A pneumatic soft manipulator system for flexible electronic conformal transfer printing

Abstract

This invention discloses a pneumatic soft manipulator system for conformal transfer printing of flexible electronic films, relating to the conformal transfer printing process of flexible electronic films. The system includes a three-axis linear motion module, a pneumatic control box, and a soft manipulator. The three-axis linear motion module includes an x-axis, a y-axis, and a z-axis. The x-axis is fixed to the ground, and slide rails are installed on the x, y, and z axes. The x-axis and y-axis are connected by a slider engaging with the two slide rails, and the y-axis and z-axis are also connected by a slider engaging with the two slide rails. Each axis is driven by a motor. The pneumatic control box is fixed to the z-axis. The soft manipulator is mounted on the z-axis via a conical clamp. Two air pipes connect the pneumatic control box and the soft manipulator. The conical clamp is conical in shape and is bolted to the lower end of the z-axis. The conical surface of the clamp has a hollow design, and the lower end of the clamp is glued to the side of the soft manipulator.

Description

Technical Field

[0001] This invention relates to the field of pneumatic soft robots and the application field of flexible electronic products, specifically a pneumatic soft manipulator for conformal transfer printing of flexible electronics. Background Technology

[0002] Flexible electronics, with its significant advantages such as flexibility, stretchability, and light weight, has been widely used in flexible displays, electronic skin, portable electronic products, biomedicine, and aerospace, demonstrating its extraordinary commercial value and development prospects.

[0003] Among the researches, the conformal integration of flexible electronics onto complex structures or manifold surfaces such as those on aircraft is of great significance, as is the realization of large-area distributed real-time sensing. The challenge lies in how to conformally transfer flexible electronics, which possess characteristics such as softness, lightness, and non-planarity, onto complex curved surface structures.

[0004] Currently, traditional fabrication, transfer, and placement processes for electronic devices are relatively mature. However, these devices are generally integrated on relatively rigid planar substrates, resulting in small areas and limited deformability. This limits their use in structures with large areas, large deformations, and complex curved surfaces, leading to high workload, dense wiring, and increased weight. Flexible electronics, on the other hand, possess characteristics such as large area, lightweight, non-planarity, and easy deformability, offering unparalleled advantages in such complex structures. However, commonly used electronic device transfer and placement processes cannot effectively address the conformal transfer process for flexible electronic surfaces, failing to achieve flexible conformal deformation between the manipulated object and the target surface. Therefore, new technological challenges have arisen regarding the pickup, transfer, conformal deformation, and placement of flexible films such as flexible electronics onto structures with large areas, large deformations, and complex curved surfaces, with the realization of conformal deformation being particularly crucial.

[0005] Therefore, it is necessary to design a pneumatic soft manipulator system to solve the above-mentioned process problems of conformal transfer printing of flexible films. Summary of the Invention

[0006] The purpose of this invention is to provide a pneumatic soft manipulator system for conformal transfer of flexible electronic films, so as to solve the above-mentioned process problems of picking up and transferring, conformal deformation and placement of flexible electronic films.

[0007] To achieve the above objectives, this invention provides the following solution: a pneumatic soft manipulator system for flexible electronic conformal transfer printing, comprising a three-axis linear motion module, a pneumatic control box, and a soft manipulator, characterized in that: the three-axis linear motion module comprises an x-axis, a y-axis, and a z-axis composed of a truss, slide rails, and a motor; the x-axis is fixed to the ground; slide rails are installed on the x, y, and z axes; the x-axis and y-axis are connected by a slider and the two slide rails; the connection between the y-axis and z-axis is similar; each axis is driven by a motor; the pneumatic control box is fixed on the z-axis; the soft manipulator is mounted on the z-axis via a conical clamp; two air pipes connect the pneumatic control box and the soft manipulator; the conical clamp is conical in shape and is fixed to the lower end of the z-axis by bolts; the conical surface of the conical clamp is designed with a hollow design; the lower end of the conical clamp is connected and fixed to the side of the soft manipulator by adhesive.

[0008] Further defining the soft robotic arm, the soft robotic arm is characterized in that: the soft robotic arm is an integral disc-shaped elastomer made of polyvinylsiloxane material, the disc-shaped elastomer has multiple air channels and a small cavity distributed within it, wherein the air channels are located in the upper part of the elastomer and the small cavity is located in the lower part of the elastomer, the air channels and the small cavity are separated by a layer of elastic material and are not interconnected, the air channels and the small cavity are respectively connected to the pneumatic control box through air pipes, and the bottom surface of the disc-shaped elastomer is provided with multiple breathable micropores for vacuum adsorption.

[0009] Further defining the airway, the airway is characterized in that: the airway cross-section is rectangular, multiple airways are interconnected, and the airways are distributed on the upper part of the disc-shaped elastic body with different arrangement densities, so that the soft manipulator produces deformation conforming to the target surface under the combined influence of air pressure and airway distribution density when working.

[0010] Further defining the small cavity, the small cavity is characterized in that: the small cavity is located below the airway, and the small cavity is connected to the outside through micropores on the bottom surface of the disc-shaped elastomer. This allows negative pressure to be generated inside the small cavity when the soft manipulator is working, forming a vacuum adsorption of the flexible film. The small cavity contains multiple columnar bodies, which connect the bottom and top surfaces of the small cavity and provide support, so that the adsorbed flexible film can deform along with the soft manipulator.

[0011] Compared with the prior art, the advantages of the present invention are as follows:

[0012] Existing conformal transfer processes for flexible electronic films can be broadly categorized into two types: one uses multiple rigid mechanical fingers to control the position of a limited number of points on the flexible film to achieve conformal deformation; the other relies on a conformal adsorption disk with memory function to achieve conformal deformation of the flexible film. The conformal transfer method provided by this invention, which utilizes the deformation of a pneumatic soft robotic arm, offers several advantages over existing methods. First, compared to rigid mechanical fingers, the deformation produced by the soft robotic arm has a higher similarity to the target curved surface, resulting in more precise placement of the flexible film and smaller gaps during placement. Second, compared to conformal adsorption disks, the soft robotic arm has almost no requirements on the area of ​​the flexible film being adhered to. Conformal adsorption disks are not suitable for small adhesion surfaces, and the soft robotic arm is easier to manufacture. Third, compared to existing solutions, this invention has a simpler overall structure; the soft robotic arm is only the size of a disk, while the mechanical structures of existing solutions are all complex and cumbersome. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall structure;

[0015] Figure 2 This is a schematic diagram of a soft robotic arm;

[0016] Figure 3 A top-view diagram of a soft robotic arm;

[0017] In the diagram: 1. Target surface to be pasted; 2. Conical clamp; 3. Air duct; 4. Pneumatic control box; 5. Z-axis; 6. Y-axis; 7. X-axis; 8. Soft robotic arm; 8-1. Air passage; 8-2. Small cavity; 8-3. Columnar body; 8-4. Micropore; 9. Flexible film; 10. Slide rail; 11. Slider; 12. Motor. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0020] Please see Figure 1-3 A pneumatic soft manipulator system for flexible electronic conformal transfer printing includes a three-axis linear motion module, a pneumatic control box, and a soft manipulator. The three-axis linear motion module includes an x-axis (7), a y-axis (6), and a z-axis (5) composed of a truss, slide rails (10), and a motor (12). The x-axis (7) is fixed to the ground. Slide rails (10) are installed on the x, y, and z axes. The x-axis (7) and y-axis (6) are connected by a slider (11) and the two slide rails (10). The connection between the y-axis (6) and z-axis (5) is similar. Each axis is driven by a motor (12) to realize the movement of the soft manipulator in space. The pneumatic control box (4) is fixed on the z-axis (5). The soft manipulator (8) is mounted on the z-axis (5) via a conical clamp (2). Two air pipes (3) connect the pneumatic control box (4) and the soft manipulator (8). The two air pipes (3) are respectively connected to the air passage (8-1) and the small cavity (8-2) of the soft manipulator. The pneumatic control box controls the vacuum adsorption and conformal deformation functions of the soft manipulator. The conical clamp (2) is conical in shape and is fixed to the lower end of the z-axis (5) by bolts. The conical surface of the conical clamp (2) is designed with a hollow design to facilitate the placement of the air pipes. The lower end of the conical clamp (2) is connected and fixed to the side of the soft manipulator (8) by adhesive.

[0021] The soft robotic arm is a disc-shaped elastomer made of polyvinylsiloxane material. Multiple air channels (8-1) and a small cavity (8-2) are distributed within this disc-shaped elastomer. The air channels (8-1) are located in the upper part of the elastomer, and the small cavity (8-2) is located in the lower part. An elastic material separates the air channels (8-1) and the small cavity (8-2), preventing them from communicating. The air channels (8-1) and the small cavity (8-2) are connected to a pneumatic control box (4) via air pipes (3). The bottom surface of the disc-shaped elastomer has multiple permeable micropores (8-4) for vacuum adsorption. When the pneumatic control box (4) draws in air, a negative pressure is generated in the small cavity (8-2), which is used to adsorb the flexible film. When the pneumatic control box (4) blows air, a positive pressure is generated in the small cavity (8-2), which is used to adhere the flexible film.

[0022] The cross-section of the air passage (8-1) is rectangular, and multiple air passages (8-1) are interconnected. The air passages (8-1) are distributed on the upper part of the disc-shaped elastic body with different arrangement densities. This allows the soft manipulator to produce deformations that conform to the target surface under the combined influence of air pressure and air passage distribution density when it is working.

[0023] The small cavity (8-2) is located below the airway (8-1). The small cavity (8-2) is connected to the outside through the micropores (8-4) on the bottom surface of the disc-shaped elastomer. This allows the small cavity (8-2) to generate negative pressure when the soft manipulator is working, forming a vacuum adsorption of the flexible film. There are multiple columnar bodies (8-3) in the small cavity (8-2). The columnar bodies (8-3) connect the bottom and top surfaces of the small cavity (8-2) and provide support, so that the adsorbed flexible film can deform together with the soft manipulator, realizing the conformal deformation function.

[0024] Working principle: In the conformal transfer process of flexible electronic thin film, the flexible film is picked up first. At this time, the three-axis motion module moves the soft robot to the flexible film, so that the bottom surface of the robot is in close contact with the flexible film. After it is in place, the pneumatic control box draws air into the small cavity, and the negative pressure is generated in the small cavity to complete the vacuum adsorption of the flexible film.

[0025] Then, conformal deformation is performed. After picking up the object, the three-axis motion module controls the soft manipulator to rise to the appropriate position. Then, the pneumatic control box controls the air pressure in the airway of the soft manipulator. Under the action of air pressure, the soft manipulator begins to deform. Since the flexible film is always in an adsorption state, it also deforms along with the soft manipulator. After the deformation is completed, the flexible film will have a shape that adapts to the target surface to be pasted.

[0026] Finally, the flexible film is pasted. The three-axis motion module moves the soft robot to the target surface, so that the flexible film comes into contact with the target surface. Then, the pneumatic control box blows air into the small cavity, generating positive pressure in the small cavity. While releasing the flexible film, pressure is applied to make the flexible film better adhere to the target surface.

[0027] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A pneumatic soft manipulator system, characterized in that: The pneumatic soft manipulator system includes a three-axis linear motion module, a pneumatic control box (4), and a soft manipulator (8). The three-axis linear motion module includes an x-axis (7), a y-axis (6), and a z-axis (5). The x-axis (7) is fixed to the ground. Slide rails (10) are installed on the x, y, and z axes. The x-axis (7) and y-axis (6) are connected by a slider (11) and the two slide rails (10). The y-axis (6) and z-axis (5) are also connected by a slider and the two slide rails. Each axis is driven by a motor (12). The pneumatic control box (4) is fixed on the z-axis (5), and the soft manipulator (8) is mounted on the z-axis (5) by a conical clamp (2). There are two air pipes (3) connecting the pneumatic control box (4) and the soft manipulator (8). The conical clamp (2) is conical in shape and is fixed to the lower end of the z-axis (5) by bolts. The conical surface of the conical clamp (2) is designed with a hollow. The lower end of the conical clamp (2) is connected and fixed to the side of the soft manipulator (8) by adhesive. The soft manipulator (8) is an integral disc-shaped elastomer made of polyvinylsiloxane material. Multiple air channels and a small cavity are distributed within the disc-shaped elastomer. The air channels are located in the upper part of the elastomer, and the small cavity is located in the lower part. An elastic material separates the air channels and the small cavity, preventing them from communicating. The air channels and the small cavity are connected to the pneumatic control box (4) via air vents (3). The bottom surface of the disc-shaped elastomer has multiple permeable micropores for vacuum adsorption. The air channels have a rectangular cross-section, and the multiple air channels are interconnected. The air channels are distributed in different densities within the disc. The upper part of the disc-shaped elastomer allows the soft manipulator (8) to deform in accordance with the target surface (1) under the combined influence of air pressure and airway distribution density when it works. The small cavity is located below the airway and is connected to the outside through the micropores on the bottom surface of the disc-shaped elastomer. This allows the soft manipulator (8) to generate negative pressure in the small cavity when it works, forming a vacuum adsorption flexible film (9). There are multiple columnar bodies in the small cavity, which connect the bottom and top surfaces of the small cavity and play a supporting role, so that the vacuum adsorption flexible film (9) can deform together with the soft manipulator (8).

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