array from the gripper body 101. In this embodiment, the number of actuators 102 is set to 8. In this embodiment, the actuators 102 include The deformation part and the accommodation cavity 102a provided in the deformation part, and the accommodation cavity 102a is filled with filling material 200.
进一步的，在本实施例中，抓手主体101包括底座101a以及设置在底座101a表面的不可伸缩膜层101b，底座101a形状依照执行器102的数量进行设置，用于覆盖整个抓手主体101和执行器102的表面，而不可伸缩膜层101b则是固定底座101a，使得形变集中发生在形变部远离底座101a一侧，进一步提高抓手灵敏度，在底座101a上设置有若干与执行器102表面形状匹配的伸出部101c，其中，在容纳腔102a上开设有开口，而底座101a的伸出部101c用于将开口密封，而在本实施例中，不可伸缩膜层101b选用丝绸或者选用硬质纸。Further, in this embodiment, the gripper body 101 includes a base 101a and a non-stretchable film layer 101b disposed on the surface of the base 101a. The shape of the base 101a is set according to the number of actuators 102 to cover the entire gripper body 101 and The surface of the actuator 102, and the non-stretchable film layer 101b is the fixed base 101a, so that the deformation occurs concentratedly on the side of the deformation part away from the base 101a, further improving the sensitivity of the gripper. Several holes with the same shape as the surface of the actuator 102 are provided on the base 101a. Matching extension part 101c, in which an opening is opened in the accommodation cavity 102a, and the extension part 101c of the base 101a is used to seal the opening. In this embodiment, the non-stretchable film layer 101b is made of silk or hard material. Paper.
操作过程：利用激光热驱动柔性执行器102，对容纳腔102a内的填充物料200进行加热，通过热载荷改变腔体中填充物料200的体积，从而引起指定形变部的膨胀，从而实现手指的变形，实现对易损试样的抓取。Operation process: The flexible actuator 102 is driven by laser heat to heat the filling material 200 in the accommodating cavity 102a, and the volume of the filling material 200 in the cavity is changed by the thermal load, thereby causing the expansion of the designated deformation part, thereby realizing the deformation of the finger and grasping the fragile sample.
实施例2Example 2
参照图1和2，本实施例不同于上一个实施例的是：进一步的，位于同一执行器102上的若干容纳腔102a之间设置有隔断部102b，且隔断部102b材料与执行器102材料相同，在本实施例中，每一个执行器102上的隔断部102b数量为2个，进而每个执行器102内的容纳腔102a数量为3，且隔断部102b的材料厚度设置范围为4.9mm-5.1mm之间，在本实施例中优选为5mm，Referring to Figures 1 and 2, this embodiment is different from the previous embodiment in that: further, partitions 102b are provided between several accommodation cavities 102a located on the same actuator 102, and the material of the partitions 102b is different from the material of the actuator 102. Similarly, in this embodiment, the number of partition parts 102b on each actuator 102 is 2, and the number of accommodation cavities 102a in each actuator 102 is 3, and the material thickness setting range of the partition parts 102b is 4.9 mm. -5.1mm, preferably 5mm in this embodiment,
进一步的，每个执行器102的尺寸从靠近中央柱体101一端向远离中央柱体101一端逐渐增大，从执行器102的正上方观察，执行器102的两个长边，从抓手主体101向外延伸，且延伸方向为抓手主体101的圆柱形的轴向方向，两个长边之间夹角为50°-40°，而在执行器102远离中央柱体101一端设置为外圆弧状，外圆弧状连接执行器102的两个长边，使得执行器102为类似扇形，而此形状设置使得每个执行器102内的容纳腔102a容积从靠近中央柱体101一端向远离中央柱体101一端逐渐增大，且隔断部102b的形状也为弧形，进而使得隔断部102b的横截面形状也形成类似扇形，此设置将手指的容纳腔102a体积设计为近端较小末端较大，在需要较大形变量的手指近端，只需较小热量即可驱动其弯曲，而在与产品接触的末端，其形变量较小，避免施力过大造成产品损伤。进一步地，每个形变部的容纳腔102a的内径向外逐渐增大。Furthermore, the size of each actuator 102 gradually increases from the end close to the central cylinder 101 to the end far away from the central cylinder 101. Viewed from directly above the actuator 102, the two long sides of the actuator 102, from the gripper body 101 extends outward, and the extension direction is the axial direction of the cylindrical shape of the gripper body 101, the angle between the two long sides is 50°-40°, and the end of the actuator 102 away from the central cylinder 101 is set to the outside Arc shape, the outer arc shape connects the two long sides of the actuator 102, so that the actuator 102 is similar to a fan shape, and this shape is set so that the volume of the accommodation cavity 102a in each actuator 102 is from the end close to the central cylinder 101 to The end away from the central cylinder 101 gradually increases, and the shape of the partition 102b is also arc-shaped, so that the cross-sectional shape of the partition 102b also forms a fan-like shape. This arrangement designs the volume of the finger receiving cavity 102a to be smaller at the proximal end. The end is larger, and at the proximal end of the finger that requires greater deformation, less heat is needed to drive it to bend, while at the end in contact with the product, the deformation is smaller to avoid product damage caused by excessive force. Further, the inner diameter of the accommodation cavity 102a of each deformation portion gradually increases outward.
进一步的，执行器102材质为柔性材质，在本实施例中，填充物料200包括固态填料以及均匀分布在固态填料内银纳米粒子，银纳米粒子良好的导热性使低沸点的氟化液迅速达到沸点，液体沸腾转化为气体，实现快速驱动柔性执行器102大变形。Furthermore, the actuator 102 is made of flexible material. In this embodiment, the filling material 200 includes solid filler and silver nanoparticles evenly distributed in the solid filler. The good thermal conductivity of the silver nanoparticles allows the low boiling point fluorinated liquid to quickly reach Boiling point, liquid boils and converts into gas, realizing rapid driving of the flexible actuator 102 and large deformation.
固态填料内分布有若干相变液滴，相变液滴选用氟化液，在相变液滴的具体设计方式中，相变液滴采用低熔点有机溶剂。常用的低沸点溶剂为酒精，但酒精沸点较高，高驱动温度易损害样品。因此，可选用氟化液作为低沸点有机溶剂，在40度低温时，即可使抓手本体100产生形变，从而控手指的张开闭合，即可实现超高灵敏输出力。在氟化液的实际选择时，可采用3MTMNovecTM1700电子氟化液，其为一种具有低表面强度的透明低粘度溶液，氢氟醚溶剂中包含质量分数为2％的含氟丙烯酸聚合物。There are a number of phase change droplets distributed in the solid filler, and the phase change droplets are selected from fluorinated liquid. In the specific design of the phase change droplets, the phase change droplets use low melting point organic solvents. The commonly used low boiling point solvent is alcohol, but alcohol has a high boiling point, and high driving temperature is easy to damage the sample. Therefore, fluorinated liquid can be selected as a low boiling point organic solvent. At a low temperature of 40 degrees, the gripper body 100 can be deformed, thereby controlling the opening and closing of the fingers, and achieving ultra-high sensitive output force. When actually selecting the fluorinated liquid, 3MTM NovecTM 1700 electronic fluorinated liquid can be used, which is a transparent low viscosity solution with low surface strength, and the hydrofluoroether solvent contains a fluorinated acrylic polymer with a mass fraction of 2%.
作为优选的，在底座101a与执行器102之间涂设有粘连剂201，在本实施例中，粘连剂201包括氧等离子体和水。Preferably, an adhesive 201 is coated between the base 101a and the actuator 102. In this embodiment, the adhesive 201 includes oxygen plasma and water.
操作过程：通过上述优化设计的软体液气相变仿生柔性抓手，结构设计合理，每个手指的多个形变部内分别设置容纳腔102a，并且每个容纳腔102a填充内部均匀分布相变液滴的固态填料，通过激光等热载荷驱动下，可精准控制制定区域的液滴的气液相变，从而随着体积变化控制手指的形变，实现快速驱动柔性抓手的形变。Operation process: The soft liquid-gas phase change bionic flexible gripper with the above-mentioned optimized design has a reasonable structural design. The multiple deformation parts of each finger are respectively provided with a receiving cavity 102a, and each receiving cavity 102a is filled with a solid filler with phase change droplets evenly distributed inside. Driven by thermal loads such as lasers, the gas-liquid phase change of the droplets in the specified area can be accurately controlled, thereby controlling the deformation of the finger as the volume changes, and realizing rapid driving of the deformation of the flexible gripper.
实施例3Example 3
参照图5，本实施例不同于上一个实施例的是：一种软体液气相变仿生柔性抓手制作方法，包括如下步骤：5 , the present embodiment is different from the previous embodiment in that: a method for manufacturing a soft liquid-gas phase change bionic flexible gripper comprises the following steps:
S1、首先制作执行器102和底座101a的制作模具。S1. First, make molds for the actuator 102 and the base 101a.
制备执行器102所需的模具是通过立体光刻3D打印机进行制作的。为了完成该液气相变执行器102的制造，分别在65℃的烘箱中进行光固化、热固化72小时，以及硅烷气体作为表面处理，硅化可以通过包含硅烷气体使表面更加疏水，便于脱模。The mold required for preparing the actuator 102 is made by a stereolithography 3D printer. In order to complete the manufacture of the liquid-gas phase change actuator 102, light curing, heat curing for 72 hours in an oven at 65°C, and silane gas as a surface treatment are performed. Siliconization can make the surface more hydrophobic by including silane gas, which is convenient for demolding.
将EcoflexTM00-30聚合物溶液和引发剂以15:1的比例混合，以获得非常柔软和可变形的材料，以25℃的温度固化一周。将混合液倒入模具，放置于真空环境中去除气泡。EcoflexTM 00-30 polymer solution and initiator were mixed in a ratio of 15:1 to obtain a very soft and deformable material, which was cured for one week at 25°C. The mixture was poured into a mold and placed in a vacuum environment to remove air bubbles.
模具的第一部分执行器102的端部圆弧的圆心到中央柱体101的距离为25mm，执行器端部的圆弧的半径为7mm，厚度为1.5mm，容纳腔102a由两个间距为5mm的圆弧组成，容纳腔102a之间的实体(隔断部102b)厚度为2mm，中央柱体101的半径为5mm。底座101a的模具和执行器模型尺寸相同，即执行器102圆心到抓手主体101的距离为25mm，圆弧的半径为7mm，执行器中间的中间圆柱半径为5mm.The distance from the center of the arc at the end of the actuator 102 to the central cylinder 101 of the first part of the mold is 25mm, the radius of the arc at the end of the actuator is 7mm, and the thickness is 1.5mm. The accommodation cavity 102a consists of two parts with a spacing of 5mm. The thickness of the solid body (partition part 102b) between the accommodation cavities 102a is 2 mm, and the radius of the central cylinder 101 is 5 mm. The mold of the base 101a and the actuator model have the same size, that is, the distance from the center of the actuator 102 to the gripper body 101 is 25mm, the radius of the arc is 7mm, and the radius of the intermediate cylinder in the middle of the actuator is 5mm.
S2、将Ecoflex 00-30液体、氟化液液滴与银纳米粒子均匀搅拌后，填入执行器102每个形变部的容纳腔102a内，在真空环境中去除气泡后固化；S2. Stir Ecoflex 00-30 liquid, fluoride liquid droplets and silver nanoparticles evenly, fill them into the accommodation cavity 102a of each deformation part of the actuator 102, remove bubbles in a vacuum environment and then solidify;
将氟化液加入所述Ecoflex00-30预聚物中，并于搅拌速度为30r/min的条件下处理10min，之后加入银纳米粒子再于搅拌速度为30r/min的条件下继续处理25min，形成可被热载荷驱动的复合材料；Adding fluorinated liquid to the Ecoflex00-30 prepolymer and treating it for 10 minutes at a stirring speed of 30 r/min, then adding silver nanoparticles and continuing to treat it for 25 minutes at a stirring speed of 30 r/min to form a composite material that can be driven by thermal load;
具体地，氟化液、Ecoflex00-30与银纳米粒子之间的质量比为32：92：40。Specifically, the mass ratio between fluorinated liquid, Ecoflex00-30 and silver nanoparticles is 32:92:40.
S3、将底座101a粘合到执行器102上。S3 , bonding the base 101 a to the actuator 102 .
具体地，粘合剂采用氧等离子体处理和水作为粘合液将底座101a和执行器102粘合在一起，通过使用氧等离子体处理和水作为粘合液，将先前制造的结构粘合在固化的EcoflexTM00-30底座101a上。当水最终蒸发时，两片固化的EcoflexTM00-30之间形成了牢固的气密结合，形成含有容纳腔102a的执行器102。Specifically, the adhesive uses oxygen plasma treatment and water as a bonding fluid to bond the base 101a and the actuator 102 together. The previously fabricated structure is bonded to the base 101a by using oxygen plasma treatment and water as a bonding fluid. Cured Ecoflex™ 00-30 on base 101a. When the water finally evaporates, a strong, airtight bond is formed between the two pieces of cured Ecoflex™ 00-30, forming the actuator 102 containing the housing cavity 102a.
下面通过具体实例详细说明本实施例的柔性抓手及其制作方法。The flexible gripper of this embodiment and its manufacturing method will be described in detail below through specific examples.
作为优选的，在设置过程中，执行器102的中心轴线与底座101a的中心轴线重合。Preferably, during the setting process, the central axis of the actuator 102 coincides with the central axis of the base 101a.
将Ecoflex 00-30液体、氟化液液滴和银纳米粒子充分搅拌均匀，确保氟化液与Ecoflex 00-30的质量比为33:100。然后将混合物均匀分散到事先准备好的执行器模具的三段容纳腔102a中。将两个模具置于真空环境中，以去除所有气泡。在消除气泡后，在执行器102的底面滴加氧等离子体处理和水作为粘合液，再将执行器102放置在底座101a的上表面，通过粘合液将聚合物气动执行器102连接在底座101a的上表面，形成柔性执行器102。Stir the Ecoflex 00-30 liquid, fluorinated liquid droplets and silver nanoparticles evenly to ensure that the mass ratio of fluorinated liquid to Ecoflex 00-30 is 33:100. The mixture is then evenly dispersed into the three-section containing cavity 102a of the actuator mold prepared in advance. Place both molds in a vacuum environment to remove all air bubbles. After eliminating the bubbles, drop oxygen plasma treatment and water as adhesive liquid on the bottom surface of the actuator 102, then place the actuator 102 on the upper surface of the base 101a, and connect the polymer pneumatic actuator 102 to the bottom surface of the actuator 102 through the adhesive liquid. The upper surface of the base 101a forms the flexible actuator 102.
在上述实施例中，气动执行器102采用粘合液胶制成，粘合液可选择氧等离子体处理和水的混合体。In the above embodiment, the pneumatic actuator 102 is made of adhesive liquid glue, and the adhesive liquid can be a mixture of oxygen plasma treatment and water.
在具体设置过程中，执行器102端部的弧形圆心到抓手主体101中心的距离e为25mm，执行器端部的半径b为7mm，执行器端部的厚度a为1.5mm，容纳腔102a由两个间距为5mm的圆弧组成，容纳腔102a的间隙c为5mm，容纳腔102a之间的实体厚度d为2mm，具体参数位置如图5中所示。执行器102的气体通道体积过大时，需要更大的力驱动花瓣的弯曲，不利于快速致动和控制输出力。执行器102的气体通道体积过小时，无法足够大的输出力。因此针对样本选取适当气体通道体积是非常必要的。During the specific setting process, the distance e from the arc center of the end of the actuator 102 to the center of the gripper body 101 is 25mm, the radius b of the actuator end is 7mm, the thickness a of the actuator end is 1.5mm, and the accommodation cavity 102a consists of two arcs with a distance of 5mm. The gap c of the accommodation cavity 102a is 5mm. The physical thickness d between the accommodation cavity 102a is 2mm. The specific parameter position is shown in Figure 5. When the volume of the gas channel of the actuator 102 is too large, greater force is required to drive the bending of the petals, which is not conducive to rapid actuation and control of the output force. If the gas channel volume of the actuator 102 is too small, the output force cannot be large enough. Therefore, it is necessary to select an appropriate gas channel volume for the sample.
在使用上述执行器102时，利用激光热驱动柔性执行器102，通过热载荷改变腔体中气体的体积，从而引起执行器变形，实现对易损试样的抓取。When using the above-mentioned actuator 102, the flexible actuator 102 is driven by laser heat, and the volume of the gas in the cavity is changed through thermal load, thereby causing the actuator to deform, thereby realizing the grasping of fragile samples.
实施例3Example 3
参照图5，为本发明的一个实施例，提供了一种软体液气相变仿生柔性抓手，为了验证本发明的有益效果，通过仿真实验进行科学论证。Referring to Figure 5, an embodiment of the present invention provides a soft liquid-gas phase change bionic flexible gripper. In order to verify the beneficial effects of the present invention, scientific demonstration is conducted through simulation experiments.
选择现有的环境，使用基于我方发明技术方案的完整设置数据，配合相应软件，配置压力传感器、力度传感器、温度传感器和其他相关传感器、微处理器、无线通讯模块和中央控制台。Select the existing environment, use the complete setup data based on our invented technical solution, and cooperate with the corresponding software to configure the pressure sensor, force sensor, temperature sensor and other related sensors, microprocessor, wireless communication module and central console.
制造五种尺寸不同的执行器102，具体参数参照下表。Five actuators 102 with different sizes are manufactured, and the specific parameters are as shown in the table below.
表1五种执行器的尺寸设置表Table 1 Size setting table of five kinds of actuators
首先第一次加热实验：利用同一强度的热载荷对各个执行器102的端部位置进行加热，使其发生变形，利用高速摄影机分别记录三种执行器102的形变状态进行记录，而摄影机的记录位置设置在执行器102的侧面位置，以便更好记录执行器102弯折的角度和形变状态。First, the first heating experiment: use the same intensity of thermal load to heat the end position of each actuator 102 to cause it to deform, and use a high-speed camera to record the deformation states of the three actuators 102, and the camera records The position is set on the side of the actuator 102 in order to better record the bending angle and deformation state of the actuator 102.
而后截取同一时间节点下的五个执行器102的形变状态照片，将照片内的执行器102状态进行记录，将执行器102的具体形状依照照片进行描边，并按照1:3的比例放大，而后得到真实执行器102的具体形变后数据。Then take photos of the deformation states of the five actuators 102 at the same time node, record the state of the actuator 102 in the photos, outline the specific shape of the actuators 102 according to the photos, and enlarge it at a ratio of 1:3. Then, the specific deformed data of the real actuator 102 is obtained.
此实验仅观测执行器的形变状态，检测当尺寸增大时，执行器是否依旧会发生形变。This experiment only observes the deformation state of the actuator and detects whether the actuator will still deform when the size increases.
实施例4Example 4
本实施例4在实施例3的基础上，进行的第二次加热实验：在利用高速摄影机记录的同时，利用计时器，在热载荷开启时进行计时，同时在每个执行器102的下端均设置一个红外信号光源，记录每个执行器102发生形变到红外信号光源的时间，同时记录遮挡红外信号光源的总时间。其他条件与实施例3相同。This Embodiment 4 conducts a second heating experiment based on Embodiment 3: while recording with a high-speed camera, a timer is used to time when the thermal load is turned on, and at the same time, the lower end of each actuator 102 is Set up an infrared signal light source, record the time when each actuator 102 deforms to the infrared signal light source, and record the total time that the infrared signal light source is blocked. Other conditions are the same as Example 3.
由具体实验数据得知：执行器1的遮挡红外信号光源的总时间为1.1s、执行器2的遮挡红外信号光源的总时间为2.1s、执行器3的遮挡红外信号光源的总时间为1.05s、执行器4为1.07s、执行器5的总时间为1.2s，进而可以得知当尺寸过大时，对于执行器102到达相同的工作角度和状态的时间也会延长，动作时间过长导致无法及时响应进行抓取。From the specific experimental data, we know that the total time of actuator 1 blocking the infrared signal light source is 1.1s, the total time of actuator 2 blocking the infrared signal light source is 2.1s, the total time of actuator 3 blocking the infrared signal light source is 1.05s, actuator 4 is 1.07s, and the total time of actuator 5 is 1.2s. It can be known that when the size is too large, the time for actuator 102 to reach the same working angle and state will also be extended, and the action time is too long, resulting in an inability to respond in time for grasping.
实施例5Example 5
参照图3-5，本实施例5在实施例3的基础上，进行的第三次加热实验：在每个执行器102的下端均设置一个由聚合物黏土或橡胶支撑的可发生形变且在形变后固态形状的方形块状物体，并在块状物体内部设置多个微型压力传感器。其余条件与实施例3相同。3-5 , this embodiment 5 is based on the embodiment 3 and performs a third heating experiment: a square block object supported by polymer clay or rubber that can be deformed and has a solid shape after deformation is set at the lower end of each actuator 102, and a plurality of micro pressure sensors are set inside the block object. The remaining conditions are the same as those of embodiment 3.
在本实施例中，微型压力传感器的排布方式是类似在一个四分之一球面进行排布设置，设置的要求是：以方形块状物体的最上端的一边为横向排布展开方向，以方形块状物体的最上端的一边的中心点为设定的“球”的中心点，以此建立一个半径为2/3边长的“球体”，并将微型压力传感器安装至“球体”表面，因为执行器102的形变发生弯折是模仿抓手的抓取，而抓取的接触表面形状类似一个球面，进而设置一个虚拟类球体进行微型压力传感器的排布，进而能够更好的监测执行器102抓取时的表面压力。In this embodiment, the arrangement of the micro pressure sensors is similar to that on a quarter sphere, and the setting requirements are: the top side of the square block object is used as the lateral arrangement and expansion direction, and the center point of the top side of the square block object is used as the center point of the set "ball", so as to establish a "sphere" with a radius of 2/3 of the side length, and install the micro pressure sensor on the surface of the "sphere", because the deformation and bending of the actuator 102 simulates the grasping of the gripper, and the shape of the grasping contact surface is similar to a spherical surface, and then a virtual sphere-like is set to arrange the micro pressure sensors, so as to better monitor the surface pressure of the actuator 102 during grasping.
同时，对每个微型压力传感器的数据进行记录，并在记录后进行整合，并观测压力随时间的变化，优选的，本实施例中，微型压力传感器设置6个。At the same time, the data of each micro pressure sensor is recorded, integrated after recording, and the change of pressure over time is observed. Preferably, in this embodiment, six micro pressure sensors are provided.
然后对五个执行器102分别进行加热，使其发生形变，记录微型压力传感器变化数值和所有微型压力传感器均接受到压力的时间，如下表。Then, the five actuators 102 are heated respectively to cause deformation, and the change values of the micro pressure sensors and the time when all micro pressure sensors receive pressure are recorded, as shown in the table below.
表2当热载荷加热到160℃时压力及接收压力时间表Table 2 Pressure and receiving pressure schedule when the thermal load is heated to 160°C
通过上表可以得知，执行器102尺寸过大时，虽然所有微型压力传感器接收到压力信号时间短，但是力度太大，超出本发明所需要的在此条件下的抓取力度。It can be seen from the above table that when the size of the actuator 102 is too large, although all the micro pressure sensors receive the pressure signal for a short time, the force is too large, exceeding the grasping force required by the present invention under this condition.
而由图3和图4(图4横坐标为执行器102尺寸变化)可以得知，在本实施例中，当尺寸越大时，执行器102的最大压力数值越大，但当执行器102尺寸不变，而改变温度时，压力并不是一直增大，而有平稳段和下降段，进而导致对于压力的控制十分困难，而图3中，执行器4和5的尺寸仅仅在执行器1的尺寸上进行微调，可以发现在此尺寸下变化依旧可控。It can be known from Figure 3 and Figure 4 (the abscissa of Figure 4 is the size change of the actuator 102) that in this embodiment, when the size is larger, the maximum pressure value of the actuator 102 is larger, but when the actuator 102 The size remains unchanged, but when the temperature changes, the pressure does not increase all the time, but has a plateau section and a declining section, which makes it very difficult to control the pressure. In Figure 3, the sizes of actuators 4 and 5 are only within the range of actuator 1. Make fine adjustments to the size, and you can find that the changes are still controllable at this size.
重要的是，应注意，在多个不同示例性实施方案中示出的本申请的构造和布置仅是例示性的。尽管在此公开内容中仅详细描述了几个实施方案，但参阅此公开内容的人员应容易理解，在实质上不偏离该申请中所描述的主题的新颖教导和优点的前提下，许多改型是可能的(例如，各种元件的尺寸、尺度、结构、形状和比例、以及参数值(例如，温度、压力等)、安装布置、材料的使用、颜色、定向的变化等)。例如，示出为整体成形的元件可以由多个部分或元件构成，元件的位置可被倒置或以其它方式改变，并且分立元件的性质或数目或位置可被更改或改变。因此，所有这样的改型旨在被包含在本发明的范围内。可以根据替代的实施方案改变或重新排序任何过程或方法步骤的次序或顺序。在权利要求中，任何“装置加功能”的条款都旨在覆盖在本文中所描述的执行所述功能的结构，且不仅是结构等同而且还是等同结构。在不背离本发明的范围的前提下，可以在示例性实施方案的设计、运行状况和布置中做出其他替换、改型、改变和省略。因此，本发明不限制于特定的实施方案，而是扩展至仍落在所附的权利要求书的范围内的多种改型。It is important to note that the construction and arrangements of the present application shown in various exemplary embodiments are illustrative only. Although only a few embodiments are described in detail in this disclosure, those reviewing this disclosure will readily appreciate that many modifications are possible without materially departing from the novel teachings and advantages of the subject matter described in this application. are possible (e.g. variations in size, scale, structure, shape and proportion of various elements, as well as parameter values (e.g. temperature, pressure, etc.), mounting arrangements, use of materials, colors, orientations, etc.). For example, an element shown as integrally formed may be constructed from multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means-plus-function" clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operation and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the invention is not limited to particular embodiments, but extends to various modifications which still fall within the scope of the appended claims.
此外，为了提供示例性实施方案的简练描述，可以不描述实际实施方案的所有特征(即，与当前考虑的执行本发明的最佳模式不相关的那些特征，或于实现本发明不相关的那些特征)。Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.
应理解的是，在任何实际实施方式的开发过程中，如在任何工程或设计项目中，可做出大量的具体实施方式决定。这样的开发努力可能是复杂的且耗时的，但对于那些得益于此公开内容的普通技术人员来说，不需要过多实验，所述开发努力将是一个设计、制造和生产的常规工作。It is understood that numerous implementation-specific decisions may be made during the development of any actual implementation, as in any engineering or design project. Such a development effort might be complex and time consuming, but would be a routine undertaking of design, manufacture and production without undue experimentation to those of ordinary skill having the benefit of this disclosure .
应说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的精神和范围，其均应涵盖在本发明的权利要求范围当中。It should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solution of the present invention can be carried out. Modifications or equivalent substitutions without departing from the spirit and scope of the technical solution of the present invention shall be included in the scope of the claims of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN202311627569.6ACN117773984A (en) | 2023-11-30 | 2023-11-30 | A soft liquid-gas phase change bionic flexible gripper and its production method |
| Application Number | Priority Date | Filing Date | Title |
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| CN202311627569.6ACN117773984A (en) | 2023-11-30 | 2023-11-30 | A soft liquid-gas phase change bionic flexible gripper and its production method |
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| CN117773984Atrue CN117773984A (en) | 2024-03-29 |
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| CN202311627569.6APendingCN117773984A (en) | 2023-11-30 | 2023-11-30 | A soft liquid-gas phase change bionic flexible gripper and its production method |
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| CN119555243A (en)* | 2024-11-19 | 2025-03-04 | 中航电测仪器(西安)有限公司 | A robot dexterous hand distal finger force sensor and calibration method |
| CN119924913A (en)* | 2025-01-23 | 2025-05-06 | 南京涓润医疗科技有限公司 | Surgical suture needle |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN119555243A (en)* | 2024-11-19 | 2025-03-04 | 中航电测仪器(西安)有限公司 | A robot dexterous hand distal finger force sensor and calibration method |
| CN119924913A (en)* | 2025-01-23 | 2025-05-06 | 南京涓润医疗科技有限公司 | Surgical suture needle |
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| CN117773984A (en) | A soft liquid-gas phase change bionic flexible gripper and its production method | |
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