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A Soft Finger Using Soft Valve Arrays to Realize Segmental Bending

A technology of software and fingers, which is applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of small grasping range and complex structure of pneumatic soft hands, and achieve the effect of large grasping range, simple structure and easy control

Active Publication Date: 2022-04-29
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

[0006] In view of the above defects or improvement needs of the prior art, the present invention provides a soft finger that uses a soft valve array to realize segmental bending. The technical problems of complex structure and small grasping range of the soft hand

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  • A Soft Finger Using Soft Valve Arrays to Realize Segmental Bending
  • A Soft Finger Using Soft Valve Arrays to Realize Segmental Bending
  • A Soft Finger Using Soft Valve Arrays to Realize Segmental Bending

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Embodiment Construction

[0041] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0042] see figure 1 , figure 2 , image 3 and Figure 4, the present invention provides a soft finger that utilizes a soft valve array to achieve segmental bending. The soft finger includes: a bellows 1, a negative electrode sheet 3, a positive electrode sheet 4, a catheter 7 and several wires. The bellows 1 includes a bellows body 1-1 and a bellows cover 1-2, the side of the bellows body 1...

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Abstract

The invention discloses a soft finger that uses a soft valve array to realize segmental bending, belongs to the related technical field of soft robots, and includes a bellows, a negative electrode sheet, a positive electrode sheet and a conduit; the bellows body includes a plurality of sequentially connected cavities The main body is provided with a conduit interface communicating with the chamber; the conduit is embedded in the bellows cover and extends to the last chamber; a channel for the flow of giant electrorheological fluid is formed between the positive and negative electrodes; The giant electrorheological fluid outside the channel of the chamber applies an electric field to close the soft valve at the corresponding position and block the circulation of the giant electrorheological fluid, so that the soft finger can achieve a predetermined segmental bending. After the soft finger reaches a predetermined configuration, adjust The rigidity of the bellows body at other positions to achieve stable grasping of objects. The present invention realizes segmental bending of the soft finger by controlling the opening and closing state of the soft valve inside the soft finger, so as to realize different configurations of the soft finger, and is applicable to various application scenarios.

Description

technical field [0001] The invention belongs to the technical field related to soft robots, and more specifically relates to a soft finger that uses a soft valve array to realize segmental bending. Background technique [0002] In recent years, the rapid development of soft robots has provided new solutions to the problems of poor safety and flexibility of traditional robots in human-computer interaction and complex environments. Different from robots composed of rigid parts in the traditional sense, the soft robot body is mainly made of flexible materials, and its movement is realized by the deformation of the soft robot itself, so it has inherent high flexibility, good compliance, and excellent adaptability The interactivity with nature and safety has also made soft robots more and more important in the fields of medical treatment, education, service, rescue, exploration, detection, wearable devices, etc., and has shown great development potential. [0003] For the robot'...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J15/08
CPCB25J15/0023B25J15/08
Inventor 韩斌黄添添徐德南陈学东
Owner HUAZHONG UNIV OF SCI & TECH
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