Soft finger based on giant electro-rheological valve and soft gripper with integrated driving control

Abstract

The application provides a soft finger based on a giant electro-rheological valve and a soft gripper integrated with driving control, and belongs to the technical field of soft robots. The soft finger comprises a fluid grid layer and a bottom plate layer. The fluid grid layer comprises a main channel and a plurality of grids. Each grid is provided with a branch cavity. The bottom of the branch cavity is provided with an opening. The bottom of the branch cavity of each grid is communicated with the main channel. A branch soft valve is arranged on the side wall of the branch cavity of each grid. A plurality of main channel soft valves are arranged in the main channel. The side wall of the grid at a fixed end is provided with a first giant electro-rheological liquid pipe. The bottom plate layer comprises a second giant electro-rheological liquid pipe and a bottom plate body. The second giant electro-rheological liquid pipe is communicated with the main channel. By applying a specified pressure to different parts of each branch cavity and the main channel, the branch cavity is expanded, a plurality of bending modes of the soft finger can be realized, and the main channel can be individually pressurized to improve the ability of grasping a load.

Description

Technical Field

[0001] This invention belongs to the field of soft robotics, and more specifically, relates to a soft finger based on a giant current transformer and a soft gripper integrating drive and control. Background Technology

[0002] Robots have been widely used in agriculture, manufacturing, industry, education, rescue, construction, and military fields. However, traditional robots are usually made of hardware and rigid materials, which limits their mobility and adaptability in complex environments and also poses certain safety hazards.

[0003] To overcome these limitations, researchers have begun to focus on the application of soft materials and flexible structures to create more flexible and malleable robots. Inspired by soft organisms in the biological world, researchers have begun to explore the use of flexible materials to construct robots. The development of soft robots involves interdisciplinary research in multiple fields, including materials science, mechanical engineering, biology, and computer science. By designing and fabricating flexible structures, researchers have developed soft robots that can deform and adapt to various shapes and surfaces.

[0004] Soft robots mainly consist of a drive system, a control system, and a sensing system. Giant current transformer (GCD) soft valves offer advantages such as simple structure, small size, high energy density, and fast electronic control response. Existing technology provides a pneumatically driven, variable-stiffness three-fingered soft robot that uses layered artificial scales to achieve variable stiffness. However, the artificial scales themselves are rigid materials, increasing the overall stiffness of the soft hand and hindering compliant grasping, potentially causing damage during grasping. Existing technology also provides a soft finger that achieves segmented bending using a soft valve array. By controlling the opening and closing of soft valves within the finger, segmented bending is achieved, resulting in different finger configurations. However, in existing technologies, multiple soft valves are arranged in a single direction within a channel. The GCD at a designated location within the channel solidifies, causing the soft valve at that location to close, thus blocking the GCD. This results in a relatively simple working configuration and limited motion modes, making it unsuitable for various application scenarios. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a soft finger and a soft gripper that integrates drive and control based on a giant current variable valve.

[0006] In a first aspect, the present invention provides a soft finger based on a giant current transformer valve, comprising: a fluid mesh layer and a base plate layer, wherein one end of the soft finger is a fixed end and the other end of the soft finger is a free end;

[0007] The fluid grid layer includes a main channel and multiple grids, which are arranged along the extension direction of the soft finger. Each grid has a branch cavity with an opening at the bottom. The bottom of the branch cavity of each grid is connected to the main channel. A branch soft valve is provided below the inner wall of the branch cavity of each grid. Multiple main soft valves are provided in the main channel. A first giant electrorheological fluid conduit is provided on the side wall of the grid located at the fixed end.

[0008] The base plate layer includes a second giant electrorheological fluid conduit and a base plate body. The base plate body is provided with a groove that can be embedded in the second giant electrorheological fluid conduit. The first end of the second giant electrorheological fluid conduit is located at the fixed end, and the second end of the second giant electrorheological fluid conduit is located at the free end and communicates with the trunk channel.

[0009] Optionally, the multiple grids of the fluid grid layer are divided into multiple branch valve groups along the extension direction of the soft finger. The positive electrodes of each branch soft valve in the same branch valve group are interconnected. The main branch soft valve is located at the junction between adjacent branch valve groups. The negative electrode of the main branch soft valve is fixed to the second giant current rheological fluid conduit by an arched plate. The top surface of the arched plate is provided with a groove that can be embedded in the negative electrode, and the bottom surface of the arched plate has a groove that can be embedded in the second giant current rheological fluid conduit. The positive electrode and negative electrode of the main branch soft valve are arranged opposite to each other in the main channel.

[0010] Optionally, overflow grooves are provided at the relative positions of the fluid grid layer and the base plate layer, and the control circuit of the soft valve is placed in the overflow groove of the fluid grid layer.

[0011] Optionally, it further includes: a smart hydrogel layer disposed at the bottom of the substrate body, the smart hydrogel layer comprising a hydrogel and a stimulation module, the stimulation module being used to change the viscosity of the hydrogel.

[0012] Optionally, the grid is arch-shaped, and the electrode plates of the branch soft valve are U-shaped.

[0013] Secondly, the present invention also provides a soft gripper with integrated drive and control, comprising: a cylindrical soft valve and a plurality of the above-mentioned soft fingers, wherein the fixed ends of the soft fingers are connected to the side of the cylindrical soft valve.

[0014] The cylindrical soft valve includes a first conduit, a second conduit, a control circuit channel, multiple inflow soft valves, and multiple outflow soft valves. Each soft valve corresponds to one soft finger. The first conduit is connected to a second electrorheological fluid conduit in the bottom layer of the soft finger through the inflow soft valve. The second conduit is connected to a first electrorheological fluid conduit in the fluid grid layer of the soft finger through the outflow soft valve. The control circuit channel is used to lead out the control circuits of each soft valve.

[0015] Optionally, the cylindrical flexible valve has a multi-layer structure, with the top layer being an inlet-side insulating layer and the bottom layer being an outlet-side insulating layer; in a direction from the top layer to the bottom layer, an inflow distribution plate, an inflow positive electrode plate group, a liquid flow channel, a negative electrode plate layer, an outflow distribution plate, and an outflow positive electrode plate group are sequentially arranged between the inlet-side insulating layer and the outlet-side insulating layer;

[0016] Multiple inflow paths are formed between the first conduit, the inlet-side insulating layer, the inflow distribution plate, the inflow positive electrode sheet group, the liquid flow tank, the negative electrode sheet layer, the outflow distribution plate and the outlet-side insulating layer, and one inflow path connects to the second giant electrorheological fluid conduit of one of the soft fingers;

[0017] Multiple outflow paths are formed between the outlet-side insulating layer, the outflow positive electrode sheet group, the outflow distribution plate, the negative electrode sheet layer, and the second conduit. Each outflow path is connected to the first giant electrorheological fluid conduit of one of the soft fingers.

[0018] The plurality of inflow soft valves are formed between the inflow positive electrode sheet group and the negative electrode sheet layer, and the plurality of outflow soft valves are formed between the outflow positive electrode sheet group and the negative electrode sheet layer.

[0019] Optionally, the flow channel into the distribution plate is curved.

[0020] Optionally, the inflow and outflow passages that are connected to the same soft finger are arranged vertically in the outlet-side insulating layer.

[0021] Optionally, a plurality of tile-shaped grooves are provided on the side of the cylindrical soft valve, and the fixed end of the soft finger has a curved surface adapted to the tile-shaped grooves, and the fixed end of the soft finger is bonded to the tile-shaped grooves.

[0022] In summary, the technical solutions conceived by this invention have the following beneficial effects compared with the prior art:

[0023] By installing branch soft valves on the sidewalls connecting to the bottom of each branch cavity in the grid, and multiple trunk soft valves in the trunk channel, the opening and closing of the branch and trunk valves can be controlled, thereby controlling the inflow volume of the electrorheological fluid in each branch cavity and the inflow volume of the electrorheological fluid in different parts of the trunk channel. This allows for the application of specified pressures to different parts of each branch cavity and trunk channel. Under the action of pressure, the branch cavities expand, enabling multiple bending modes (or movement modes) of the soft finger. Furthermore, the trunk channel can be pressurized individually, avoiding overall pressure on the soft finger. This enhances the soft finger's ability to grasp loads without causing excessive expansion of the branch cavities. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is an external structural diagram of the soft gripper provided by the present invention;

[0026] Figure 2 This is a schematic diagram of the connection method between the soft finger and the cylindrical soft valve provided by the present invention;

[0027] Figure 3 This is an exploded view of the soft finger provided by the present invention;

[0028] Figure 4 This is a diagram of the internal structure of the soft finger provided by the present invention;

[0029] Figure 5 This is a schematic diagram of the electrode pad wire connection of the soft finger provided by the present invention;

[0030] Figure 6 This is an exploded view of the soft finger base plate layer provided by the present invention;

[0031] Figure 7 This is a schematic diagram showing the disassembly of the cylindrical soft valve and the distribution of the internal flow channels of the valve body provided by the present invention;

[0032] Figure 8 These are effect diagrams of two movement modes of the soft finger provided by this invention;

[0033] Figure 9 This is an image showing the effect of the soft gripper provided by the present invention grasping an irregular object.

[0034] Figure label:

[0035] 1: Soft finger; 1-1: Fluid mesh layer; 1-1-1: Positive lead wire of the first branch valve group; 1-1-2: Positive lead wire of the second branch valve group; 1-1-3: Positive lead wire of the third branch valve group; 1-1-4: Negative lead wire of the branch; 1-1-5: Positive lead wire of the first trunk giant current transformer valve; 1-1-6: Positive lead wire of the second trunk giant current transformer valve; 1-1-7: Giant current transformer inlet of the first giant current transformer conduit; 1-1-8: Giant current transformer of the second giant current transformer conduit. Variable current fluid filling inlet; 1-1-9: First branch valve group; 1-1-10: Second branch valve group; 1-1-11: Third branch valve group; 1-1-12: First overflow tank; 1-1-13: Main channel; 1-1-14: Mesh; 1-2: Base plate layer; 1-2-1: Second giant current variable current fluid conduit; 1-2-2: Base plate body; 1-2-3: Smart hydrogel layer; 1-2-4: Main negative electrode lead wire; 1-2-5: First arched plate; 1-2-6: Second arched plate; 1- 2-7: First electrode slot; 1-2-8: Second electrode slot; 1-2-9: Second overflow groove; 1-3: Polyurethane block; 2: Cylindrical flexible valve; 2-1: First conduit; 2-2: Inlet side insulation layer; 2-3: Inflow distribution plate; 2-4: Inflow to positive electrode assembly; 2-5: Liquid flow groove; 2-6: Negative electrode layer; 2-7: Outflow distribution plate; 2-8: Outflow to positive electrode assembly; 2-9: Outflow side insulation layer; 2-9-1: First hole; 2-9-2: Second hole; 2 -9-3: Third hole; 2-9-4: Fourth hole; 2-9-5: Fifth hole; 2-9-6: Sixth hole; 2-9-7: Seventh hole; 2-9-8: Eighth hole; 2-9-9: Ninth hole; 2-9-10: Tenth hole; 2-9-11: Eleventh hole; 2-9-12: Twelfth hole; 2-9-13: Thirteenth hole; 2-9-14: Fourteenth hole; 2-9-15: Fifteenth hole; 2-9-16: Sixteenth hole; 2-10: Second guide tube; 3: Polyurethane adhesive block. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0037] In embodiments of the present invention, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in embodiments of the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0038] The terms "first" and "second," etc., used in the specification and claims herein are used to distinguish different objects, not to describe a specific order of objects.

[0039] In the description of the embodiments of the present invention, unless otherwise stated, "a plurality of" means two or more.

[0040] Figure 1 , Figure 2 , Figure 7 and Figure 9 This invention illustrates a soft gripper provided by the present invention. Figure 3-6 and Figure 8 This invention illustrates a soft finger provided by the present invention. The technical solutions provided in the embodiments of the present invention will be described below.

[0041] This invention provides a soft finger based on a giant current transformer valve. Figure 3 This is an exploded view of the soft finger provided by the present invention. Figure 4 This is a diagram of the internal structure of the soft finger provided by the present invention. Figure 5 This is a schematic diagram of the electrode pad wire connection for the soft finger provided by the present invention. Figure 6 This is an exploded view of the soft finger base plate layer provided by the present invention, as shown below. Figure 3-6 As shown, one end of the soft finger is a fixed end, and the other end of the soft finger is a free end. The soft finger includes: a fluid mesh layer 1-1 and a base plate layer 1-2.

[0042] The fluid grid layer 1-1 includes a main channel 1-1-13 and multiple grids 1-1-14. The multiple grids 1-1-14 are arranged along the extension direction of the soft finger. Each grid 1-1-14 is provided with a branch cavity. The bottom of the branch cavity is provided with an opening. The bottom of the branch cavity of each grid 1-1-14 is connected to the main channel. A branch soft valve is provided below the inner side wall of the branch cavity of each grid 1-1-14. Multiple main soft valves are provided in the main channel 1-1-13. A first giant electrorheological fluid conduit is provided on the side wall of the grid located at the fixed end. The giant electrorheological fluid filling inlet 1-1-7 of the first giant electrorheological fluid conduit is located in the fluid grid layer 1-1.

[0043] The base plate layer includes a second giant current rheostat fluid conduit and a base plate body 1-2-2. The base plate body is provided with a groove that can be embedded in the second giant current rheostat fluid conduit. The first end of the second giant current rheostat fluid conduit is located at the fixed end, and the second end of the second giant current rheostat fluid conduit is located at the free end and connected to the main channel. The giant current rheostat fluid inlet 1-1-8 of the second giant current rheostat fluid conduit is located in the base plate layer 1-2. The length of the second giant current rheostat fluid conduit is longer than the length of the first giant current rheostat fluid conduit.

[0044] The soft gripper material can be made of soft materials that do not contain silicon, such as polyurethane and vulcanized rubber. This avoids the silicone oil in the electrorheological fluid from reacting with the soft material and causing the electrorheological valve to malfunction, thus improving the working life of the soft gripper.

[0045] Understandably, in the existing technology, multiple soft valves are arranged in a single direction in the channel, making it impossible to pressurize the middle part of the soft finger individually or the main passage of the soft finger individually. (Due to the limitation of the giant current transformer valve, the soft actuator must use hydraulic drive with giant current transformer fluid as the medium. Although the actuator can bend to the target angle, the weight of the fluid will limit the gripping ability of the actuator. If a larger gripping load is achieved by further increasing the hydraulic pressure, it may exceed the expansion limit of the soft material and cause it to rupture.)

[0046] The soft finger provided by this invention, by setting branch soft valves on the sidewalls connected to the bottom in the branch cavities of each grid, and setting multiple trunk soft valves in the trunk channel, can control the opening and closing of the branch and trunk valves, thereby controlling the inflow volume of the electrorheological fluid in each branch cavity and the inflow volume of the electrorheological fluid in different parts of the trunk channel. In this way, a specified pressure can be applied to each branch cavity and different parts of the trunk channel. The branch cavities expand under the action of pressure, which can realize multiple bending modes (or movement modes) of the soft finger. The trunk channel can be pressurized individually, avoiding overall pressure on the soft finger. This can improve the gripping capacity of the soft finger without excessive expansion of the branch cavities.

[0047] The present invention also provides a soft gripper with integrated drive and control, a cylindrical soft valve and multiple soft fingers, wherein the fixed ends of the soft fingers are connected to the side of the cylindrical soft valve.

[0048] The cylindrical soft valve includes a first conduit, a second conduit, a control circuit channel, multiple inflow soft valves, and multiple outflow soft valves. Each soft valve corresponds to a soft finger. The first conduit is connected to the second electrorheological fluid conduit of the bottom plate layer of the soft finger through the inflow soft valve. The second conduit is connected to the first electrorheological fluid conduit of the fluid grid layer of the soft finger through the outflow soft valve. The control circuit channel is used to lead out the control circuits of each soft valve.

[0049] Specifically, Figure 1 This is an external structural diagram of the soft gripper provided by the present invention. The overall structure is described below, as follows: Figure 1 As shown, a soft gripper using a giant electrorheological fluid as a medium is described, capable of multi-mode motion and grasping irregular heavy objects. The gripper mainly consists of four soft fingers 1 and a cylindrical soft valve 2. Figure 2This is a schematic diagram illustrating the connection method between the soft finger and the cylindrical soft valve provided by the present invention, as shown below. Figure 2 As shown, the four soft fingers and the cylindrical soft valve are connected together by four polyurethane adhesive blocks.

[0050] Understandably, the integration of the cylindrical soft valve and the soft finger into a single unit, namely the "integrated drive and control structure," is possible because the compact structure of the giant current transformer makes the robot lighter and smaller in size. Here, "drive" refers to the ability to drive the soft finger in different motion modes, and "control" refers to controlling the soft finger to be in a working or non-working state through the cylindrical soft valve.

[0051] Existing soft fingers all utilize rigid overflow valves. Replacing these with rigid overflow valves would result in a larger size and heavier weight. In contrast, the cylindrical soft valve provided by this invention can contain eight or more valves. By designing the soft valve in a cylindrical shape, it is possible to connect more soft fingers.

[0052] like Figure 3 As shown, the soft finger consists of a fluid mesh layer 1-1 and a base plate layer 1-2, which are sealed together by a polyurethane block 1-3.

[0053] The main structure and working principle are explained, such as Figure 4 As shown, the soft finger includes a first trunk current transformer A and a second trunk current transformer B (the trunk current transformers are also the aforementioned trunk soft valves) and 12 branch current transformers (the branch current transformers are also the aforementioned branch soft valves). Along the extension direction of the soft finger, the 12 branch current transformers are sequentially divided into three groups: the first branch valve group 1-1-9, the second branch valve group 1-1-10, and the third branch valve group 1-1-11. Each branch valve group consists of four branch current transformers, and the trunk soft valves are located at the junctions between adjacent branch valve groups. Each current transformer consists of positive and negative electrode plates and a current transformer fluid flowing between the electrode plates. The valve's on / off control is achieved by adjusting the electric field. Among them, the positive electrode plate A-2 of the first trunk line giant current transformer A and the positive electrode plate B-2 of the second trunk line giant current transformer B are located in the fluid grid layer 1-1, and the negative electrode plate A-1 of the first trunk line giant current transformer A and the negative electrode plate B-1 of the second trunk line giant current transformer B are located in the bottom plate layer 1-2; the positive electrode plate 1-1-9-1 and the negative electrode plate 1-1-9-2 of the branch giant current transformer in the first branch valve group, the positive electrode plate 1-1-10-1 and the negative electrode plate 1-1-10-2 of the branch giant current transformer in the second branch valve group, and the positive electrode plate 1-1-11-1 and the negative electrode plate 1-1-11-2 of the branch giant current transformer in the third branch valve group are all located in the fluid grid layer 1-1.

[0054] The soft hand has two channels for the flow of the giant electrorheological fluid. The giant electrorheological fluid inlet 1-1-7 of the first giant electrorheological fluid conduit is located in the fluid grid layer 1-1, and the giant electrorheological fluid inlet 1-1-8 of the second giant electrorheological fluid conduit is located in the bottom plate layer 1-2.

[0055] Multiple bending modes of the soft finger can be achieved by selecting different channels, the flow direction of the giant electrorheological fluid, and controlling the on / off state of the branch and main valve bodies.

[0056] For example, the composition, structural features, connection methods, and functions of each part during movement are described below.

[0057] Figure 5 As shown, the fluid grid layer 1-1 includes: a first branch valve group 1-1-9, a second branch valve group 1-1-10, a third branch valve group 1-1-11, a positive electrode plate A-2 of the first main circuit giant current transformer valve A, a positive electrode plate B-2 of the second main circuit giant current transformer valve B, a first overflow tank 1-1-12, positive wires 1-1-1 of the first branch valve group, 1-1-2 of the second branch valve group, and 1-1-3 of the third branch valve group, a negative lead wire 1-1-4 of the branch, a positive wire 1-1-5 of the first main circuit giant current transformer valve, and a positive wire 1-1-6 of the second main circuit giant current transformer valve. Each giant current transformer valve consists of two electrodes, one positive and one negative. When the electrodes are energized, the giant current transformer fluid becomes solid, preventing the flow of liquid and thus functioning as a valve. The wires of the positive electrode plates 1-1-9-1 of the first branch valve group 1-1-9, the positive electrode plate 1-1-10-1 of the second branch valve group 1-1-10, and the positive electrode plate 1-1-11-1 of the third branch valve group 1-1-11 are brought together and controlled by three sets of wires 1-1-1, 1-1-2, and 1-1-3 led out from the positive terminal of the branch. The wires of the negative electrode plates 1-1-9-2, 1-1-10-2, and 1-1-11-2 of all branch giant current transformers are brought together and controlled by wire 1-1-4 led out from the negative terminal of the branch. The first trunk current transformer A and the second trunk current transformer B divide the soft finger into three parts, similar to human joints. The positive electrode plate A-2 of the first trunk current transformer A and the positive electrode plate B-2 of the second trunk current transformer B are individually controlled by the positive electrode wires 1-1-5 and 1-1-6 of the first and second trunk current transformers, respectively, to achieve flow and cutoff in the trunk circuit. Simultaneously, the fluid mesh layer 1-1 is provided with a first overflow groove 1-1-12, providing a larger bonding area, and is bonded to the base plate layer 1-2 via polyurethane block 1-3. The first overflow groove 1-1-12 structure also serves as a placement area for the electrode wires, preventing the wires from being exposed in the working area and hindering robot movement, thus improving the robot's working stability.

[0058] like Figure 6As shown, the base plate layer 1-2 includes a second giant current transformer conduit 1-2-1, a base plate body 1-2-2, a smart hydrogel layer 1-2-3, a negative electrode plate A-1 for the first main circuit giant current transformer valve A, a negative electrode plate B-1 for the second main circuit giant current transformer valve B, a main circuit negative electrode lead wire 1-2-4, a first arched plate 1-2-5, a second arched plate 1-2-6, a first electrode plate groove 1-2-7, a second electrode plate groove 1-2-8, and a second overflow groove 1-2-9. The first arched plate 1-2-5 and the second arched plate 1-2-6 are respectively provided with the first electrode plate groove 1-2-7 and the second electrode plate groove 1-2-8, for placing the negative electrode plate A-1 of the first main circuit giant current transformer valve A and the negative electrode plate B-1 of the second main circuit giant current transformer valve B. The giant electrorheological fluid enters from the left end (the fixed end of the soft finger), i.e., the giant electrorheological fluid inlet 1-1-8 of the second giant electrorheological fluid conduit, and directly reaches the right end (the free end of the soft finger) through the second giant electrorheological fluid conduit 1-2-1. The second overflow groove 1-2-9 on the base plate body 1-2-2 has the same shape as the first overflow groove 1-1-12 of the fluid grid layer 1-1. A smart hydrogel layer 1-2-3 is provided at the bottom of the base plate layer 1-2 to assist in grasping. Figure 3 As shown, the wires of the negative electrode plate A-1 of the first main circuit giant current transformer valve A and the negative electrode plate B-1 of the second main circuit giant current transformer valve B converge together and are uniformly controlled by the negative lead wire 1-2-4 of the main circuit. The negative lead wire 1-2-4 of the main circuit is led out from the bottom of the second giant current transformer fluid conduit.

[0059] Figure 7 This is a schematic diagram showing the disassembly of the cylindrical soft valve and the distribution of the internal flow channels of the valve body provided by the present invention, as shown below. Figure 7 As shown, the cylindrical soft valve includes a first conduit 2-1 and a second conduit 2-10 (the second conduit is longer than the first conduit), an inlet-side insulating layer 2-2, an inflow distribution plate 2-3, an inflow positive electrode plate group 2-4, a liquid flow channel 2-5, a negative electrode plate layer 2-6, an outflow distribution plate 2-7, an outflow positive electrode plate group 2-8, and an outlet-side insulating layer 2-9.

[0060] The control section comprises the inflow of positive electrode plate group 2-4, the liquid flow tank 2-5, the negative electrode plate layer 2-6, and the outflow of positive electrode plate group 2-8. The inflow of positive electrode plate group 2-4 consists of four independent positive electrode plates. The four positive electrode plates in the inflow of positive electrode plate group 2-4, together with the negative electrode plate layer 2-6, form four evenly distributed giant current transformer valves (i.e., the aforementioned inflow soft valves, one inflow soft valve corresponding to one soft finger) to control the inflow of giant current transformer fluid into the four soft fingers. The outflow of positive electrode plate group 2-8 consists of four independent positive electrode plates. The four positive electrode plates in the outflow of positive electrode plate group 2-8, together with the negative electrode plate layer 2-6, form four evenly distributed giant current transformer valves (i.e., the aforementioned outflow soft valves, one outflow soft valve corresponding to one soft finger) to control the outflow of giant current transformer fluid into the four soft fingers. As can be seen, the cylindrical soft valve includes four sets of giant current transformers. Each set of giant current transformers includes an inflow soft valve and an outflow soft valve. One set of giant current transformers can be used to control one soft finger, thereby realizing independent motion control of each finger.

[0061] like Figure 7 As shown, the giant electrorheological fluid flows in from the first conduit 2-1, flows along the inflow path into the short hose of the soft finger mesh layer, passes through the interior of the soft hand, flows out from the long hose of the bottom plate layer, enters the soft valve, and flows out of the soft valve along the outflow path. It should be noted that the above description is only one fluid flow direction. In addition, the second conduit 2-10 can be used as the inlet and the first conduit 2-1 as the outlet, or the first conduit 2-1 and the second conduit 2-10 can both serve as the inlet and outlet.

[0062] The four sets of giant current transformers in the above cylindrical flexible valve have the same structure and working principle, so one set of giant current transformers will be selected for detailed explanation.

[0063] Inflow process:

[0064] The surface of the inlet-side insulating layer 2-2 is provided with a conduit interface. The giant current rheological fluid is filled into the circular groove of the inflow distribution plate 2-3 through the first conduit 2-1. After the giant current rheological fluid is diverted by the inflow distribution plate 2-3 (forming multiple inflow paths), it flows into the liquid flow tank 2-5 through the positive electrode plate group 2-4. After being guided by the liquid flow tank 2-5, the giant current rheological fluid flows through the negative electrode plate layer 2-6 and outflow distribution plate 2-7. Then, the giant current rheological fluid enters the outlet-side insulating layer 2-9 through four outlet-side insulating layer holes: the second hole 2-9-2, the fourth hole 2-9-4, the sixth hole 2-9-6, and the eighth hole 2-9-8. Finally, the giant current rheological fluid flows into four soft fingers 1 through four outlet-side insulating layer holes: the tenth hole 2-9-10, the twelfth hole 2-9-12, the fourteenth hole 2-9-14, and the sixteenth hole 2-9-16 (one inflow path connects to the second giant current rheological fluid conduit of one soft finger).

[0065] Outflow process:

[0066] After passing through four flexible fingers 1, the giant current rheological fluid flows into the outlet-side insulating layer 2-9 through four small holes on the outlet side insulation layer: the ninth hole 2-9-9, the eleventh hole 2-9-11, the thirteenth hole 2-9-13, and the fifteenth hole 2-9-15 (one outflow path connects to the first giant current rheological fluid conduit of one flexible finger). The giant current rheological fluid flows out of the outlet-side insulating layer 2-9 from the four small holes on the outlet side insulation layer: the first hole 2-9-1, the third hole 2-9-3, the fifth hole 2-9-5, and the seventh hole 2-9-7 (forming multiple outflow paths), and then flows into the outflow distribution plate 2-7 through the outflow positive electrode plate group 2-8. The giant current rheological fluid completes the convergence through the outflow distribution plate 2-7, and then flows into the second conduit 2-10, and flows out of the cylindrical flexible valve 2 through the second conduit 2-10.

[0067] It is worth noting that (1) the flow channel flowing into the distribution plate 2-3 is designed in a curved shape, which can reduce the size of the valve body compared to a straight flow channel. (2) A tile-shaped groove 2-9-17 is designed at the connection between the valve and the finger, thereby increasing the bonding area between the finger and the valve without affecting the bonding between the flow channel inside the valve and the valve body, and improving the reliability of the bonding. (3) This invention demonstrates the case of a cylindrical soft valve 2 connecting 4 soft fingers 1. More soft fingers can be connected by reducing the size of a single soft finger and reducing the size of the tile-shaped groove 2-9-17. This invention has scalability. (4) In order to match the structure of the finger, the flow channel connecting the valve and the finger must be arranged vertically. However, if the bottom inlet is designed along the radial direction, the flow channels will inevitably overlap. Therefore, while taking into account the rationality of the flow channel arrangement and the feasibility of manufacturing, the bottom outlet is designed as an oblique flow channel. At the same time, the vertical arrangement of the flow channel saves space compared to the horizontal arrangement of the flow channel, making it easier to expand more soft fingers.

[0068] Operating Process: The control circuits (positive and negative leads of the soft valves) of each soft valve can be led out through the control circuit channel. All electrode plates are connected to external relays and high-voltage power supplies. The relays control the energization or de-energization between the high-voltage power supply and the soft valves. All external conduits and conduit interfaces can be connected using interference fits and adhesive bonding. The first and second conduits of the cylindrical soft valve can be connected to corresponding liquid pumps (e.g., the first conduit connects to the first liquid pump, and the second conduit connects to the second liquid pump). The liquid pumps fill the conduits with or extract the electrorheological fluid from the conduits. Initially, the entire soft gripper and conduits are filled with electrorheological fluid, and the soft valves and soft fingers are connected to form a circuit.

[0069] Based on the required number of soft fingers, control the on / off state of the inflow to positive electrode assembly 2-4, negative electrode layer 2-6, and outflow to positive electrode assembly 2-8 within the soft valve. For fingers that do not require operation, energize the corresponding valve inside the soft valve body, causing the electrorheological fluid in the liquid flow channel 2-5 and the outflow distribution plate 2-7 to solidify, thereby blocking the fluid flow. For fingers that require operation, keep the corresponding valve de-energized, allowing the liquid to flow smoothly into the soft finger.

[0070] Meanwhile, based on the desired finger bending shape, the opening and closing of corresponding valves are controlled via the positive wires 1-1-1 of the first branch valve group, 1-1-2 of the second branch valve group, 1-1-3 of the third branch valve group, 1-1-5 of the first main circuit giant current transformer valve, and 1-1-6 of the second main circuit giant current transformer valve, thereby achieving different pressures on different parts of the soft finger and realizing multimodal motion.

[0071] Once the soft gripper contacts and fully adheres to the surface of the irregularly shaped object, the smart hydrogel is stimulated (e.g., by an electric field or ultraviolet light) to achieve higher viscosity, further enhancing the load-bearing capacity of the soft gripper. The smart hydrogel layer is located at the bottom of the base plate and includes a hydrogel and a stimulation module. The stimulation module is used to change the viscosity of the hydrogel by applying an electric field or ultraviolet light to it. The control lines of the stimulation module are led out through the aforementioned control circuit channels.

[0072] After the grasping operation is completed, the electric field can be removed to change the megacurrent material in the megacurrent valve from solid back into liquid, so that the flow channel inside the soft valve is unobstructed and the megacurrent fluid can flow out of the soft finger smoothly.

[0073] The beneficial effects of this invention are:

[0074] (1) As Figure 4-5As shown, each soft finger comprises a first trunk current transformer valve A, a second trunk current transformer valve B, a first branch valve group 1-1-9, a second branch valve group 1-1-10, and a third branch valve group 1-1-11, dividing the entire soft finger into three parts. Different pressures can be applied by controlling the inflow volume of the current transformer fluid in each part. Simultaneously, two channels are provided inside the soft finger for the flow of the current transformer fluid, located at the first current transformer fluid conduit in the fluid grid layer and the second current transformer fluid conduit in the base plate layer, respectively. Various bending modes of the soft finger can be achieved by selecting different channels, the direction of current transformer fluid inflow, and controlling the on / off state of the branch valves.

[0075] (2) Figure 7 As shown, this cylindrical flexible valve is designed with four sets of giant current transformers (GCDs). Each set contains two valve bodies (one inflow flexible valve and one outflow flexible valve). Each set of valves can control the inflow or outflow of the GCD fluid within a single flexible finger. There are a total of eight valve bodies, corresponding to eight independently controllable fluid flow channels. For fingers that are not in use, energizing the valves inside the corresponding flexible valve bodies of the cylindrical flexible valves causes the GCD fluid in the fluid flow channels 2-5 and 2-7 to solidify, thus blocking the fluid flow. For fingers that are in use, the power is de-energized, allowing the fluid to flow smoothly into the flexible finger.

[0076] (3) Figure 1 and Figure 9 As shown, a cylindrical soft valve is glued together with four soft fingers to form a soft gripper. By independently controlling the four sets of valves, the four soft fingers can be bent into different shapes, thereby enabling the gripping of irregular objects.

[0077] (4) Figure 7 As shown, a tile-shaped groove is designed at the connection between the cylindrical soft valve and the soft finger. This increases the bonding area between the finger and the valve without affecting the flow channel inside the valve and the bonding of the valve body, thereby improving the reliability of the bonding.

[0078] (5) Figure 7 As shown, the number of soft fingers in this invention can be expanded. More soft fingers can be connected by reducing the size of individual soft fingers and the size of the tile-shaped grooves 2-9-17.

[0079] (6) Figure 7As shown, to accommodate the structure of the soft finger, the flow channels connecting the cylindrical soft valve and the finger are arranged vertically. However, designing the bottom inlet along the radius would cause the flow channels to overlap. Therefore, considering both the rationality of the flow channel arrangement and the feasibility of manufacturing, the bottom outlet is designed as an oblique flow channel. Furthermore, arranging the flow channels vertically saves space compared to arranging them horizontally (reducing the circumferential angle occupied by the flow channels connecting the cylindrical soft valve and the finger), facilitating the development of more soft fingers.

[0080] (7) Figure 3 As shown, an overflow groove is designed at the bonding area between the fluid mesh layer and the base plate layer. This is to provide a larger bonding area for the fluid mesh layer, resulting in a stronger bond. It is understandable that designing this overflow groove offers the following benefits: increased bonding area; the ability to hold positive and negative wires, achieving multiple uses in one groove and saving space; ensuring the flatness of the bonding surface between the fluid mesh layer and the base plate layer, resulting in better sealing; and protection for the wires, preventing breakage during bending.

[0081] (8) Figure 3 As shown, in order to achieve better adhesion between the cylindrical soft valve and the finger, the fixed end of the soft finger is designed as a curved surface with the same curvature as the tile-shaped groove.

[0082] (9) such as Figure 6 As shown, a smart hydrogel layer is adhered to the bottom of the soft finger. When the soft gripper comes into contact with the surface of an irregularly shaped object, the smart hydrogel is stimulated (e.g., by an electric field, ultraviolet light) to achieve higher viscosity, further improving the load-bearing capacity of the soft gripper. This overcomes the defect in existing technologies where increasing pressure to improve load-bearing capacity causes excessive expansion of the cavities in the fluid mesh layer, resulting in a short service life for the soft gripper.

[0083] (10) such as Figure 3 As shown, the mesh structure of the soft finger adopts a smooth arch-shaped design, which facilitates mold taking during the production process, reduces the probability of air bubbles forming at right angles during production, and improves the success rate of production.

[0084] (11) such as Figure 5 As shown, the electrode plate of the branch soft valve is set in a U-shape, which can make full use of the structural characteristics of the fluid grid layer and maximize the area of ​​the electrode plate. Under the same electric field, the larger the area of ​​the electrode plate, the greater the pressure maintained and the lower the power consumption.

[0085] (12) such as Figure 3As shown, the arched plate has a groove on its top for fixing and placing the negative electrode plate of the main circuit flexible valve, and a semi-circular groove on its bottom to fit into the second giant current rheostat conduit (1-2-1) without obstructing its bending. The positive and negative electrode plates of the main circuit flexible valve are positioned opposite each other within the main circuit channel (1-1-13), forming a flat plate valve.

[0086] (13) such as Figure 1 As shown, the soft finger material can be made of soft materials that do not contain silicon, such as polyurethane and vulcanized rubber. This avoids the silicone oil in the giant current transformer fluid from reacting with the soft material and causing the giant current transformer valve to malfunction, thus improving the working life of the soft gripper.

[0087] For example, Figure 8 These are illustrations showing the effects of two movement modes of the soft finger provided by this invention. See also the illustrations showing the bending shape of the soft finger under different pressures in the branch and main circuits. Figure 8 .

[0088] like Figure 8 As shown, in motion mode 1: Keep the first branch valve group 1-1-9 and the third branch valve group 1-1-11 of the soft finger closed. Inject the electrorheological fluid through the second electrorheological fluid conduit to bring the second part of the soft finger branch and the entire main circuit to the set pressure P1. Then, open the first branch valve group 1-1-9 and the third branch valve group 1-1-11 of the soft finger branch to obtain motion mode 1. A noticeable expansion of the second part of the soft finger's cavity can be observed.

[0089] Similarly, such as Figure 8 Movement Mode 2: Keep the first trunk current transformer valve A of the soft finger closed. Use the second current transformer conduit to input current transformer fluid, so that the first part of the soft finger branch reaches the set pressure P1. Then close the third branch valve group 1-1-11. Continue to input current transformer fluid through the second current transformer conduit, so that the second part of the soft finger branch reaches the set pressure P2. Then close the second branch valve group 1-1-10. Continue to input current transformer fluid through the second current transformer conduit, so that the soft finger trunk reaches the set pressure P3, thus obtaining Movement Mode 2. It can be seen that both the first and second parts of the soft finger branch expand, with the expansion of the second part being more obvious.

[0090] This invention demonstrates two typical motion modes. By selecting different channels, the direction of flow of the giant electrorheological fluid, and controlling the opening and closing of the branch and trunk valves, more bending modes can be achieved.

[0091] Figure 9This is an illustration of the soft gripper provided by the present invention grasping an irregular object. See also: [Image of the soft gripper grasping an irregular object]. Figure 9 This data scraping used [the following]. Figure 8 The gripper employs two modes of movement: Mode 1 and Mode 2. Based on the shape of the irregular object, it controls four independent valves within a cylindrical soft valve, enabling the left and right fingers to operate in Mode 1 and the front and back fingers in Mode 2. Once the four soft fingers are firmly attached to the irregular object, applying stimulation to the smart hydrogel induces strong adhesion, allowing the gripper to successfully grasp the object by bending its fingers. The smart hydrogel is a novel material that can undergo a phase transition triggered by temperature, electric fields, and ultraviolet light to achieve strong adhesion. After the stimulation disappears, it reverts to weak adhesion, thus achieving a transition between strong and weak adhesion.

[0092] It should be understood that expressions such as “comprising” and “may include” used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as “comprising” and / or “having” are to be interpreted as indicating a particular characteristic, number, operation, constituent element, component, or combination thereof, but not to exclude the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0093] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" refers to a connection where the relative positional relationship remains unchanged after connection. "Rotary connection" refers to a connection where the components can rotate relative to each other after connection. "Sliding connection" refers to a connection where the components can slide relative to each other after connection. The directional terms mentioned in the embodiments of this application, such as "top," "bottom," "inner," "outer," "left," and "right," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0094] Furthermore, the mathematical concepts mentioned in the embodiments of this application, such as symmetry, equality, parallelism, and perpendicularity, are limitations specific to the current technological level, rather than absolute and strict mathematical definitions. Slight deviations are permissible; approximations of symmetry, equality, parallelism, and perpendicularity are all acceptable. For example, "A and B are parallel" means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 and 10 degrees. "A and B are perpendicular" means that A and B are perpendicular or approximately perpendicular, and the angle between A and B can be between 80 and 100 degrees.

[0095] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A software gripper integrating drive and control, characterized in that, include: A cylindrical soft valve (2) and multiple soft fingers (1) based on a giant current transformer valve, wherein the fixed ends of the soft fingers (1) are connected to the side of the cylindrical soft valve (2). The soft finger (1) includes a fluid mesh layer (1-1) and a base plate layer (1-2). One end of the soft finger (1) is a fixed end, and the other end of the soft finger (1) is a free end. The fluid grid layer (1-1) includes a main channel (1-1-13) and multiple grids (1-1-14). The multiple grids (1-1-14) are arranged along the extension direction of the soft finger (1). Each grid (1-1-14) is provided with a branch cavity. The bottom of the branch cavity is provided with an opening. The bottom of the branch cavity of each grid (1-1-14) is connected to the main channel (1-1-13). A branch soft valve is provided below the inner wall of the branch cavity of each grid (1-1-14). Multiple main soft valves are provided in the main channel (1-1-13). A first giant electrorheological fluid conduit is provided on the side wall of the grid (1-1-14) located at the fixed end. The base plate layer (1-2) includes a second giant electrorheological fluid conduit (1-2-1) and a base plate body (1-2-2). The base plate body (1-2-2) is provided with a groove that can be embedded in the second giant electrorheological fluid conduit (1-2-1). The first end of the second giant electrorheological fluid conduit (1-2-1) is located at the fixed end, and the second end of the second giant electrorheological fluid conduit (1-2-1) is located at the free end and communicates with the main channel (1-1-13). The cylindrical soft valve (2) includes a first conduit (2-1), a second conduit (2-10), a control circuit channel, multiple inflow soft valves, and multiple outflow soft valves. The inflow soft valves correspond one-to-one with the soft fingers (1), and the outflow soft valves correspond one-to-one with the soft fingers (1). The first conduit (2-1) is connected to the second giant electrorheological fluid conduit (1-2-1) of the bottom plate layer (1-2) of the soft fingers (1) through the inflow soft valves. The second conduit (2-10) is connected to the first giant electrorheological fluid conduit of the fluid grid layer (1-1) of the soft fingers (1) through the outflow soft valves. The control circuit channel is used to lead out the control circuits of each soft valve.

2. The integrated drive and control software gripper according to claim 1, characterized in that, The multiple grids (1-1-14) of the fluid grid layer (1-1) are divided into multiple branch valve groups along the extension direction of the soft finger (1). The positive electrodes of each branch soft valve in the same branch valve group are interconnected. The main soft valve is located at the junction between adjacent branch valve groups. The negative electrode of the main soft valve is fixed to the second giant current rheostat conduit (1-2-1) by an arched plate. The top surface of the arched plate is provided with a groove that can be embedded in the negative electrode. The bottom surface of the arched plate is provided with a groove that can be embedded in the second giant current rheostat conduit (1-2-1). The positive electrode of the main soft valve is arranged opposite to the negative electrode in the main channel (1-1-13).

3. The integrated drive and control software gripper according to claim 1, characterized in that, An overflow groove is provided at the relative position of the fluid grid layer (1-1) and the base plate layer (1-2), and the control circuit of the soft valve is placed in the overflow groove of the fluid grid layer (1-1).

4. The integrated drive and control software gripper according to claim 1, characterized in that, Also includes: The intelligent hydrogel layer (1-2-3) is disposed at the bottom of the base plate body (1-2-2). The intelligent hydrogel layer (1-2-3) includes a hydrogel and a stimulation module, which is used to change the viscosity of the hydrogel.

5. The integrated drive and control software gripper according to claim 1, characterized in that, The grid (1-1-14) is arch-shaped, and the electrode plates of the branch soft valve are U-shaped.

6. The integrated drive and control software gripper according to claim 1, characterized in that, The cylindrical flexible valve (2) has a multi-layer structure. The top layer of the cylindrical flexible valve (2) is an inlet-side insulating layer (2-2), and the bottom layer of the cylindrical flexible valve (2) is an outlet-side insulating layer (2-9). In the direction from the top layer to the bottom layer, between the inlet-side insulating layer (2-2) and the outlet-side insulating layer (2-9), there are sequentially arranged an inflow distribution plate (2-3), an inflow positive electrode plate group (2-4), a liquid flow channel (2-5), a negative electrode plate layer (2-6), an outflow distribution plate (2-7), and an outflow positive electrode plate group (2-8). Multiple inflow paths are formed between the first conduit (2-1), the inlet-side insulating layer (2-2), the inflow distribution plate (2-3), the inflow positive electrode sheet group (2-4), the liquid flow channel (2-5), the negative electrode sheet layer (2-6), the outflow distribution plate (2-7), and the outlet-side insulating layer (2-9). One inflow path is connected to the second giant electrorheological fluid conduit (1-2-1) of one of the soft fingers (1). Multiple outflow paths are formed between the outlet side insulating layer (2-9), the outflow positive electrode sheet group (2-8), the outflow distribution plate (2-7), the negative electrode sheet layer (2-6), and the second conduit (2-10), and one outflow path is connected to the first giant electrorheological fluid conduit of the soft finger (1); The plurality of inflow soft valves are formed between the inflow positive electrode sheet group (2-4) and the negative electrode sheet layer (2-6), and the plurality of outflow soft valves are formed between the outflow positive electrode sheet group (2-8) and the negative electrode sheet layer (2-6).

7. The integrated drive and control software gripper according to claim 6, characterized in that, The flow channel into the distribution plate (2-3) is curved.

8. The integrated drive and control software gripper according to claim 6, characterized in that, The inflow and outflow passages that are connected to the same soft finger (1) are arranged vertically in the outlet side insulation layer.

9. The integrated drive and control software gripper according to claim 1, characterized in that, Multiple tile-shaped grooves are provided on the side of the cylindrical soft valve (2), and the fixed end of the soft finger (1) has a curved surface that adapts to the tile-shaped grooves. The fixed end of the soft finger (1) is bonded to the tile-shaped grooves.

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