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A driver for a soft robot

A robot and driver technology, applied in the field of soft robot driver, can solve the problems of reduced performance stability of microfluidic soft driver, unfavorable long-term continuous use of soft robot, complex manufacturing process, etc., and achieves the solution of flexibility defects and good reliability. , the effect of simple production process

Active Publication Date: 2021-10-01
HOHAI UNIV CHANGZHOU
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although microfluidic technology has obvious advantages such as high integration and small size in the application of soft robots, the complex manufacturing process of microfluidic chips greatly reduces the performance stability of microfluidic soft drivers, which is not conducive to the long-term development of soft robots. time continuous use

Method used

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  • A driver for a soft robot
  • A driver for a soft robot
  • A driver for a soft robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] Such as Figure 1-Figure 3 As shown, a soft robot driver includes a valve body 1 , a main channel 2 , an upper partition 3 , a balance chamber 4 , a bypass channel 5 , a diaphragm 6 , a control chamber 7 , a lower partition 8 and a secondary channel 9 . The driver in this embodiment is made of polydimethylsiloxane except that the diaphragm 6 is made of silica gel.

[0030] The main channel 2 is provided with an inlet 21 and an extended flow channel 1 22, the balance chamber 4 is provided with a pore 1 41, the bypass channel 5 is provided with a pore 2 51, the diaphragm 6 is provided with an upper convex column 61 and a lower convex column 62, and the lower partition 8 Air hole 3 81 is provided, and auxiliary channel 9 is provided with air hole 4 91 and expansion channel 2 92;

[0031] The main passage 2 and the auxiliary passage 9 are connected through the bypass passage 5, the main passage 2 and the balance chamber 4 are separated by the upper partition 3, the balance...

Embodiment 2

[0036] Such as Figure 4-Figure 6 As shown, the soft actuator is integrated with the soft earthworm 11 , and the soft earthworm 11 has hind feet 111 , fore feet 112 and an energy storage device 113 . Connect the drive inlet 21 to a constant working gas source Ps , The pressure of the working gas source is 50kPa. The air hole 1 41 and the air hole 4 91 are both connected to the atmospheric environment. When the diaphragm 6 is in a normal state, the lower partition 8 is concavely squeezed to make the auxiliary channel 9 normally closed, and the main channel 2 is normally opened. Start the working gas source, the compressed gas is inflated to the control chamber 7 and the soft earthworm 11 respectively through the inlet 21, the main channel 2, the side channel 5, the air hole 3 81, and the air hole 2 51, and the accumulator 113 starts to arch upward and along the horizontal swell ( Figure 5 ). At this time, the rear foot 111 is in plane contact with the ground, and the foref...

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Abstract

The invention discloses a soft robot driver, which comprises a valve body, a main passage, an upper partition, a balance chamber, a bypass passage, a diaphragm, a control chamber, a lower partition and an auxiliary passage. The main channel and the auxiliary channel are connected together through the side channel, the main channel and the balance chamber are separated by the upper partition, the balance chamber and the control chamber are separated by the diaphragm, and the auxiliary channel and the control chamber are separated by the lower partition; the diaphragm is a bistable flexible membrane , with two stable positions, concave in normal state, use the lower convex column on the diaphragm to squeeze the lower partition to make the secondary channel normally closed, and the main channel is normally open; when the diaphragm is excited by external force, it will rise rapidly, and use the upper convex column on the diaphragm Squeeze the upper partition to close the main channel and conduct the secondary channel. Utilizing the bistable characteristics of the diaphragm, the driver can realize the function of automatic inflation and deflation, that is, to produce a periodic air pressure pulse effect. The soft robot driver proposed by the invention is made of flexible materials and has the advantages of good flexibility and high sensitivity.

Description

technical field [0001] The invention relates to the field of intelligent bionic instruments and soft robots, in particular to a soft robot driver. Background technique [0002] Traditional rigid robots have been widely used in various fields such as industry, agriculture, medical care, construction, and education, and have partially replaced human work, greatly improving operational accuracy and work efficiency. However, when rigid robots interact with the natural environment, since the rigid components can only move in translation or rotation, there are problems such as large motor drive inertia, bulky body, and dangerous human-computer interaction. Therefore, rigid robots have very limited adaptability to the environment and are difficult to meet The compliant operation requirements required in complex environments largely limit the application range of rigid robots. [0003] With the continuous expansion of robot application requirements and fields, emerging fields such ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02B33Y80/00B33Y70/00
CPCB62D57/02B62D57/021B33Y70/00B33Y80/00
Inventor 张鑫杰夏康纪爱敏
Owner HOHAI UNIV CHANGZHOU