CN110125958A - A kind of manufacturing method of inflation soft body finger - Google Patents
A kind of manufacturing method of inflation soft body finger Download PDFInfo
- Publication number
- CN110125958A CN110125958A CN201910433295.4A CN201910433295A CN110125958A CN 110125958 A CN110125958 A CN 110125958A CN 201910433295 A CN201910433295 A CN 201910433295A CN 110125958 A CN110125958 A CN 110125958A
- Authority
- CN
- China
- Prior art keywords
- finger
- internal layer
- air cavity
- filler
- mold
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
Abstract
The invention discloses a kind of manufacturing methods of inflation soft body finger, by the way that successively the method for injection filler obtains finger internal layer and finger outer layer with cavity in a mold, cavity is constituted by the air cavity mold in mobile finger internal layer again, sealing is realized by injecting filler into cavity, to form air cavity, it recycles water-soluble material to carry out closure to air cavity and forms groove, after the airtight component for installing inlet in a groove, it is dissolved from air inlet injection water by water-soluble material, so that air inlet and air cavity be connected.Damage of the finger internal layer by tool is effectively prevented, the yields of production is improved.
Description
Technical field
The present invention relates to manipulator field, in particular to a kind of manufacturing method of inflation soft body finger.
Background technique
With being generally divided into outside finger internal layer and finger using more and more extensive, common software finger for software mechanical hand
Layer, for outer layer for the devices such as fingerstall or sensor to be arranged, the component realization that air cavity and limit flexion are arranged in finger internal layer is curved
Song, then connect inflating port with inflatable chamber with sealing element.Existing method generallys use finger is made after by inflating port and sealing
Part insertion, or corresponding cavity is dug out by tool in solid software finger, but finger internal layer is soft material, directly
It patches into components or is easy to scratch finger internal layer by tool digging, crack is caused to influence air-tightness.
Summary of the invention
It is an object of the invention at least solve one of the technical problems existing in the prior art, a kind of inflation soft body is provided
The manufacturing method of finger can complete the installation of seal member and inflating port in the case where not damaging finger internal layer.
According to the first aspect of the invention, a kind of manufacturing method of inflation soft body finger is provided, comprising the following steps:
Air cavity mold is put into finger internal layer mold by step S1, is injected the filler into finger internal layer mold, wait fill out
It fills object and wraps up the air cavity mold, finger internal layer is obtained after solidification；
The limitation component for being used to limit deformation is laid with to the planar side of the finger internal layer by step S2；
The resulting finger internal layer of step S2 is put into finger outer layer mold by step S3, and injection filler waits for finger outer layer
Software finger is obtained after solidification；
One end of air cavity mold in software finger is pulled in the cavity at finger internal layer center by step S4, toward what is formed
Filler is injected in groove, so that the upper side opening of filler closing software finger, forms air cavity in software finger；
Step S5 removes air cavity mold, fills in water-soluble material from the lower opening of software finger, formed in downside recessed
The airtight component of inflating port is inserted into groove by slot, and the air inlet of the airtight component is raised in except slot opening, into groove
Filler is injected, sealing is formed；
Step S6 injects water into air cavity from tracheae, to water-soluble material by tracheae after the insertion of the air inlet of airtight component
After material dissolution, by the airtight outside for being installed on the gentle seal assembly of tracheae of air inlet.
Further, the filler is silica gel.
Further, the limitation component is limiting layer and the fiber reinforcement line for being wound in limitation layer surface.
Further, the fiber reinforcement line is wound in limitation layer surface with 3 millimeters of spacing.
Further, after the completion of the step S6 further include: installed in the software finger curved for limiting software finger
Bent fingerstall and fingertip.
Further, further includes: the pliable pressure sensor for detecting pressure is installed in the fingertip.
A kind of manufacturing method of inflation soft body finger provided by the invention at least has the advantages that the present invention passes through
Successively the method for injection filler obtains finger internal layer and finger outer layer with cavity in a mold, then passes through mobile finger internal layer
In air cavity mold constitute cavity, realize sealing by injecting filler into cavity, to form air cavity, recycle water solubility
Material, which block to air cavity, forms groove, after the airtight component for installing inlet in a groove, injects water from air inlet
Water-soluble material is dissolved, so that air inlet and air cavity be connected.The technical solution of air cavity is dug out using tool compared with the prior art,
Damage the invention avoids finger internal layer by tool improves the yields of production.
Detailed description of the invention
The present invention is further explained with reference to the accompanying drawings and examples；
Fig. 1 is a kind of manufacturing method flow chart of inflation soft body finger of the embodiment of the present invention；
Fig. 2 is a kind of step S1 decomposition diagram of the manufacturing method of inflation soft body finger of the embodiment of the present invention；
Fig. 3 is a kind of step S2 decomposition diagram of the manufacturing method of inflation soft body finger of the embodiment of the present invention；
Fig. 4 is a kind of step S4 diagrammatic cross-section of the manufacturing method of inflation soft body finger of the embodiment of the present invention；
Fig. 5 is a kind of step S5 diagrammatic cross-section of the manufacturing method of inflation soft body finger of the embodiment of the present invention；
Fig. 6 is the decomposition diagram that fingertip is installed in a kind of manufacturing method of inflation soft body finger of the embodiment of the present invention.
Specific embodiment
This part will be described in specific embodiments of the present invention, and the preferred embodiments of the invention is shown in the accompanying drawings, attached
The effect of figure be with figure remark additionally book word segment description, enable a person to intuitively, visually understand of the invention
Each technical characteristic and overall technical architecture, but it should not be understood as limiting the scope of the invention.
In the description of the present invention, it is to be understood that, be related to orientation description, for example, above and below, front, rear, left and right etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.
In the description of the present invention, several to be meant that one or more, it is multiple to be meant that two or more, be greater than,
Be less than, more than etc. be interpreted as not including this number, it is above, following, within etc. be interpreted as including this number.If there is being described to first,
Second is only intended to for the purpose of distinguishing technical characteristic, is not understood to indicate or imply relative importance or implicitly indicates institute
The quantity of the technical characteristic of instruction or the precedence relationship for implicitly indicating indicated technical characteristic.
In description of the invention, unless otherwise restricted clearly, the words such as setting, installation, connection be shall be understood in a broad sense, institute
Above-mentioned word in the present invention specific can rationally be determined with the particular content of combination technology scheme by belonging to technical field technical staff
Meaning.
It should be noted that mentioned mold is only used for helping to understand technical solution, mold body in the present embodiment
And technical characteristic necessary to non-present invention, it can be using the mould for any type and size that can be realized manufacturing method on the market
Tool, details are not described herein.
Referring to figs. 1 to Fig. 5, the embodiment provides a kind of manufacturing method of inflation soft body finger, including it is following
Step:
Air cavity mold 200 is put into finger internal layer mold 100 by step S1, is injected the filler into finger internal layer mold
In 100, object to be filled wraps up the air cavity mold 200, and finger internal layer 110 is obtained after solidification；
The limitation component 400 for being used to limit deformation is laid with to the planar side of the finger internal layer by step S2；
The resulting finger internal layer 110 of step S2 is put into finger outer layer mold 120 by step S3, and injection filler waits for hand
Software finger 130 is obtained after referring to outer layer solidification；
One end of air cavity mold 200 in software finger 130 is pulled in the cavity at finger internal layer center by step S4, past
Filler is injected in the groove of formation, so that the upper side opening of filler closing software finger, forms air cavity in software finger；
Step S5 removes air cavity mold 200, water-soluble material 520 is filled in from the lower opening of software finger, in downside shape
At groove, the airtight component 510 of inflating port is inserted into groove, the air inlet of the airtight component 510 be raised in slot opening it
Outside, filler is injected into groove, forms sealing；
Step S6 injects water into air cavity from tracheae, to water-soluble by tracheae after the insertion of the air inlet of airtight component 510
Property material 520 dissolve after, by the airtight outside for being installed on the gentle seal assembly of tracheae of air inlet.
It should be noted that the height of air cavity mold 200 is greater than the height of finger internal layer mold 100 as shown in Figure 2, so as to
It is capable of forming protrusion when installing air cavity mold 200 into finger internal layer mold 100, finger internal layer is avoided to be filled object closure.
It is understood that injection filler can use the preferred syringe 300 of the present embodiment, note can also be can be realized using any
Enter the tool of silica gel, details are not described herein.It should be noted that the finger internal layer 110 of formation is due to center after executing step S1
There is air cavity mold 200, therefore will form cavity, the size of cavity is adjusted according to air cavity size needed for practical inflation.
It should be noted that as shown in figure 3, the limitation component 400 for being used to limit deformation is layed in finger in step S2
The corresponding finger surface side of the planar side of internal layer 110, i.e. software finger, finger receive pullling for limitation component 400 in bending, can
It realizes and is bent towards finger surface side.It is understood that the shape of finger outer layer and finger internal layer is consistent, enable to soft
The shape of body finger 120 more close to human finger, can also adjust the shape of the two for actual production demand.
It should be noted that as shown in figure 4, utilizing gas due to be closed to finger internal layer to form finger tip
The injection that filler is carried out after the formation groove of cavity mould 200 can be avoided damage finger internal layer, realize better air-tightness.
It should be noted that as shown in figure 5, the water-soluble material 520 in step S5 is preferably water-soluble but does not dissolve in
The material of filler, and size dimension is identical as cavity, avoids causing to damage to finger internal layer.It should be noted that airtight group
Part 510 is mainly used for keeping air-tightness when inflation, is not in gas leakage, and not the air in air cavity is kept to seal, therefore this
Airtight component 510 in embodiment is provided centrally with tracheae, and the air inputted in air inlet when in use is entered by tracheae
In air cavity.It should be noted that airtight component 510 is cylindrical structure, radius is less than the radius of air cavity semicylinder, airtight
Component 510 can not block air cavity, enable injection filler by the gentle seal assembly 510 of water-soluble material 520 it
Between space fill up, to realize sealing.Due to including tracheae in airtight component 510, then after setting airtight component 510,
Water is injected by tracheae, the water-soluble material 520 for being can be dissolved, to realize the connection of airtight component 510 and air cavity.
In another embodiment of the present invention, the filler is silica gel.
It should be noted that filler can be any soft material, the present embodiment is preferably silica gel, has preferable gas
Close property, while being also convenient for producing.
In another embodiment of the present invention, the limitation component 400 for limiting layer and is wound in limitation layer surface
Fiber reinforcement line.
It should be noted that limiting layer can be any soft and weaker retractility material, such as rubber etc., for reality
Existing finger internal layer 110 is when deformation occurs for inflation since drag effect amount of bow is less, it is therefore desirable to increase finger internal layer 110 with
Frictional force between limiting layer, the present embodiment preferably uses fiber reinforcement line to wind limiting layer around finger internal layer 110, with binding
Mode realizes the increase of frictional force.Finger internal layer can be limited by winding limiting layer around finger internal layer 110 using fiber reinforcement line simultaneously
110 partially radially expansion enhances bending effect.
In another embodiment of the present invention, the fiber reinforcement line is wound in limitation layer surface with 3 millimeters of spacing.
It should be noted that the spacing of fiber reinforcement line can be any number, 3 millimeters are preferred in the present embodiment.
With reference to Fig. 6, in another embodiment of the present invention, after the completion of the step S6 further include: in the software hand
Fingerstall and fingertip 610 for limiting software digital flexion is installed in finger.
It should be noted that the quantity of fingerstall can be any amount, it is according to practically necessary bending degree determination
It can.It is understood that in order to realize the different bending degree in each part, the shapes and sizes of each fingerstall be can be respectively not
It is identical.
With reference to Fig. 6, in another embodiment of the present invention, further includes: installation is for detecting pressure in the fingertip
The pliable pressure sensor 620 of power.
It should be noted that pressure sensor can be any sensor, the preferred pliable pressure sensor of the present embodiment
620, it can preferably detect pressure suffered by finger tip.It should be noted that the present embodiment is preferably in pliable pressure sensor 620
Surface is laid with silicagel pad, and pressure is more evenly distributed into sensor, improves detection accuracy.
The embodiment of the present invention is explained in detail above in conjunction with attached drawing, but the present invention is not limited to the above embodiments,
The technical field those of ordinary skill within the scope of knowledge, can also make without departing from the purpose of the present invention
Various change out.
Claims (6)
1. a kind of manufacturing method of inflation soft body finger, which comprises the following steps:
Air cavity mold is put into finger internal layer mold by step S1, is injected the filler into finger internal layer mold, object to be filled
The air cavity mold is wrapped up, finger internal layer is obtained after solidification；
The limitation component for being used to limit deformation is laid with to the planar side of the finger internal layer by step S2；
The resulting finger internal layer of step S2 is put into finger outer layer mold by step S3, and injection filler waits for that finger outer layer solidifies
After obtain software finger；
One end of air cavity mold in software finger is pulled in the cavity at finger internal layer center by step S4, toward the groove formed
Middle injection filler, so that the upper side opening of filler closing software finger, forms air cavity in software finger；
Step S5 removes air cavity mold, fills in water-soluble material from the lower opening of software finger, forms groove in downside, will
The airtight component of inflating port is inserted into groove, and the air inlet of the airtight component is raised in except slot opening, injects into groove
Filler forms sealing；
Step S6 injects water into air cavity from tracheae by tracheae after the insertion of the air inlet of airtight component, molten to water-soluble material
Xie Hou, by the airtight outside for being installed on the gentle seal assembly of tracheae of air inlet.
2. a kind of manufacturing method of inflation soft body finger according to claim 1, it is characterised in that: the filler is silicon
Glue.
3. a kind of manufacturing method of inflation soft body finger according to claim 1, it is characterised in that: the limitation component is
Limiting layer and the fiber reinforcement line for being wound in limitation layer surface.
4. a kind of manufacturing method of inflation soft body finger according to claim 3, it is characterised in that: the fiber reinforcement line
Limitation layer surface is wound in 3 millimeters of spacing.
5. a kind of manufacturing method of inflation soft body finger according to claim 1, which is characterized in that the step S6 is completed
Afterwards further include: the fingerstall and fingertip for limiting software digital flexion are installed in the software finger.
6. a kind of manufacturing method of inflation soft body finger according to claim 5, which is characterized in that further include: described
Pliable pressure sensor for detecting pressure is installed in fingertip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910433295.4A CN110125958B (en) | 2019-05-23 | 2019-05-23 | Manufacturing method of inflatable soft finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910433295.4A CN110125958B (en) | 2019-05-23 | 2019-05-23 | Manufacturing method of inflatable soft finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110125958A true CN110125958A (en) | 2019-08-16 |
| CN110125958B CN110125958B (en) | 2022-04-05 |
Family
ID=67572629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910433295.4A Active CN110125958B (en) | 2019-05-23 | 2019-05-23 | Manufacturing method of inflatable soft finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110125958B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111300459A (en) * | 2020-03-13 | 2020-06-19 | 哈尔滨工业大学 | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof |
| CN111358665A (en) * | 2020-03-26 | 2020-07-03 | 南京鑫敬光电科技有限公司 | Soft driver and manufacturing method thereof |
| CN111397494A (en) * | 2020-03-09 | 2020-07-10 | 五邑大学 | Soft finger convenient to measure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111397494A (en) * | 2020-03-09 | 2020-07-10 | 五邑大学 | Soft finger convenient to measure |
| CN111300459A (en) * | 2020-03-13 | 2020-06-19 | 哈尔滨工业大学 | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof |
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| CN111358665A (en) * | 2020-03-26 | 2020-07-03 | 南京鑫敬光电科技有限公司 | Soft driver and manufacturing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110125958B (en) | 2022-04-05 |
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