CN109664312A - Growth type soft robot based on thermal deformation presets deformation method - Google Patents
Growth type soft robot based on thermal deformation presets deformation method Download PDFInfo
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- CN109664312A CN109664312A CN201910049201.3A CN201910049201A CN109664312A CN 109664312 A CN109664312 A CN 109664312A CN 201910049201 A CN201910049201 A CN 201910049201A CN 109664312 A CN109664312 A CN 109664312A
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- soft robot
- soft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
Abstract
The present invention relates to a kind of soft robot deformation methods, preset deformation method more particularly to a kind of growth type soft robot based on thermal deformation.Growth type soft robot based on thermal deformation presets deformation method, comprising the following steps: 1, soft robot pinoplastics moldings three-dimension modeling；2, the 3D printing of soft robot pinoplastics moldings forms；3, soft robot thermoplastic deformation；4, it demoulds.A kind of growth type soft robot based on thermal deformation of the invention presets deformation method, and the production of such as helix complicated shape may be implemented, can control effectively to the shape after it grows；The problem of can solve that the default deformation production of existing growth type soft robot is complicated, and shape control is bad, can not realizing the default deformation of complicated shape；And its process flow is shorter, is readily produced manufacture, and it is shorter to expend the time.
Description
Technical field
The present invention relates to a kind of soft robot deformation methods, more particularly to a kind of growth type software based on thermal deformation
Robot presets deformation method.
Background technique
With the development of robot technology, the work that robot completes is more and more abundant, meanwhile, need of the people to robot
Ask more and more, in order to adapt to robot functional diversities, the function of completion is complicated, and the trend of future robot development is more
Freedom degree soft robot.
For a kind of growth type soft robot, the work that can be completed and its shape are most important, but are directed at present
The shape production of soft robot is very coarse, and producer is pasted in the place for needing to deform with adhesive tape mostly, while not
It can be realized the production of the complicated shapes such as such as helix, difficult point is that producer can not have the shape after it grows
Effect control.
Summary of the invention
The object of the present invention is to provide a kind of, and the growth type soft robot based on thermal deformation presets deformation method, can solve
The default deformation production of certainly existing growth type soft robot is complicated, and shape control is bad, can not realize the default of complicated shape
The problem of deformation.
The purpose of the present invention is achieved through the following technical solutions:
Growth type soft robot based on thermal deformation presets deformation method, comprising the following steps:
1, soft robot pinoplastics moldings three-dimension modeling；
2, the 3D printing of soft robot pinoplastics moldings forms；
3, soft robot thermoplastic deformation；
4, it demoulds.
The growth type soft robot based on thermal deformation presets deformation method, in the step 1, software machine
People's pinoplastics moldings three-dimension modeling includes: according to required soft robot shape, using 3 d modeling software to software
Robot external envelope profile is modeled, and soft robot pinoplastics moldings threedimensional model is obtained.
The growth type soft robot based on thermal deformation presets deformation method, using 3 d modeling software to software
When robot external envelope profile is modeled, three-dimensional is carried out to required soft robot shape by spatial digitizer and is swept
It retouches, is modeled after 3-D scanning using 3 d modeling software.
The growth type soft robot based on thermal deformation presets deformation method, in the step 2, software machine
People's pinoplastics moldings 3D printing molding includes: using 3D printer to the soft robot pinoplastics moldings three-dimensional mould established in step 1
Type carries out 3D printing molding, obtains soft robot pinoplastics moldings entity.
The growth type soft robot based on thermal deformation presets deformation method, in the step 3, the software
Robot thermoplastic deformation includes: to take tubular plastics soft gas-pocket thereof and soft robot pinoplastics moldings entity, by tubular plastics software
Air sac cover soft robot pinoplastics moldings physically, by heat gun to tubular plastics soft gas-pocket thereof carry out high temperature advertise, cylinder
It shapes material soft gas-pocket thereof under the action of high temperature, thermoplastic deformation occurs, and tubular plastics soft gas-pocket thereof is made to be deformed into software machine
The external envelope shape of device people's pinoplastics moldings entity.
The growth type soft robot based on thermal deformation presets deformation method, soft to tubular plastics by heat gun
After body air bag progress high temperature is advertised, tubular plastics soft gas-pocket thereof is placed in oven heat, thermoplastic deformation is carried out.
The growth type soft robot based on thermal deformation presets deformation method, in the step 4, the demoulding
Include: using heat gun to be attached on the deformation of soft robot pinoplastics moldings physically be soft robot pinoplastics moldings entity
The tubular plastics soft gas-pocket thereof of external envelope shape carries out low temperature and advertises, and under the action of cold wind, is deformed into soft robot thermoplastic
The tubular plastics soft gas-pocket thereof and soft robot pinoplastics moldings entity separation of mold entity external envelope shape, to completely cooling
Afterwards, soft robot pinoplastics moldings entity is released, the tubular plastics soft gas-pocket thereof after separation is the life based on thermal deformation
Elongated soft robot.
The growth type soft robot based on thermal deformation presets deformation method, using heat gun to being attached on software
The deformation of robot pinoplastics moldings physically is the tubular plastics software gas of soft robot pinoplastics moldings entity external envelope shape
Capsule carries out after low temperature advertises, by be deformed into soft robot pinoplastics moldings entity external envelope shape tubular plastics soft gas-pocket thereof and
Soft robot pinoplastics moldings entity is placed in refrigeration case, so that tubular plastics soft gas-pocket thereof and soft robot pinoplastics moldings
Entity separation realizes demoulding.
The invention has the benefit that a kind of growth type soft robot based on thermal deformation of the invention presets deformation side
The production of such as helix complicated shape may be implemented in method, can control effectively to the shape after it grows；It can solve
The default deformation production of existing growth type soft robot is complicated, and shape control is bad, can not realize the default change of complicated shape
The problem of shape；And its process flow is shorter, is readily produced manufacture, and it is shorter to expend the time.
Detailed description of the invention
Fig. 1 is process flow chart of the invention；
Fig. 2 is the schematic diagram for the soft robot pinoplastics moldings entity that printing obtains；
Fig. 3 be for thermoplastic deformation before tubular plastics soft gas-pocket thereof schematic diagram；
Fig. 4 be for thermoplastic deformation after tubular plastics soft gas-pocket thereof schematic diagram.
In figure: soft robot pinoplastics moldings entity 1；Tubular plastics soft gas-pocket thereof 2.
Specific embodiment
Invention is further described in detail by 1-4 with reference to the accompanying drawing.
Specific embodiment 1:
As shown in Figs 1-4, the growth type soft robot based on thermal deformation presets deformation method, comprising the following steps:
1, soft robot pinoplastics moldings three-dimension modeling；
2, the 3D printing of soft robot pinoplastics moldings forms；
3, soft robot thermoplastic deformation；
4, it demoulds.
Specific embodiment 2:
As shown in Figs 1-4, the growth type soft robot based on thermal deformation presets deformation method, in the step
In 1, soft robot pinoplastics moldings three-dimension modeling includes: to be built according to required soft robot shape using three-dimensional
Mould software models soft robot external envelope profile, obtains soft robot pinoplastics moldings threedimensional model.It is soft in progress
When body robot pinoplastics moldings three-dimension modeling, producer can be directed to the soft robot shape of oneself demand, utilize three
Dimension modeling software models soft robot external envelope profile.The soft robot pinoplastics moldings three-dimension modeling,
For the structure with cycle specificity such as helix one kind, the shorter model of helix length can establish, in step 3 software machine
The thermoplastic deformation of final whole segment length can be realized when people's thermoplastic deformation by segmentation thermoplastic.
Specific embodiment 3:
As shown in Figs 1-4, the growth type soft robot based on thermal deformation presets deformation method, is built using three-dimensional
When mould software models soft robot external envelope profile, by spatial digitizer to required soft robot shape
3-D scanning is carried out, is modeled after 3-D scanning using 3 d modeling software.By to the effigurate software machine of tool
People's entity carries out 3-D scanning and obtains threedimensional model, can use soft robot by entire technique below and realizes to one
The reproduction of the entity of setting shape.
Specific embodiment 4:
As shown in Figs 1-4, the growth type soft robot based on thermal deformation presets deformation method, in the step
In 2, soft robot pinoplastics moldings 3D printing molding includes: using 3D printer to the soft robot heat established in step 1
Mould threedimensional model carries out 3D printing molding, obtains soft robot pinoplastics moldings entity 1.
Specific embodiment 5:
As shown in Figs 1-4, the growth type soft robot based on thermal deformation presets deformation method, in the step
In 3, the soft robot thermoplastic deformation includes: to take tubular plastics soft gas-pocket thereof 2 and soft robot pinoplastics moldings entity 1,
By 2 sets of tubular plastics soft gas-pocket thereof on soft robot pinoplastics moldings entity 1, by heat gun to tubular plastics soft gas-pocket thereof
2 progress high temperature are advertised, and under the action of high temperature, thermoplastic deformation occurs for tubular plastics soft gas-pocket thereof 2, and make tubular plastics software
Air bag 2 is deformed into the external envelope shape of soft robot pinoplastics moldings entity 1.Using heat gun in certain temperature and certain gas
It flows down and blows tubular plastics soft gas-pocket thereof 2, tubular plastics soft gas-pocket thereof 2 under the action of high temperature, is plastically deformed, due to tubular
Have soft robot pinoplastics moldings entity 1 inside plastics soft gas-pocket thereof 2, thus tubular plastics soft gas-pocket thereof 2 be finally deformed into it is soft
The external envelope shape of body robot pinoplastics moldings entity 1.
Specific embodiment 6:
As shown in Figs 1-4, the growth type soft robot based on thermal deformation presets deformation method, passes through heat gun
After being advertised to the progress high temperature of tubular plastics soft gas-pocket thereof 2, tubular plastics soft gas-pocket thereof 2 is placed in oven heat, thermoplastic is carried out
Deformation.Tubular plastics soft gas-pocket thereof 2, which is placed on progress thermoplastic deformation in oven heat, can effectively improve tubular plastics software gas
The efficiency of the progress thermoplastic deformation of capsule 2.
Specific embodiment 7:
As shown in Figs 1-4, the growth type soft robot based on thermal deformation presets deformation method, in the step
In 4, it is software machine to the deformation being attached on soft robot pinoplastics moldings entity 1 that the demoulding, which includes: using heat gun,
The tubular plastics soft gas-pocket thereof 2 of 1 external envelope shape of people's pinoplastics moldings entity carries out low temperature and advertises, under the action of cold wind, deformation
It is real for the tubular plastics soft gas-pocket thereof 2 and soft robot pinoplastics moldings of 1 external envelope shape of soft robot pinoplastics moldings entity
Body 1 separates, and after cooling down completely, releases soft robot pinoplastics moldings entity 1, the tubular plastics soft gas-pocket thereof after separation
2 be the growth type soft robot based on thermal deformation.It is blown out at relatively low temperature and certain air-flow using heat gun
The tubular plastics soft gas-pocket thereof 2 of type to soft robot pinoplastics moldings entity 1 is attached on software machine under the action of cold wind
Tubular plastics soft gas-pocket thereof 2 on people's pinoplastics moldings entity 1 is separated with soft robot pinoplastics moldings entity 1, to complete
After cooling, soft robot pinoplastics moldings entity 1 is released.
Specific embodiment 8:
As shown in Figs 1-4, the growth type soft robot based on thermal deformation presets deformation method, utilizes heat gun
It is 1 external envelope shape of soft robot pinoplastics moldings entity to the deformation being attached on soft robot pinoplastics moldings entity 1
After the progress low temperature of tubular plastics soft gas-pocket thereof 2 is advertised, the cylinder of 1 external envelope shape of soft robot pinoplastics moldings entity will be deformed into
It shapes material soft gas-pocket thereof 2 and soft robot pinoplastics moldings entity 1 is placed in refrigeration case, so that tubular plastics soft gas-pocket thereof 2
It is separated with soft robot pinoplastics moldings entity 1, realizes demoulding.When demoulding, the tubular after thermoplastic deformation will can not also be demoulded
Plastics soft gas-pocket thereof 2 and soft robot pinoplastics moldings entity 1 are placed in a cold environment, in cold wind, cold water, to cylinder
When shaped plastic material soft gas-pocket thereof 2 is separated with soft robot pinoplastics moldings entity 1, by soft robot pinoplastics moldings entity 1
Release can realize demoulding, and demoulding efficiency is higher, and effect is preferable.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (8)
1. the growth type soft robot based on thermal deformation presets deformation method, which comprises the following steps:
1, soft robot pinoplastics moldings three-dimension modeling；
2, the 3D printing of soft robot pinoplastics moldings forms；
3, soft robot thermoplastic deformation；
4, it demoulds.
2. the growth type soft robot according to claim 1 based on thermal deformation presets deformation method, which is characterized in that
In the step 1, soft robot pinoplastics moldings three-dimension modeling include: according to required soft robot shape,
Soft robot external envelope profile is modeled using 3 d modeling software, obtains soft robot pinoplastics moldings three-dimensional mould
Type.
3. the growth type soft robot according to claim 2 based on thermal deformation presets deformation method, which is characterized in that
When being modeled using 3 d modeling software to soft robot external envelope profile, by spatial digitizer to required software
Robot shape carries out 3-D scanning, is modeled after 3-D scanning using 3 d modeling software.
4. the growth type soft robot according to claim 2 based on thermal deformation presets deformation method, which is characterized in that
In the step 2, soft robot pinoplastics moldings 3D printing molding includes: soft to what is established in step 1 using 3D printer
Body robot pinoplastics moldings threedimensional model carries out 3D printing molding, obtains soft robot pinoplastics moldings entity (1).
5. the growth type soft robot according to claim 3 based on thermal deformation presets deformation method, which is characterized in that
In the step 3, the soft robot thermoplastic deformation includes: to take tubular plastics soft gas-pocket thereof (2) and soft robot heat
Tubular plastics soft gas-pocket thereof (2) is covered on soft robot pinoplastics moldings entity (1), passes through heat gun by mould entity (1)
It carries out high temperature to tubular plastics soft gas-pocket thereof (2) to advertise, under the action of high temperature, thermoplastic occurs for tubular plastics soft gas-pocket thereof (2)
Deformation, and tubular plastics soft gas-pocket thereof (2) is made to be deformed into the external envelope shape of soft robot pinoplastics moldings entity (1).
6. the growth type soft robot according to claim 5 based on thermal deformation presets deformation method, which is characterized in that
After advertising by heat gun to tubular plastics soft gas-pocket thereof (2) progress high temperature, tubular plastics soft gas-pocket thereof (2) is placed on hot baking
In case, thermoplastic deformation is carried out.
7. the growth type soft robot according to claim 5 based on thermal deformation presets deformation method, which is characterized in that
In the step 4, the demoulding includes: the change using heat gun to being attached on soft robot pinoplastics moldings entity (1)
Shape is that tubular plastics soft gas-pocket thereof (2) the progress low temperature of soft robot pinoplastics moldings entity (1) external envelope shape is advertised, cold
Under wind action, be deformed into the tubular plastics soft gas-pocket thereof (2) of soft robot pinoplastics moldings entity (1) external envelope shape with it is soft
Body robot pinoplastics moldings entity (1) separation is released soft robot pinoplastics moldings entity (1) after cooling down completely, point
Tubular plastics soft gas-pocket thereof (2) from after is the growth type soft robot based on thermal deformation.
8. the growth type soft robot according to claim 7 based on thermal deformation presets deformation method, which is characterized in that
It is soft robot pinoplastics moldings entity to the deformation being attached on soft robot pinoplastics moldings entity (1) using heat gun
(1) after tubular plastics soft gas-pocket thereof (2) the progress low temperature of external envelope shape is advertised, it is real that soft robot pinoplastics moldings will be deformed into
The tubular plastics soft gas-pocket thereof (2) and soft robot pinoplastics moldings entity (1) of body (1) external envelope shape are placed on refrigeration case
It is interior, so that tubular plastics soft gas-pocket thereof (2) and soft robot pinoplastics moldings entity (1) separation, realize demoulding.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910049201.3A CN109664312A (en) | 2019-01-18 | 2019-01-18 | Growth type soft robot based on thermal deformation presets deformation method |
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| CN201910049201.3A CN109664312A (en) | 2019-01-18 | 2019-01-18 | Growth type soft robot based on thermal deformation presets deformation method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125933A (en) * | 2019-05-10 | 2019-08-16 | 中国人民解放军军事科学院国防科技创新研究院 | The method for building up and control method of the mechanical model of software mechanical arm |
| CN110181506A (en) * | 2019-04-26 | 2019-08-30 | 清华大学 | A kind of elastic soft robot kinematics' modeling method assumed based on constant curvature |
| CN110667113A (en) * | 2019-08-19 | 2020-01-10 | 北京科技大学天津学院 | Vacuum thermal forming system and method based on 3D printing technology |
| CN110843163A (en) * | 2019-11-08 | 2020-02-28 | 西安交通大学 | Method for quickly realizing complex magnetic domain programming in soft material |
| CN112873275A (en) * | 2021-01-13 | 2021-06-01 | 合肥艾创微电子科技有限公司 | Flexible pneumatic robot and manufacturing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112873275A (en) * | 2021-01-13 | 2021-06-01 | 合肥艾创微电子科技有限公司 | Flexible pneumatic robot and manufacturing method thereof |
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Application publication date: 20190423 |