125 results about "Soft body" patented technology

The invention provides a degradable combined type tracheal stent and an implantation method, the degradable combined type tracheal stent comprises a plurality of rib plates which are coaxially arranged and are in an annular shape and soft bodies which are connected between every two rib plates and are in a net shape, and axial length adjustability and axial bending deformation of a stent main body are achieved through the soft bodies; the support further comprises a connecting part, the connecting part comprises a first connecting body arranged at the two axial ends of the support body and a second connecting body matched with the first connecting body, and the first connecting body and the second connecting body are matched to achieve axial detachable connection and combination between every two support bodies. The adjustable axial length of the stent main body, bionic axial bending deformation and stable connection and combination between every two stent main bodies are effectively realized. The invention further provides an implantation method of the degradable combined type tracheal stent, the implantation method comprises the steps of obtaining the size of the diseased trachea, determining the diameter and the combination number of the stent body, sleeving the diseased trachea and connecting the combination to complete implantation, and the method is easy to operate and can meet different requirements of clinical complex environments.

The present disclosure relates to a fishing lure assembly that is comprised of a rigid jig head with and a soft cavity with a specially structured cavity. The improved lure facilitates a secure attachment mechanism that allows for interchangeability of the soft bodies of the lure. The unique geometry of the ridged section of the jig head and the corresponding cavity within the soft body of the lure are designed to interlock without damaging the soft body.

The invention provides a multi-modal motion asymmetric soft actuator and application thereof, and belongs to the technical field of soft robots. The present invention comprises: at least one bending chamber for converting air pressure energy into directional bending motion; the at least one torsion chamber and the bending chamber are physically separated to form an independent bending chamber and an independent torsion chamber, and the bending chamber and the torsion chamber are respectively connected with an independent gas circuit; an asymmetric structure is arranged in the torsion chamber and is used for directly converting air pressure energy into rotating torque around the central axis of the module; by independently controlling air pressure input of the torsion chamber and the bending chamber which are asymmetrically arranged, torsion and bending motion can be independently achieved in a single module. According to the invention, an asymmetric structure is adopted as a whole, independent driving chambers with special functions and physical isolation are integrated in a single module, a mode of indirectly synthesizing torsion through motion coupling of a plurality of symmetrical chambers is abandoned, torsion motion in a target direction is directly output, and a driving source and control logic are simplified.

The invention provides a reprogrammable pneumatic soft deformation actuator and a preparation method thereof, and relates to the technical field of soft robot deformation. Comprising a body made of a flexible material, at least one sealed air gap is formed in the body, an air channel is formed in the body, and the air gap is communicated with the air channel; and an outer incision is arranged outside the body around the air passage. The whole body of the device is made of soft materials such as silica gel, reprogramming of a soft actuator structure can be achieved through manufacturing and bonding of new and old air gaps or outer notches, and a new deformation mode is obtained. The structure is a full-soft structure, can keep the flexibility of a soft deformation structure, and has the advantages of safety in contact with a human body or a fragile object and impact resistance. Through reciprocal operation of cutting and bonding, geometric parameters or distribution modes of air gaps and outer notches can be changed, and different deformation modes such as elongation, bending, torsion and composite deformation can be obtained.

The amphibious robot provided by the application can freely move in water and on land, realizes amphibious function, and can adapt to different movement requirements, such as crossing obstacles and gullies, and freely swimming in water. The movement mechanism of frog swimming and jumping is applied to the robot, and amphibious movement is realized through a mixed driving mode. On land, a high-performance frog-like jumping is realized through a combination of a fuel explosion driving type hind limb power mechanism and a connecting rod type forelimb agile posture adjusting mechanism. In water, a high-efficiency frog-like swimming is realized through a combination of a rope driving type linked hind limb mechanism for completing extension and retraction movement and a controllable soft body stretching driving type fin for swinging and opening and closing. Compared with other amphibious robots, the robot adopts a simplified executing mechanism and a split type design, significantly reduces the complexity of amphibious mode switching, and thus improves the adaptability and controllability of the robot in water and land environments.

The utility model discloses a suction cup which comprises a suction cup soft body and a shell covering the suction cup soft body. The sucker soft body is further provided with a connecting part, and the connecting part is further provided with a sliding block. The shell is further provided with a driving part, the shell slides outside the suction cup soft body, so that the sliding block slides on the driving part, and the suction cup soft body is attracted to the contact surface or separated from the contact surface. When the suction cup is used, the shell can slide relative to the suction cup soft body, so that the suction cup is promoted to complete an adsorption action with a contact surface or a separation action with the contact surface in the sliding process of the shell, and the problem that fingers feel uncomfortable due to pushing by the fingers is solved; and meanwhile, the shell is held by a hand to promote the shell to move, the whole sucker can be controlled in the hand of the user no matter whether the sucker is adsorbed with the contact surface or separated from the contact surface, and the problem that the sucker is broken due to falling of the sucker can be thoroughly avoided.

The utility model relates to the technical field of sealing, in particular to an O-shaped sealing ring. According to the technical scheme, inner sealing gaskets are arranged on the inner edges of an upper sealing ring and a lower sealing ring, outer sealing gaskets are arranged on the outer edges of the upper sealing ring and the lower sealing ring, and supporting soft bodies are installed in the upper sealing ring and the lower sealing ring. The inner sealing gaskets and the outer sealing gaskets of the upper sealing ring and the lower sealing ring are provided with first clamping teeth and second clamping teeth respectively, and the inner sealing gaskets and the outer sealing gaskets are assembled in a mutual inserting and limiting mode through the first clamping teeth and the second clamping teeth. By means of multi-layer sealing, use of the supporting soft body, reliable mechanical connection and auxiliary fixing of the adhesive, the sealing performance, the pressure resistance and the stability are remarkably improved, the sealing device adapts to wider application scenes, and the service life is prolonged. Due to the advantages, the sealing device has remarkable advantages in sealing occasions requiring high reliability.

The invention discloses a mudslide simulation test device for a waste slag field in a rainy environment in the technical field of mudslide simulation tests, which comprises a water tank part and a simulation part, and is characterized in that the water tank part comprises a base, a plurality of groups of adjusting rods and a soft tank; the bottom of the adjusting rod is fixedly connected with a sliding block, the top of the adjusting rod is fixedly connected with a fixed fork, and a floating fork is rotationally connected into the fixed fork and used for rotating along with the shape of the soft groove and attaching to the bottom of the soft groove. The length of the adjusting rod is adjustable for adjusting the height distribution of the soft body groove; the simulation part comprises an erecting rod fixedly connected with the top of the base and an installed water tank, a spraying plate is installed at the top of the erecting rod, the water tank is communicated with the spraying plate, and the spraying plate is located above the soft body groove and used for simulating rainfall; according to the invention, the soft body groove can be bent into a desired trend, so that various simulation working conditions are provided, more actual conditions can be met, and more accurate data can be obtained.

The utility model discloses a suction cup which comprises a shell, one side of the shell is connected with a suction cup soft body, and the other side of the shell is provided with a sliding piece linked with the suction cup soft body. The shell is further provided with a shifting block, and the shifting block is connected with the sliding piece through an arranged linkage shaft. And the shifting block rotates on the shell to drive the sliding piece to move upwards, so that the sucking disc soft body linked with the sliding piece is adsorbed on a contact surface or is separated from the contact surface. When the finger portion of the finger presses the shifting block, one end of the shifting block is made to abut against the shell, and along with continuous force application of the finger portion, the end of the shifting block can rotate with the contact point of the shifting block and the shell as the fulcrum, so that the sliding piece can be easily made to drive the sucker soft body to deform according to the lever principle, and suction of the sucker is completed. On the basis, the pressure of the fingers can be greatly relieved through the arrangement of the shifting blocks, and meanwhile discomfort caused by overexertion of the fingers can be avoided.

The application discloses a preparation method of a silica gel-based rigid-flexible coupling pneumatic soft body finger, which comprises the following steps: firstly, preparing a silica gel gas distribution base layer and a silica gel pneumatic expansion joint structure; then, bonding the silica gel gas distribution base layer, the silica gel pneumatic expansion joint structure and a rigid framework into a semi-finished product pneumatic soft body finger; placing the semi-finished product pneumatic soft body finger into a pneumatic soft body finger mold, and placing a flexible tensile strain sensor on the palm of the semi-finished product pneumatic soft body finger, and placing the electric signal lead wire of the flexible tensile strain sensor outside the pneumatic soft body finger mold; finally, injecting silica gel into the pneumatic soft body finger mold to coat the semi-finished product pneumatic soft body finger and the flexible tensile strain sensor into an integral whole by using the silica gel.

The present disclosure relates a soft body vine robot that can extend into confined spaces and perform various tasks using interchangeable end effector tools. The vine robot includes a tubular robot body and an attachment member. An internal portion of the robot body is disposed within an external portion of the robot body. The attachment member has a first side detachably connectable to an everting tip of the robot body and a second side detachably connectable to at least one end effector. In operation, a pressure source generates pressure within the robot body to cause the internal portion of the robot body to evert along an everting direction of the robot body, the robot body everts along a desired path, and the attachment member maintains a detachable connection with the everting tip of the robot body.

The application provides a cuttable interactive soft body simulation method and system based on a GPU accelerated material point method, and belongs to the field of computer graphics physics simulation, and comprises the following steps: S1: sampling and initializing a three-dimensional soft body model to be simulated and a rigid body model interacting with the three-dimensional soft body model; S2: constructing an initial GPU secondary sparse acceleration structure Ggrid based on a virtual scene to be simulated; S3: extending the Ggrid; S4: updating the state of the rigid body model and constructing a rigid body cutting field of the Ggrid; S5: solving a physical explicit integration of the three-dimensional soft body model to be simulated in parallel based on the Ggrid and the rigid body cutting field, and obtaining the position of a Lagrange particle at the next time; and S6: at the last iteration of each frame, reconstructing a surface triangular mesh mesh of the Lagrange particle cluster in real time based on the Ggrid, and smoothing the surface triangular mesh mesh. The method realizes multi-material soft body deformation, cutting interaction, fragmentation and real-time surface reconstruction.

According to the pet cage, a cage frame is matched with a soft body to form the pet cage capable of containing a pet, the cage frame comprises an upper frame and a lower frame which are connected in a pivoted mode, the upper frame can swing to be close to the lower frame or away from the lower frame along the pivoted connection position, and therefore the folding action or the unfolding action of the cage frame is achieved. And the upper frame and the lower frame can be locked through a locking mechanism after the cage frame is unfolded. Compared with the prior art, the pet cage is simple in overall structure and convenient to unfold and fold, the occupied space of the folded pet cage is greatly reduced, and the portability of the pet cage is effectively improved.

A pet cage, comprising a cage frame and a soft body for wrapping the cage frame, wherein the cage frame comprises an upper frame and a lower frame, the bottom of the upper frame is pivotably connected to one side of the lower frame, and the upper frame pivotably moves toward the lower frame or departs the lower frame, folding or unfolding the cage frame; a locking mechanism is further provided for locking the upper frame and the lower frame after the cage frame is unfolded.

Implementations described and claimed herein provide a ballistic filler for a flexible soft body armor and methods of manufacturing the same. In one implementation, a first portion having a first subpanel is stitched directly to a second subpanel with a stitching pattern. The first subpanel has one or more layers of woven fabric, and the second subpanel has one or more layers of unidirectional fabric. A second portion backs the first portion. The second portion has one or more layers of unstitched unidirectional fabric.

The utility model provides a drainage bag which comprises a bag body, the bag body is formed by heat sealing of a front film layer and a rear film layer, an outlet is formed in the bottom of the bag body, a base plate is arranged on the outer surface of the front film layer, the front film layer and the base plate are communicated through a through hole, a pasting piece is arranged on the outer surface of the base plate, and a first flexible sealing piece and a second flexible sealing piece are arranged in the upper space in the bag body. The first flexible sealing piece is attached to the second flexible sealing piece, the first flexible sealing piece is provided with a connecting hole, the connecting hole is right opposite to the through hole of the front film layer, and the connecting hole is connected with the periphery of the through hole of the front film layer in a sealed mode. According to the utility model, the first flexible sealing piece and the second flexible sealing piece are both soft parts, and are attached to each other to enable the second flexible sealing piece to seal the connecting hole of the first flexible sealing piece, so that an anti-reflux structure is formed, excrement liquid in the bag body is prevented from flowing back to pollute a fistulization opening, and complications are avoided.

The invention relates to the technical field of aquaculture and feed engineering, and discloses a bionic fish digestion simulation system based on heat pump temperature control and software driving, which comprises an environment simulation subsystem, a bionic stomach digestion subsystem, a bionic pylorus subsystem, a bionic intestinal tract subsystem and an intelligent control and detection subsystem. The whole bionic digestive organ is immersed in an extremely stable water body environment, and accurate and stable control of the water temperature of + / -0.1 DEG C of the experimental water tank is realized. The problems that a traditional method is poor in temperature uniformity and large in fluctuation are fundamentally solved, the body temperature requirements of various fishes such as cold water fishes and warm water fishes can be accurately met, a reliable temperature basis is provided for digestive enzyme activity simulation, and the scientificity and repeatability of experimental data are remarkably improved.

The application discloses a gas-driven soft body driving structure, a casting mold and a manufacturing method thereof; the soft body driving structure can be combined with other structures to form a soft body robot system. The manufacturing method is based on the casting idea and can be combined with the assembly type mold group through 3D printing to manufacture the part structures of the soft body actuator in steps. Since the soft body structure is not easy to be demolded by one-time casting through the mold, even if the corresponding demolding agent is used before the silica gel is cast, the soft body structure is easy to be damaged in the demolding stage, and therefore the application provides a step-by-step casting method of the split mold group.

The application provides a soft body driver with switchable motion modes, and relates to the technical field of soft body robots, which comprises a first elastic limiting layer, a second elastic limiting layer, a plurality of folded air bags, a plurality of first rigid limiting layers, a plurality of second rigid limiting layers and a plurality of transverse connecting joints; a plurality of first grooves are arranged on the first elastic limiting layer at equal intervals, and a plurality of second grooves are arranged on the second elastic limiting layer at equal intervals; the number of the first grooves, the second grooves, the folded air bags, the transverse connecting joints, the first rigid limiting layers and the second rigid limiting layers is equal; the first end of the transverse connecting joint is fixed with the first end of the first rigid limiting layer, and the second end of the first rigid limiting layer is sleeved on the first groove; the second end of the transverse connecting joint is fixed with the first end of the second rigid limiting layer, and the second end of the second rigid limiting layer is sleeved on the second groove. The application can quickly respond to and adapt to different operation requirements and environmental conditions.

This invention discloses a soft robot system and its working method for sampling polar ice layers, applied in the field of polar drilling technology. It includes a soft robot and an ice surface working platform. The soft robot comprises a sub-ice drilling soft body and an ice surface sealing soft body. The sub-ice drilling soft body includes a soft body main unit and a heat-fusion module located at the front end of the soft body main unit. The ice surface sealing soft body includes a soft body main unit. Both soft body main unit one and soft body main unit two are provided with hollow channels, and several air chambers are provided inside soft body main unit one on both sides of the hollow channels. The ice surface working platform includes a pneumatic system, a pipeline system, a water storage system, and a main controller. The main controller is electrically connected to the pneumatic system, the pneumatic system pipelines are connected to the pipeline system, and the pipeline system pipelines are connected to the water storage system and the air chambers. The pipeline system passes through the hollow channels and connects soft body main unit one and soft body main unit two in series. This invention meets the existing requirements of unmanned drilling, flexible selection of sampling locations, no complex mechanical structure, and low propulsion resistance in ultra-deep drilling.

The invention provides a deformable variable-rigidity soft body driver, which comprises a soft body driving unit, a sealing outer film and a communicating piece, the soft body driving unit comprises a flexible substrate layer and at least one flexible scale layer superposed on the flexible substrate layer, and the contact surfaces of the flexible substrate layer and the flexible scale layer are provided with mutually matched preset surface configurations; the sealing outer film completely wraps and seals the soft driving unit through a flexible airtight material; the communicating piece is communicated with the soft body driving unit, and the closed space is in butt joint with an external negative pressure air source; a sensing sensor is arranged on the sealing outer film; and when negative pressure is applied to the closed space through the communicating piece, the preset surface configurations of the flexible substrate layer and the flexible scale layer are mutually engaged and locked, so that the whole soft driver deforms into a preset three-dimensional shape, and a rigid supporting structure is formed. Through integration of the soft driving unit, the sealing outer film and the communicating piece, the problem of system complexity caused by separation of variable stiffness and a shape driving module in the prior art is solved.

The utility model discloses a sand rib soft body mattress, and belongs to the technical field of sand rib soft body mattresses, the sand rib soft body mattress comprises a lower geotechnical cloth, a plurality of rows of sand rib sleeves are arranged on the lower geotechnical cloth, the sand rib sleeves are sewn on the lower geotechnical cloth through reinforced belts, a plurality of discharge pipes are arranged on the sand rib sleeves, a plurality of discharge holes are formed in the discharge pipes, and the discharge pipes penetrate through the lower geotechnical cloth. The sand rib soft mattress has the effects that the stability of the sand rib soft mattress laid at the bottom of a water body is improved, and overturning of the sand rib soft mattress is reduced.

This invention relates to the field of seawall construction technology in water conservancy and hydropower projects, and discloses a precise construction method for the integrated laying, overlapping, and filling of flexible sand ribbed drainage systems. The technical solution includes: laying the sand ribbed structure on a sliding plate; moving the leveled laying module above the placement chamber using a hoisting device; hooking the sand ribbed structure with multiple rows of hoisting hooks of increasing or decreasing height on the module to create an inclined posture; lowering the lifting hooks so that the lowest edge of the sand ribbed structure contacts the structure first, using static friction to form positioning anchor points; and then applying a horizontal pulling force to the other side to straighten the suspended sand ribbed blocks sequentially and lay them flat on the structure, completing the alignment. This method achieves stable and precise deployment of the flexible sand ribbed structure, avoids manual adjustments, and improves construction efficiency and alignment accuracy.

The application discloses a finger soft body manufacturing method and a dexterous hand. The method comprises the following steps: preparing two base cloths, the base cloths are made of elastic materials, and one surface of the base cloths is an oil-proof surface; fixing one base cloth in a stretched state on a first jig with an opening in the middle; arranging the other base cloth in a free state in the opening; bonding or fusing the two base cloths in the opening to obtain an intermediate cloth, wherein at least one first cavity is formed between the two oil-proof surfaces; after the intermediate cloth is taken off from the first jig, wrapping the intermediate cloth on a second jig in a cylindrical shape, and bonding or fusing two opposite edges of the intermediate cloth to obtain a cylindrical cloth; injecting gel into the first cavity of the cylindrical cloth, and performing solidification treatment on the gel to obtain a finger soft body of the dexterous hand.

The utility model provides a mask with a knob adjusting structure. The mask comprises an outer shell, an inner shell and the knob adjusting structure. The inner shell is movably connected with the outer shell and can move on a preset path relative to the outer shell; the knob adjusting structure comprises an adjusting knob and an adjusting screw rod, the adjusting knob is arranged on the outer shell, the adjusting screw rod is rotationally arranged on the outer shell, the adjusting screw rod extends along a preset path and is in threaded fit with the inner shell, and the adjusting knob is in driving connection with the inner shell through the adjusting screw rod. According to the mask with the knob adjusting structure, the distance between the inner shell and the outer shell can be adjusted by adjusting the knob, then the distance between a soft part installed on the outer shell and a VR head-mounted display assembled on the inner shell can be adjusted, and the distance between an image display part of the VR head-mounted display and human eyes can be adjusted; the design of the adjusting screw rod can realize stepless adjustment, so that the inner shell can stop at any position, the wearing experience of a user is improved, the overall structure is simple, and the design is ingenious.

The present application relates to the field of agricultural technology, in particular to a cherry picking device based on soft body structure and its working method. The soft body mechanical arm of the device is driven by the soft body driving module in an electric driving mode, which can avoid branch interference and reach the cherry to be picked. Since the binding force of cherry stem and tree is less than that of fruit, the cherry can be picked with stem under the action of soft body clamping device. When it is unable to reach the cherry farther away, the soft body mechanical arm can be wrapped around the branch as an intermediate medium to improve the node stiffness, so as to reach the cherry farther away to complete the picking work. Meanwhile, the picking efficiency can be improved through multi-axis cooperative operation. Compared with the traditional picking method, the device can effectively identify and pick fresh cherry with stem in the complex environment of branch interference, solving the problem of low picking efficiency of fresh cherry in the existing patent technology.

The application discloses an electromagnetic tomography system and imaging method based on a flexible fitting probe, and the system comprises a probe module, which is arranged in a flexible base structure, wherein a detection coil array and a soft body adsorption module are arranged on the flexible base structure, and the soft body adsorption module is used for controlling the probe to be adsorbed to the surface of a measured structure; a channel switching module, which is connected with the probe module, adopts an excitation-receiving cross channel control structure, is used for performing path distribution on an excitation channel and a receiving channel, and is used for configuring different excitation-receiving coil combinations; a lock-in amplification module, which is connected with the channel switching module, is used for acquiring detection signals; and an upper computer, which is connected with the probe module, the channel switching module and the lock-in amplification module, is used for sending adsorption and channel switching control instructions and receiving lock-in outputs. The application realizes stable attachment through flexible fitting and soft body adsorption, improves a signal-to-noise ratio through lock-in synchronous demodulation, and realizes high-sensitivity electromagnetic tomography detection.

This invention provides a reusable ascites drainage device, comprising: a drainage seat, a drainage tube, a negative pressure assembly, and a collection container; one end of the drainage tube is connected to the drainage seat, and the negative pressure assembly and the collection container are both connected to the other end of the drainage tube; the negative pressure assembly is used to generate negative pressure within the drainage tube, allowing ascites fluid from the drainage seat to enter the drainage tube; the collection container is used to collect the ascites fluid draining from the drainage tube; the drainage seat includes an annular shell, one end of which is provided with a self-sealing soft body for sealing; one end of the drainage tube is connected to a puncture needle, which is inserted into and penetrates the self-sealing soft body into the annular shell. This embodiment reduces tissue damage from repeated punctures, improves patient comfort, enhances the precise control of negative pressure within the drainage tube, protects tissues near the drainage seat from damage, and reduces the risk of abdominal infection.

The application provides a devil fish-shaped magnetic control soft swimming robot, a control method and a manufacturing method. The robot comprises a floating platform, a trunk block, a supporting rod and a fin plate. The upper end of the supporting rod is connected with the floating platform, and the lower end is connected with the trunk block. The fin plate is fixedly connected with the bottom of the trunk block. The fin plate is made of soft material and comprises two side fin plates which are left-right symmetrical relative to the trunk block. Each side fin plate comprises a non-magnetized area at the rear part and a magnetized area at the front part. The magnetization direction of each magnetized area is obliquely arranged. The magnetization directions of the two magnetized areas are symmetrically arranged relative to the trunk block. The application has the advantages that under the action of an external magnetic field, the magnetized area of the fin plate drives the non-magnetized area to move, thereby realizing swimming. The structure is simple, the mass is light, the volume is small, and the manufacturing is easy. By controlling the direction, strength and frequency of the applied magnetic field, forward swimming or turning can be realized. The control is flexible, the robot can be controlled without a cable, and the robot is suitable for more scenes.

This invention discloses a controllable bending soft detection device, belonging to the field of soft robot technology. The invention includes a soft body, which is an integrated composite structure formed by a flexible polymer material and an embedded spring skeleton, with a central channel formed along the axial direction. The spring skeleton is coaxially arranged along the axial direction of the soft body. Multiple drive line channels are arranged axially between the spring skeleton and the central channel within the soft body, and are evenly distributed circumferentially. A detection module is located at the end of the central channel. The driving assembly includes a driving component and multiple driving lines, each driving line correspondingly passing through a drive line channel. One end of each drive line is connected to the detection module, and the other end passes through a drive line channel and connects to the driving component. Under the traction force of the driving component, the driving lines drive the soft body to produce continuous bending deformation. This invention maintains the overall continuous deformation characteristics and high flexibility while making the bending process smoother, more stable, and predictable.