CN114734433A - Multi-joint soft manipulator and manufacturing method thereof - Google Patents
Multi-joint soft manipulator and manufacturing method thereof Download PDFInfo
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- CN114734433A CN114734433A CN202210360067.0A CN202210360067A CN114734433A CN 114734433 A CN114734433 A CN 114734433A CN 202210360067 A CN202210360067 A CN 202210360067A CN 114734433 A CN114734433 A CN 114734433A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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Abstract
The invention discloses a multi-joint soft manipulator and a manufacturing method thereof, wherein the multi-joint soft manipulator comprises: the device comprises a cavity layer, a micro-channel layer, a pipeline and a grabbing layer; the device comprises a cavity layer, a cavity layer and a plurality of connecting plates, wherein a plurality of continuous cavities are arranged in the cavity layer, and the continuous cavities are independent from one another; the micro-flow channel layer is arranged at the bottom of the cavity layer, a plurality of main flow channels are arranged in the micro-flow channel layer, and the main flow channels are correspondingly connected with the continuous cavity; the pipelines are arranged on the micro-flow channel layer and correspondingly communicated with the flow channels; the grabbing layer is arranged at the bottom of the micro-flow channel layer. According to the invention, the chamber layer is divided into a plurality of independent continuous cavities, the micro flow channel layer is preset, and fluid is independently conveyed for each continuous cavity through the independent main flow channel, so that independent control over the plurality of continuous cavities is realized, the degree of freedom of the manipulator is further increased, the grabbing envelope curve is enriched, the grabbing accuracy of the manipulator is improved, and the manipulator can be suitable for grabbing objects with complicated shapes.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-joint soft manipulator and a manufacturing method thereof.
Background
With the rapid development of intelligent manufacturing and information technology, more and more functional robots penetrate into various fields of production and life to assist people in completing various tasks. The automatic clamping device is used as an execution component of the robot and the external environment, so that the robot has the capabilities of grabbing, sorting, assembling and the like, and the automation and intelligence level of the robot are directly influenced. The traditional automatic clamping device comprises a rigid gripper, a multi-finger dexterous hand and the like, wherein the rigid gripper has the advantages of high positioning precision, high response speed, high degree of freedom and the like, is often applied to repeated and dangerous industrial fields, but can only be applied to a single scene, has limited universality and insufficient expansibility, and cannot realize flexible clamping of fragile articles; the multi-finger dexterous hand has higher degree of freedom, flexibility and stronger sensing capability, can simulate the action of fingers of human beings, realizes the grabbing of complex objects, but needs to be provided with a large number of external sensors (force sensors, position sensors and the like) in the using process, and has the problems of complex structure, high design difficulty, high control requirement, high manufacturing cost and the like, so the multi-finger dexterous hand is difficult to be widely used in industrial production and daily life.
The software manipulator has the characteristics of strong motion flexibility, high flexibility and the like as a novel execution component interacting with an environment target, can adapt to grabbing of objects with complex shapes, reduces the possibility of damaging soft fragile objects, and has wide application prospect in the fields of grabbing of fragile objects, sorting of fresh food, injury-free capture of aquatic organisms, medical rehabilitation and the like. The soft mechanical arm is divided into a fiber constraint drive type, an elastic cavity drive type, a corrugated structure drive type, a folded structure drive type and the like according to different drive modes.
As a common soft mechanical arm, the elastic cavity drives the soft mechanical arm to utilize asymmetric geometric structure design or non-uniform distribution of elastic modulus, under the action of gas/liquid, the cavity structure is directionally expanded, and the soft mechanical arm is driven to complete directional bending action, so that the action on a target object is realized. The elastic cavity body driving soft mechanical arm is simple in structure, large in deformation range, strong in bearing capacity, light in weight, high in efficiency, free of pollution, strong in environment adaptability, free of interference of electronic elements and magnetic fields and the like. However, the manipulator can only deform according to a single preset envelope line in the motion process, the grabbing behavior is simple, the degree of freedom is limited, and the grabbing effect of the soft manipulator on the target object and the adaptability to the environment are greatly reduced.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a multi-joint soft manipulator and a manufacturing method thereof, and aims to solve the problem that the existing elastic cavity driving soft manipulator is poor in grabbing capacity on objects with complex shapes.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a multi-joint soft manipulator, where the multi-joint soft manipulator includes:
the device comprises a chamber layer, a plurality of connecting plates and a plurality of connecting plates, wherein a plurality of continuous cavities are arranged in the chamber layer, and the continuous cavities are independent;
the micro-flow channel layer is arranged at the bottom of the cavity layer, a plurality of main flow channels are arranged in the micro-flow channel layer, and the main flow channels are correspondingly connected with the continuous cavity;
the pipelines are arranged on the micro-flow channel layer and correspondingly communicated with the flow channels;
and the grabbing layer is arranged at the bottom of the micro flow channel layer.
As a further improved technical solution, the continuous cavity includes a plurality of independent cavities and auxiliary flow channels, any one of the independent cavities is connected with the main flow channel:
and the two adjacent independent cavities are connected through the auxiliary flow channel.
As a further improved technical scheme, the multi-joint soft manipulator further comprises a limiting layer, and the limiting layer is arranged between the micro-flow channel layer and the grabbing layer.
As a further improved technical scheme, the grabbing layer is provided with microstructures, and the microstructures are distributed on the grabbing layer in a dot and line array manner.
As a further improved technical scheme, the number of independent cavities contained in each section of continuous cavity is three, and the number of auxiliary flow channels in each section of continuous cavity is two.
As a further improved technical scheme, the limiting layer is made of polyvinyl chloride, thermoplastic polyurethane elastomer or resin.
As a further improvement technical scheme, the material of the cavity layer and the material of the micro-flow channel layer are both polydimethylsiloxane or silica gel.
As a further improvement, the main flow passage comprises a first flow passage and a second flow passage;
the first flow channel is arranged in the micro-channel layer along the length direction of the micro-channel layer and is connected with the pipeline;
the second flow channel is arranged in the micro flow channel layer along the width direction of the micro flow channel layer, one end of the second flow channel is connected with the first flow channel, and the other end of the second flow channel is connected with any one of the independent cavities.
In a second aspect, an embodiment of the present invention provides a method for manufacturing a multi-joint soft manipulator, including:
loading the material for manufacturing the cavity layer into a 3D printer, and printing the cavity layer according to a preset program;
manufacturing a limiting layer, and printing a micro-channel layer on the limiting layer;
printing a grabbing layer on the surface of the limiting layer, which is far away from the micro-flow channel layer;
coating an adhesive material on the contact surface of the cavity layer and the micro-channel layer, and contacting and pressing the cavity layer and the micro-channel layer;
and after the cavity layer is stably connected with the micro-channel layer, connecting the pipeline into a main channel in the micro-channel layer.
As a further improved technical solution, the manufacturing of the limiting layer specifically includes:
cutting the polyvinyl chloride plate into a limiting layer;
or printing the limiting layer by adopting thermoplastic polyurethane elastomer rubber;
or carbon fiber or metal fiber is added into the same material as the material of the chamber layer to manufacture the limiting layer.
The technical scheme adopted by the invention has the following beneficial effects:
the invention provides a multi-joint soft manipulator, comprising: the device comprises a cavity layer, a micro-flow channel layer, a pipeline and a grabbing layer; wherein a plurality of continuous cavities are arranged in the cavity layer, and the continuous cavities are independent from each other; the micro-flow channel layer is arranged at the bottom of the cavity layer, a plurality of main flow channels are arranged in the micro-flow channel layer, and the main flow channels are correspondingly connected with the continuous cavity; the plurality of pipelines are arranged on the micro-flow channel layer and correspondingly communicated with the flow channels; the grabbing layer is arranged at the bottom of the micro-flow channel layer. The articulated software manipulator that this embodiment provided falls into the independent continuous cavity of a plurality of with the cavity layer to predetermine the micro-runner layer, carry fluid alone for every continuous cavity through independent sprue, thereby realize carrying out independent control to a plurality of continuous cavities, and then increase the manipulator degree of freedom, improve the accuracy that the manipulator snatched, richly snatch the envelope, can adapt to snatching of complicated shape object.
Drawings
Fig. 1 is a perspective view of a multi-joint soft manipulator provided by the present invention;
FIG. 2 is a full sectional view of a multi-joint soft manipulator provided by the present invention;
FIG. 3 is a side view of a multi-joint soft manipulator according to the present invention;
FIG. 4 is an exploded view of a multi-joint soft robot according to the present invention;
fig. 5 is a flowchart of a method for manufacturing a multi-joint soft manipulator according to a preferred embodiment of the present invention.
Reference numerals: 100. a chamber layer; 200. a micro flow channel layer; 300. a pipeline; 400. grabbing the layer; 500. a confinement layer; 110. a continuous cavity; 111. an independent cavity; 112. an auxiliary flow passage; 210. a main flow channel; 410. a microstructure; 211. a first flow channel; 212. a second flow path.
Detailed Description
In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It should also be noted that the same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The existing elastic cavity driving soft manipulator adopts a single communicating cavity design, and the integral bending degree of the manipulator is in a proportional relation with the pressure, so that the manipulator can only deform according to a preset simple envelope line in the motion process, the action is simple, the degree of freedom is single, and the grabbing capacity of the manipulator to objects with complex shapes is weak.
The soft mechanical arm has smooth gripping surface and limited friction force, is easy to slide in the object gripping process, and reduces the gripping stability.
The traditional soft mechanical hand is mostly made of materials such as silica gel, PDMS, TPU and the like and is manufactured and formed by a pouring method. In order to make the soft mechanical arm have the functions of bending, rotating and the like, a complex cavity structure is generally required to be designed, so that the requirements on the design of an inner mold and an outer mold required by a pouring process are higher.
Based on this, the present application intends to provide a solution to the above technical problem, the details of which will be explained in the following embodiments.
The first embodiment is as follows:
the invention discloses a multi-joint soft manipulator, please refer to fig. 1 and fig. 2, fig. 1 is a perspective view of the multi-joint soft manipulator provided by the invention; fig. 2 is a full sectional view of a multi-joint soft manipulator provided by the invention. The invention discloses a multi-joint soft manipulator, which comprises: chamber layer 100, microfluidic layer 200, tubing 300, and grasping layer 400; the chamber layer 100 is used for generating deformation when a fluid (nitrogen, air, water, etc.) enters, in actual use, the material of the chamber layer 100 can be a material with high elastic modulus, a plurality of continuous cavities 110 are arranged in the chamber layer 100, the continuous cavities 110 are used for containing the fluid, and the continuous cavities 110 are independent of each other; a plurality of continuous cavities 110 are disposed within the chamber layer 100, each continuous cavity 110 being linearly arranged. Of course, in practical use, the number of the cavities 110 may be changed according to the use requirement, for example, each cavity 110 may be arranged in parallel or vertically, and each cavity 110 may be regarded as a joint. Specifically, the continuous cavity includes a plurality of independent cavities 111 and auxiliary flow channels 112, any one of the independent cavities 111 is connected to the main flow channel, and two adjacent independent cavities 111 are connected to each other through the auxiliary flow channels 112; that is, although the independent chambers 111 are connected to each other, they have independent inner spaces for receiving fluid.
Further, referring to fig. 4, fig. 4 is an exploded view of a multi-joint soft manipulator according to the present invention. The micro-channel layer 200 is arranged at the bottom of the chamber layer 100, the length and width of the top surface of the micro-channel layer 200 is consistent with the length and width of the bottom surface of the chamber layer 100, the micro-channel layer and the chamber layer can be connected well, and the micro-channel layer 200 is made of a high-elasticity modulus material which is the same as that of the chamber layer 100; the chamber layer 100 and the micro flow channel layer 200 are made of Polydimethylsiloxane (PDMS) or silica gel, and a plurality of main flow channels 210 are disposed in the micro flow channel layer 200, and the main flow channels 210 are correspondingly connected to the continuous cavity 110 and used for conveying a fluid to the continuous cavity 110; optionally, the main flow channel 210 is L-shaped, and the number of the main flow channels 210 is the same as the number of the continuous cavities 110.
Further, referring to fig. 1 and fig. 3 together, fig. 3 is a side view of a multi-joint soft body manipulator provided by the present invention. The plurality of pipelines 300 are disposed on the micro channel layer 200, the pipelines 300 are correspondingly communicated with the flow channels, the pipelines 300 are used for conveying fluid to the main flow channels 210 in the micro channel layer 200, and the number of the pipelines 300 is the same as that of the main flow channels 210; optionally, the tubing is made of a flexible material to facilitate a better fit connection with the microfluidic layer 200. Wherein, snatch layer 400 and locate the bottom on little flow path layer 200, through it can realize snatching the object to snatch layer 400, of course, the material of snatching layer 400 is flexible material, can improve the ability of snatching to fragile article like this, and the harmless effect of snatching of reinforcing manipulator.
The working principle of the multi-joint soft manipulator provided by the embodiment is as follows:
when an object needs to be grabbed, the pipeline 300 is connected through external air pressure or hydraulic equipment so that fluid enters, the fluid enters each continuous cavity 110 through each main flow channel 210 respectively, the volume of each independent cavity 111 in each continuous cavity 110 expands under the action of the pressure difference between the inside and the outside of each continuous cavity 110, and the whole manipulator is in an asymmetric structure and can be bent and elastically deformed. The degree of bending deformation of each joint (independent continuous cavity 110) is proportional to the fluid pressure. The pressure of the fluid flowing into each pipeline 300 is independently controlled, so that the structure of each continuous cavity 110 can be deformed, the shape change of the grabbing action is enriched, and the multi-degree-of-freedom bending deformation of the multi-joint soft manipulator is realized.
The multi-joint soft manipulator provided by the embodiment has the beneficial effects that:
the multi-joint soft manipulator provided by the embodiment divides the chamber layer 100 into a plurality of independent continuous cavities 110, presets the micro flow channel layer 200, and independently conveys fluid for each continuous cavity 110 through the independent main flow channel 210, so that independent control over the plurality of continuous cavities 110 is realized, the degree of freedom of the manipulator is further increased, the grabbing accuracy of the manipulator is improved, and the manipulator can be adapted to grabbing of objects with complicated shapes.
As a further alternative, referring to fig. 1 and fig. 2, the multi-joint soft manipulator further includes a limiting layer 500, wherein the limiting layer 500 is disposed between the micro-channel layer 200 and the capturing layer 400; since the soft robot is driven by air pressure or hydraulic pressure, the pressure will affect the soft material (the materials of the chamber layer 100, the micro channel layer 200 and the grasping layer 400 are soft), so in order to avoid interference with the grasping layer 400, it is necessary to add a material with a low elastic modulus between the micro channel layer 200 and the grasping layer 400 to form the limiting layer 500. Optionally, the material of the restriction layer 500 is polyvinyl chloride (PVC), thermoplastic polyurethane elastomer (TPU) or resin, and the specific material of the restriction layer 500 is selected according to the requirement in practical use.
In some embodiments, referring to fig. 1 and fig. 2, the capturing layer 400 is provided with microstructures 410, and the microstructures 410 are arranged in a dot-line array on the capturing layer 400; further, the microstructure 410 may also be a stripe array or other structures, such that the surface friction force may be enhanced, the capability of the manipulator to grab a smooth object may be improved, and the surface rigidity may be reduced, and the material may be flexible materials such as Polydimethylsiloxane (PDMS) and silica gel.
In other embodiments, with reference to fig. 2, the number of the continuous cavities 110 and the number of the main flow channels 210 are three, further, the number of the independent cavities 111 included in each continuous cavity 110 is three, and the number of the auxiliary flow channels 112 in each continuous cavity 110 is two; that is to say, nine independent cavities 111 are arranged in the chamber layer 100, every three independent cavities 111 form a continuous cavity 110, and the independent cavities 111 in each continuous cavity 110 are communicated with each other; through three independent continuous cavity 110 to and three main runner 210 that corresponds, carry the fluid for every continuous cavity 110 alone through each independent main runner 210 to the realization carries out independent control to each independent continuous cavity 110, can increase the degree of freedom of manipulator like this, improves the accuracy that the robot snatched, can adapt to the snatching of complicated shape object.
As a further alternative, with continued reference to fig. 2, the primary flow channel 210 includes a first flow channel 211 and a second flow channel 212; the first flow channel 211 and the second flow channel 212 are connected in an L shape, and the connection shape of the first flow channel 211 and the second flow channel 212 can be adaptively changed according to the requirement in the actual use process; the first flow channel 211 is disposed in the micro channel layer 200 along the length direction of the micro channel layer 200, and the first flow channel 211 is connected to the pipeline 300; the second flow channel is disposed in the micro flow channel layer 200 along the width direction of the micro flow channel layer 200, one end of the second flow channel 212 is connected to the first flow channel 211, and the other end of the second flow channel 212 is connected to any one of the independent cavities 111.
The structure and function of the multi-joint soft manipulator in the embodiment of the invention are described in detail in combination with specific use scenarios as follows:
when an object needs to be grabbed, the pipeline 300 is connected through external air pressure or hydraulic equipment, so that fluid enters, and when the fluid enters each independent cavity 111 through each first flow channel 211 and each second flow channel 212, the volume of each independent cavity 111 expands under the action of the pressure difference between the inside and the outside of each independent cavity 111, and the whole manipulator is in an asymmetric structure and can be bent and elastically deformed. By independently controlling the pressure of the fluid flowing into each pipeline 300, each continuous cavity 110 structure can be deformed.
Example two:
referring to fig. 5, the present invention also discloses a method for manufacturing a multi-joint soft manipulator, which comprises:
s100, loading a material for manufacturing the cavity layer 100 into a 3D printer, and printing the cavity layer 100 according to a preset program;
specifically, in order to enable the flexible manipulator to bend, large deformation is not needed to be generated to form a stable surface, large expansion deformation is needed to form an expansion surface, and the thickness of the stable surface is larger than that of the expansion surface. In case this requirement is fulfilled, the specific wall thickness is determined by calculating the load. After the wall thickness dimensions are determined, the soft material is loaded into a 3D printer, and the 3D printer prints according to a predetermined program to complete the fabrication of the chamber layer 100.
S200, manufacturing a limiting layer 500, and printing a micro-channel layer 200 on the limiting layer 500;
specifically, the 3D printer is used to fabricate the micro channel layer 200 on the fabricated confinement layer 500. As shown in fig. 3, the three microchannels are distributed on the same horizontal plane, the center distance between the two microchannels is 3mm from the upper surface and 2mm from the lower surface, the center distance between the two microchannels is 7mm, each microchannel is circular with a diameter of 1.5mm, the cross-sectional view of the whole microchannel is as shown in fig. 2, and the material of the microchannel layer 200 is selected to be the same as that of the chamber layer 100.
Wherein, the fabricating the confinement layer 500 specifically includes: cutting the polyvinyl chloride plate into a limiting layer 500; or printing the limiting layer 500 by using thermoplastic polyurethane elastomer rubber; or carbon fiber or metal fiber is added to the same material as the chamber layer 100 to make the confinement layer 500. That is, the manufacturing method of the confinement layer 500 mainly has the following 3 schemes: directly cutting the PVC plate into the same size as the section of the micro-flow channel layer 200 to be used as a limiting layer 500; preparing a limiting layer 500 from materials with lower elastic modulus, such as TPU, by 3D printing; the confinement layer 500 is fabricated by adding a material having a low elastic modulus, such as carbon fiber or metal fiber, to a flexible material that is the same as the material of the robot chamber layer 100 to reduce the deformation thereof. S300, printing the grabbing layer 400 on the surface, away from the micro-channel layer 200, of the limiting layer 500;
specifically, the microstructure such as the micropillars, the dot matrixes, the stripes and the grids are printed on the surface of the other side of the limiting layer 500 by adopting the flexible materials such as the PDMS and the silica gel, so that the surface friction force is enhanced, the grabbing capacity to the target object is strengthened, the surface rigidity is reduced, the grabbing capacity of fragile products is improved, and the nondestructive grabbing effect of the soft manipulator is enhanced.
S400, coating an adhesive material on the contact surface of the cavity layer 100 and the micro-flow channel layer 200, and contacting and pressing the cavity layer 100 and the micro-flow channel layer 200;
s500, after the chamber layer 100 and the micro channel layer 200 are firmly connected, the pipeline 300 is connected to the main channel 210 in the micro channel layer 200.
Specifically, flexible materials such as PDMS/silicone gel are coated on the contact surface between the chamber layer 100 and the micro channel layer 200, and the chamber layer 100 is pressed against the rest of the structures (the whole structure of the micro channel layer 200, the limiting layer 500, and the grasping layer 400). After the structure of the soft manipulator is solidified, the pipeline 300 is connected to the bottom runner, and the assembly of the soft manipulator is completed.
In the embodiment of the invention, the 3D printing method is used for controlling the printing path, the pouring manufacturing technology is replaced, a mould is not needed, and the design and manufacturing process is simplified. The printed manipulator has higher degree of freedom, optimizes the grabbing envelope surface and can adapt to the grabbing of objects with complex shapes; by adding a grab layer. The grabbing layer is provided with a surface microstructure, so that the friction force is improved, the surface rigidity is reduced, and the capacity of the soft manipulator for grabbing fragile products is improved.
In summary, the present invention provides a multi-joint soft manipulator and a method for manufacturing the same, wherein the multi-joint soft manipulator comprises: the device comprises a cavity layer, a micro-flow channel layer, a pipeline and a grabbing layer; the chamber layer is internally provided with a plurality of continuous cavities, and the continuous cavities are independent from one another; the micro-flow channel layer is arranged at the bottom of the cavity layer, a plurality of main flow channels are arranged in the micro-flow channel layer, and the main flow channels are correspondingly connected with the continuous cavity; the pipelines are arranged on the micro-flow channel layer and correspondingly communicated with the flow channels; the grabbing layer is arranged at the bottom of the micro-flow channel layer. According to the invention, the chamber layer is divided into a plurality of independent continuous cavities, the micro flow channel layer is preset, and fluid is independently conveyed for each continuous cavity through the independent main flow channel, so that independent control over the plurality of continuous cavities is realized, the degree of freedom of the manipulator is further increased, the grabbing envelope curve is enriched, the grabbing accuracy of the manipulator is improved, and the manipulator can be suitable for grabbing objects with complicated shapes.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Claims (10)
1. A multi-joint soft manipulator, characterized in that it comprises:
the device comprises a chamber layer, a plurality of connecting plates and a plurality of connecting plates, wherein a plurality of continuous cavities are arranged in the chamber layer, and the continuous cavities are independent;
the micro-flow channel layer is arranged at the bottom of the cavity layer, a plurality of main flow channels are arranged in the micro-flow channel layer, and the main flow channels are correspondingly connected with the continuous cavity;
the pipelines are arranged on the micro-flow channel layer and correspondingly communicated with the flow channels;
and the grabbing layer is arranged at the bottom of the micro flow channel layer.
2. The multi-joint soft manipulator of claim 1, wherein the continuous cavity comprises a plurality of independent cavities and auxiliary flow channels, any one of the independent cavities being connected with the primary flow channel;
and the two adjacent independent cavities are connected through the auxiliary flow channel.
3. The multi-jointed soft manipulator of claim 1, further comprising a limiting layer disposed between the microfluidic layer and the grasping layer.
4. The multi-joint soft manipulator of claim 1, wherein the grabbing layer is provided with microstructures, and the microstructures are distributed on the grabbing layer in a dot-line array.
5. The articulated soft manipulator of claim 2, wherein each continuous cavity comprises three independent cavities and two auxiliary channels.
6. The articulated soft manipulator of claim 3, wherein the constraining layer is made of polyvinyl chloride, thermoplastic polyurethane elastomer or resin.
7. The multi-joint soft manipulator of claim 1, wherein the chamber layer and the microfluidic layer are made of polydimethylsiloxane or silicone.
8. The multi-jointed soft robot of claim 2, wherein the primary flow channel comprises a first flow channel and a second flow channel;
the first flow channel is arranged in the micro-channel layer along the length direction of the micro-channel layer and is connected with the pipeline;
the second flow channel is arranged in the micro flow channel layer along the width direction of the micro flow channel layer, one end of the second flow channel is connected with the first flow channel, and the other end of the second flow channel is connected with any one of the independent cavities.
9. A method of manufacturing a multi-jointed soft manipulator according to any one of claims 1-8, comprising:
loading the material for manufacturing the cavity layer into a 3D printer, and printing the cavity layer according to a preset program;
manufacturing a limiting layer, and printing a micro-channel layer on the limiting layer;
printing a grabbing layer on the surface of the limiting layer, which is far away from the micro-flow channel layer;
coating an adhesive material on the contact surface of the cavity layer and the micro-channel layer, and contacting and pressing the cavity layer and the micro-channel layer;
and after the cavity layer is stably connected with the micro-channel layer, connecting the pipeline into a main channel in the micro-channel layer.
10. The method of claim 9, wherein the fabricating the constraining layer comprises:
cutting the polyvinyl chloride plate into a limiting layer;
or printing the limiting layer by adopting thermoplastic polyurethane elastomer rubber;
or carbon fiber or metal fiber is added into the same material as the material of the cavity layer to manufacture the limiting layer.
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