CN109093907B - Forming combined die and forming method suitable for multi-channel multi-air-chamber software driver - Google Patents
Forming combined die and forming method suitable for multi-channel multi-air-chamber software driver Download PDFInfo
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- CN109093907B CN109093907B CN201810868374.3A CN201810868374A CN109093907B CN 109093907 B CN109093907 B CN 109093907B CN 201810868374 A CN201810868374 A CN 201810868374A CN 109093907 B CN109093907 B CN 109093907B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/22—Component parts, details or accessories; Auxiliary operations
- B29C39/26—Moulds or cores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/02—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles
- B29C39/021—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles by casting in several steps
- B29C39/025—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles by casting in several steps for making multilayered articles
Abstract
The invention discloses a forming combined die and a forming method suitable for a multi-path multi-air-chamber soft driver, which are formed by randomly combining 6 different types of forming dies, wherein the types of the forming dies comprise two forming dies with top main air chambers, two forming dies with main air chambers at any positions, one forming die with main air chambers at any positions, a forming die with bottom wall, a forming die without bottom wall and a forming die with a connecting part. The forming combined die is formed by combining 6 different types of forming dies, the forming dies are designed into different parts and can be detached at any time, and a processor can freely select the number of layers of the main air chamber, the auxiliary air chamber and the air passage number to be formed according to the actual use condition to process and form the software driver by using the combined die form in the processing process, so that the software driver is more convenient and efficient to form, the requirements under various working conditions are met, and the popularization of the software driver is facilitated.
Description
Technical Field
The invention relates to a die design in the field of processing, manufacturing and molding of soft materials, in particular to a molding combined die suitable for a multi-path multi-air-chamber soft driver and a molding method thereof.
Background
A good software driver model, besides optimizing the structural design, needs to be able to be easily manufactured in real time and on the spot, so that it can be popularized and gradually produced. The existing manufacturing method of the soft shell comprises a casting method based on lamination, a casting method of a retractable pin, a dewaxing casting method and the like. The method generally carries out targeted manufacturing according to the shape of a driver which is designed as required when the mold is manufactured, so that the manufactured mold has no universality, and the mold needs to be manufactured again if the number or the shape of the air chambers needs to be modified when a problem occurs in the process of testing the soft driver manufactured by the mold. Therefore, if the mold is designed into a type that the component module can be detached, when the driver is not suitable or the design requirement is changed, the soft driver can be conveniently processed and molded again through free matching and combination.
Therefore, it is desired to solve the above problems.
Disclosure of Invention
The purpose of the invention is as follows: the first purpose of the present invention is to provide a reusable and wide-range forming and assembling mold suitable for multi-channel and multi-chamber software drivers.
The second purpose of the invention is based on the forming method of the forming combined die suitable for the multi-channel and multi-air-chamber soft driver.
The technical scheme is as follows: in order to achieve the purpose, the invention discloses a forming combined die suitable for a multi-path multi-air-chamber soft driver, which is formed by randomly combining 6 different types of forming dies, wherein the types of the forming dies comprise two forming dies with top main air chambers, two forming dies with main air chambers at any positions, one forming die with main air chambers at any positions, a forming die with bottom walls, a forming die without bottom walls and a forming die of a connecting part.
The forming molds of the two top main air chambers comprise two first outer molds for determining the outer wall structure of the main air chambers and two second inner molds for determining the inner air passage structure, and the combined gap of the first outer molds and the second inner molds is used for determining the wall thickness of the soft driver.
Preferably, the two forming molds of the main air chambers at any positions comprise two third outer molds and two fourth inner molds, and the bottoms of the forming molds of the two main air chambers at any positions are of an open structure and can be spliced with the formed main air chambers.
Further, the forming mold of the main air chamber at any position comprises two fifth outer molds and two sixth inner molds, and the bottom of the forming mold of the main air chamber at any position is of an open structure and can be spliced with the formed main air chamber.
Furthermore, the forming mold of the bottom wall of the bottom layer is provided with a first pouring port for pouring soft materials and upright needles for forming four vent holes.
Preferably, the forming mold of the non-bottom wall is provided with a second pouring gate for pouring the soft material, and the thickness of the forming mold of the non-bottom wall is smaller than that of the forming mold of the bottom wall.
Further, the forming mold of the connecting part comprises a top mold and a bottom mold, the top mold is used for being connected with the soft body part of the non-bottom wall, the bottom mold is used for being connected with the soft body part of the bottom wall, a third pouring port used for pouring soft body materials is formed in the top mold, and four notches used for solidifying the vent pipe in the soft body driver during forming are formed in the top mold and the bottom mold.
The invention relates to a forming method of a forming combined die based on a multi-channel multi-air-chamber software driver, which comprises the following steps:
(1) fully mixing and stirring the soft material to be used, and carrying out impurity removal and defoaming treatment in a vacuum negative pressure environment to prepare for casting;
(2) assembling the forming mold of the two top main air chambers, pouring the processed soft material into the forming mold of the two top main air chambers, waiting for solidification, wherein the solidification time is more than 4 hours, and taking out the soft material after solidification to obtain the formed soft parts of the two top main air chambers;
(3) the soft body parts of the two formed top main air chambers are taken as a base, the base is assembled and connected with a forming die of any number of two main air chambers at any positions and a forming die of a main air chamber at any position according to design requirements, then a soft body material is poured into the combined forming die, curing is waited, the curing time is more than 4 hours, and the soft body part of the single layer which is not sealed at the bottom is obtained after the soft body part is solidified;
(4) repeating the steps (1) to (3) to obtain another single-layer soft part without bottom sealing;
(5) assembling and connecting one single-layer soft part without the bottom sealing with a forming mold of the bottom wall of the non-bottom layer, then pouring a soft material, waiting for solidification for more than 4 hours, and taking out the soft part after solidification to obtain the soft part of the bottom wall of the non-bottom layer;
(6) assembling and connecting the other single-layer soft part without the bottom sealing with a forming mold of the bottom wall of the bottom layer, then pouring a soft material, waiting for curing for more than 4 hours, and taking out the soft part after curing to obtain the soft part of the bottom wall of the bottom layer;
(7) assembling the forming mold of the connecting part, assembling and connecting the soft part of the bottom wall of the non-bottom layer and the soft part of the bottom wall of the bottom layer with the forming mold of the connecting part, then pouring the soft material, waiting for solidification, wherein the solidification time is more than 4 hours, and taking out the soft material after solidification to obtain the multi-channel multi-air-chamber soft driver.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: the forming combined die is formed by combining 6 different types of forming dies, the forming dies are designed into different parts and can be detached at any time, and a processor can freely select the number of layers of the main air chamber, the auxiliary air chamber and the air passage number to be formed according to the actual use condition to process and form the software driver by using the combined die form in the processing process, so that the software driver is more convenient, flexible and efficient to form, the requirements under various working conditions are met, and the popularization of the software driver is facilitated.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of a two top main plenum forming mold of the present invention;
FIG. 3 is a first schematic view of a forming mold of the present invention with two main air chambers at arbitrary positions;
FIG. 4 is a second schematic view of a molding die with two main air chambers at arbitrary positions according to the present invention;
FIG. 5 is a first schematic view of a forming mold of the main air chamber at an arbitrary position according to the present invention;
FIG. 6 is a second schematic view of a mold for forming a main air chamber at an arbitrary position according to the present invention;
FIG. 7 is a schematic view of a mold for forming the bottom wall of the bottom layer of the present invention;
FIG. 8 is a schematic view of a mold for forming a non-bottom wall according to the present invention;
FIG. 9 is a first schematic view of a mold for molding the connecting portion of the present invention;
FIG. 10 is a second schematic view of a mold for molding the connecting portion of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
The invention relates to a forming combined die suitable for a multi-channel multi-air-chamber soft driver, which is formed by randomly combining 6 different types of forming dies, wherein the types of the forming dies comprise two forming dies 100 with top main air chambers, two forming dies 200 with main air chambers at any positions, a forming die 300 with a main air chamber at any position, a forming die 400 with bottom wall, a forming die 500 without bottom wall and a forming die 600 with a connecting part.
As shown in fig. 2, the two top main air chamber forming mold 100 of the present invention includes two first outer molds 101 and two second inner molds 102, the first outer mold 101 is used for determining the outer wall structure of the main air chamber, the second inner mold 102 is used for determining the shape and number of the inner air passage structure, i.e., the inner air passages, and the combined gap between the first outer mold 101 and the second inner mold 102 is used for determining the wall thickness of the soft body driver. In the processing process of the two top main air chambers, two first outer molds 101 and two second inner molds 102 are combined and assembled according to the structure shown in fig. 2, prepared soft materials, namely silica gel materials, are drained to an assembled forming mold, and after pouring is finished, the forming mold is fixedly clamped by a clamp; then placing the forming mold after pouring the silica gel material in a vacuum box for defoaming so as to ensure the density of the soft driver model to the maximum extent; after the silicone material is completely cured, the first outer mold 101 and the second inner mold 102 are removed, and two top main air chambers of the soft actuator are obtained.
As shown in fig. 3 and 4, the two main air chamber forming molds 200 in any position of the present invention include two third outer molds 201 and two fourth inner molds 202, and the bottom of the two main air chamber forming molds 200 in any position are open structures and can be spliced with the formed main air chamber. The processing process of the soft body driver for splicing the four layers of the four air passages needs to assemble the forming molds of the two main air chambers at any positions shown in the figures 3 and 4 on the two top main air chambers of the soft body driver which is processed and formed, and then pouring, fixing, curing, removing the molds and trimming are carried out to obtain the soft body part of the four layers of the four air passages.
As shown in fig. 5 and 6, the forming mold 300 of an arbitrary position main air chamber according to the present invention includes two fifth outer molds 301 and two sixth inner molds 302, and the bottom of the forming mold 300 of the arbitrary position main air chamber has an open structure and can be assembled with the formed main air chamber. The processing process of the three-air-chamber four-air-passage soft body driver of the invention needs to assemble the forming mold of one main air chamber at any position shown in fig. 5 and fig. 6 on the two top main air chambers of the processed and formed soft body driver, and then pouring, fixing, curing, removing the mold and trimming are carried out to obtain the soft body part of the three-air-chamber four-air-passage.
As shown in fig. 7, the forming mold 400 of the bottom wall of the bottom layer of the present invention has a first pouring port 401 for pouring the soft material and a standing pin 402 for forming four vent holes. The processing process of the bottom layer soft body part of the soft body driver of the invention needs to put the soft body part of the four air passages of the three air chambers into the fifth external mold 301 of the main air chamber forming mold at any position shown in fig. 4 or put the soft body part of the four air passages of the four air chambers into the third external mold 201 of the main air chamber forming mold at two any positions shown in fig. 3, and then the soft body part is assembled with the forming mold 400 of the bottom layer bottom wall shown in fig. 5; and then, pouring a silica gel material into the assembled mould, carrying out vacuum defoaming, removing the mould and trimming the outline after the material is completely cured, thus obtaining the bottom layer soft part of the soft driver.
As shown in fig. 8, the forming mold 500 of the non-bottom wall of the present invention has a second pouring gate 501 for pouring the soft material, and the thickness of the forming mold 500 of the non-bottom wall is smaller than that of the forming mold 400 of the bottom wall. In the processing process of the non-bottom layer soft body part of the soft body driver, the soft body part of the four air passages of the three air chambers is required to be placed into the fifth outer mold 301 of the main air chamber forming mold at any position shown in fig. 4 or the soft body part of the four air passages of the four air chambers is required to be placed into the third outer mold 201 of the main air chamber forming mold at two any positions shown in fig. 3, and then the soft body part is assembled with the forming mold of the non-bottom layer bottom wall shown in fig. 5; then, the steps of pouring, defoaming, waiting for solidification, removing the mold and trimming the contour are carried out, so that the non-bottom layer soft body part of the soft body driver can be obtained.
As shown in fig. 9 and 10, the forming mold 600 of the connecting part of the present invention comprises a top mold 601 for connecting with the soft body part of the non-bottom wall and a bottom mold 602 for connecting with the soft body part of the bottom wall of the bottom layer, wherein the top mold 601 has a third pouring gate 603 for pouring the soft body material, and the top mold 601 and the bottom mold 602 are both opened with four notches 604 for solidifying the vent pipe in the soft body driver while forming. The process of the present invention for processing the upper and lower connecting parts to obtain the complete soft actuator requires that the bottom layer soft part of the obtained soft actuator is placed in the bottom mold 602 shown in fig. 7, the non-bottom layer soft part of the obtained soft actuator is placed in the top mold 601 shown in fig. 7, and then, the steps of pouring, defoaming, waiting for solidification and removing the mold are performed to obtain the complete soft actuator physical model, wherein the soft actuator comprises an upper layer, a lower layer and four gas paths which are not communicated with each other, and each gas path has two main air chambers.
As shown in FIG. 1, the method for forming a combined mold suitable for a multi-channel and multi-chamber soft driver of the present invention comprises the following steps:
(1) fully mixing and stirring the soft material to be used, and carrying out impurity removal and defoaming treatment in a vacuum negative pressure environment to prepare for casting;
(2) assembling the forming mold 100 with two top main air chambers, pouring the processed soft material into the forming mold 100 with two top main air chambers, waiting for solidification for more than 4 hours, and taking out the soft material after solidification to obtain the soft parts of the two formed top main air chambers;
(3) the method comprises the following steps of taking the soft body parts of two formed top main air chambers as a base, assembling and connecting the soft body parts with a forming mold 200 of any number of two main air chambers at any positions and a forming mold 300 of a main air chamber at any position according to design requirements, then pouring soft body materials into a combined forming mold, waiting for curing for more than 4 hours, and taking out the soft body parts after curing to obtain an unsealed single-layer soft body part;
(4) repeating the steps (1) to (3) to obtain another single-layer soft part without bottom sealing;
(5) assembling and connecting one single-layer soft body part without bottom sealing with a forming mold 400 of the bottom wall of the bottom layer, then pouring a soft body material, waiting for solidification for more than 4 hours, and taking out the soft body part after solidification to obtain a soft body part of the bottom wall of the bottom layer;
(6) assembling and connecting the other single-layer soft part without the bottom sealing with the forming mold 500 of the bottom wall of the non-bottom layer, then pouring a soft material, waiting for curing for more than 4 hours, and taking out the soft material after curing to obtain a soft part of the bottom wall of the non-bottom layer;
(7) assembling the forming mold 600 of the required connecting part, respectively assembling and connecting the soft part of the bottom wall of the non-bottom layer and the soft part of the bottom wall of the bottom layer with the forming mold 600 of the connecting part, then pouring the soft material, waiting for solidification, wherein the solidification time is more than 4 hours, and taking out after solidification to obtain the multi-channel multi-air-chamber soft driver.
The above examples are only preferred embodiments of the present invention, it should be noted that: it will be apparent to those skilled in the art that various modifications and equivalents can be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents fall within the scope of the invention as defined in the claims.
Claims (2)
1. The forming combined die is characterized by being formed by randomly combining 6 different types of forming dies, wherein the types of the forming dies comprise two forming dies (100) with top main air chambers, two forming dies (200) with main air chambers at any positions, a forming die (300) with a main air chamber at any position, a forming die (400) with a bottom wall, a forming die (500) without a bottom wall and a forming die (600) with a connecting part; the two top main air chamber forming molds (100) comprise two first outer molds (101) used for determining the outer wall structure of the main air chamber and two second inner molds (102) used for determining the inner air passage structure, and the combined gap of the first outer molds (101) and the second inner molds (102) is used for determining the wall thickness of the soft driver; the two forming molds (200) of the main air chambers at any positions comprise two third outer molds (201) and two fourth inner molds (202), and the bottoms of the forming molds (200) of the main air chambers at any positions are of an open structure and can be spliced with the formed main air chambers; the forming mould (300) of the main air chamber at any position comprises two fifth outer moulds (301) and two sixth inner moulds (302), and the bottom of the forming mould (300) of the main air chamber at any position is of an open structure and can be spliced with the formed main air chamber; the forming mold (400) of the bottom wall of the bottom layer is provided with a first pouring gate (401) for pouring soft material and upright needles (402) for forming four air vents; the forming mold (500) of the non-bottom wall is provided with a second pouring port (501) for pouring soft materials, and the thickness of the forming mold (500) of the non-bottom wall is smaller than that of the forming mold (400) of the bottom wall; the forming mold (600) of the connecting part comprises a top mold (601) used for being connected with the soft body part of the non-bottom wall and a bottom mold (602) used for being connected with the soft body part of the bottom wall of the bottom layer, wherein the top mold (601) is provided with a third pouring gate (603) used for pouring soft body materials, and the top mold (601) and the bottom mold (602) are respectively provided with four notches (604) used for solidifying the vent pipe in the soft body driver during forming.
2. The method for forming the combined mold suitable for the multi-channel and multi-air-chamber soft body driver as claimed in claim 1, comprising the steps of:
(1) fully mixing and stirring the soft material to be used, and carrying out impurity removal and defoaming treatment in a vacuum negative pressure environment to prepare for casting;
(2) assembling the forming mold (100) with the two top main air chambers, pouring the processed soft material into the forming mold (100) with the two top main air chambers, waiting for solidification for more than 4 hours, and taking out the soft material after solidification to obtain the soft parts of the two formed top main air chambers;
(3) the method comprises the following steps of taking the soft body parts of two formed top main air chambers as a base, assembling and connecting the soft body parts with a forming mold (200) of any number of two main air chambers at any positions and a forming mold (300) of a main air chamber at any position according to design requirements, then pouring soft body materials into a combined forming mold, waiting for solidification for more than 4 hours, and taking out after solidification to obtain a single-layer soft body part without bottom sealing;
(4) repeating the steps (1) to (3) to obtain another single-layer soft part without bottom sealing;
(5) assembling and connecting one single-layer soft body part without bottom sealing with a forming mold (400) of the bottom wall of the bottom layer, then pouring a soft body material, waiting for solidification, wherein the solidification time is more than 4 hours, and taking out the soft body part after solidification to obtain a soft body part of the bottom wall of the bottom layer;
(6) assembling and connecting the other single-layer soft part without the bottom sealing with a forming mold (500) of the bottom wall of the non-bottom layer, then pouring a soft material, waiting for solidification for more than 4 hours, and taking out the soft part of the bottom wall of the non-bottom layer after solidification;
(7) assembling a forming mould (600) of a required connecting part, respectively assembling and connecting a soft part of the bottom wall of the non-bottom layer and a soft part of the bottom wall of the bottom layer with the forming mould (600) of the connecting part, then pouring a soft material, waiting for solidification for more than 4 hours, and taking out after solidification to obtain the multi-channel multi-air-chamber soft driver.
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| CN201810868374.3A CN109093907B (en) | 2018-08-02 | 2018-08-02 | Forming combined die and forming method suitable for multi-channel multi-air-chamber software driver |
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| CN109093907B true CN109093907B (en) | 2020-11-17 |
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| CN1033767A (en) * | 1987-12-26 | 1989-07-12 | 承德市电子仪器厂 | Built-up plastics mould |
| CN102848504A (en) * | 2012-09-04 | 2013-01-02 | 张艳 | Method for producing vulcanized rubber by using combination type mold, and combination type mold |
| CN104647780A (en) * | 2015-02-11 | 2015-05-27 | 张玉清 | Combined type mold |
| CN206011127U (en) * | 2016-06-17 | 2017-03-15 | 重庆科技学院 | Combined pneumatic flexible finger |
| WO2017127497A1 (en) * | 2016-01-19 | 2017-07-27 | President And Fellows Of Harvard College | Soft robotic actuators and grippers |
| CN207240695U (en) * | 2017-07-26 | 2018-04-17 | 富加宜连接器（东莞）有限公司 | A kind of modularization plastic rubber mold structure |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9464642B2 (en) * | 2010-11-19 | 2016-10-11 | President And Fellows Of Harvard College | Soft robotic actuators |
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2018
- 2018-08-02 CN CN201810868374.3A patent/CN109093907B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1033767A (en) * | 1987-12-26 | 1989-07-12 | 承德市电子仪器厂 | Built-up plastics mould |
| CN102848504A (en) * | 2012-09-04 | 2013-01-02 | 张艳 | Method for producing vulcanized rubber by using combination type mold, and combination type mold |
| CN104647780A (en) * | 2015-02-11 | 2015-05-27 | 张玉清 | Combined type mold |
| WO2017127497A1 (en) * | 2016-01-19 | 2017-07-27 | President And Fellows Of Harvard College | Soft robotic actuators and grippers |
| CN206011127U (en) * | 2016-06-17 | 2017-03-15 | 重庆科技学院 | Combined pneumatic flexible finger |
| CN207240695U (en) * | 2017-07-26 | 2018-04-17 | 富加宜连接器（东莞）有限公司 | A kind of modularization plastic rubber mold structure |
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| CN109093907A (en) | 2018-12-28 |
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