CN110125958B - Manufacturing method of inflatable soft finger - Google Patents
Manufacturing method of inflatable soft finger Download PDFInfo
- Publication number
- CN110125958B CN110125958B CN201910433295.4A CN201910433295A CN110125958B CN 110125958 B CN110125958 B CN 110125958B CN 201910433295 A CN201910433295 A CN 201910433295A CN 110125958 B CN110125958 B CN 110125958B
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- Prior art keywords
- finger
- air
- layer
- filler
- soft
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- 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 method for manufacturing an inflatable soft finger, which comprises the steps of obtaining an inner finger layer with a cavity and an outer finger layer by injecting fillers into a mold layer by layer, forming a cavity by moving an air cavity mold in the inner finger layer, sealing the cavity by injecting the fillers into the cavity to form an air cavity, plugging the air cavity by using water-soluble materials to form a groove, and injecting water from the air inlet to dissolve the water-soluble materials after an air-tight component with an air inlet is installed in the groove so as to conduct the air inlet and the air cavity. Effectively avoiding the damage of the inner layer of the finger caused by tools and improving the yield of production.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a manufacturing method of an inflatable soft finger.
Background
With the application of the soft robot hand becoming more and more extensive, common soft fingers are generally divided into an inner finger layer and an outer finger layer, the outer finger layer is used for arranging devices such as finger sleeves or sensors, an air cavity and a bending limiting component are arranged in the inner finger layer to realize bending, and then the inflation inlet is connected with the inflation cavity by a sealing piece. In the existing method, after a finger is made, an inflation inlet and a sealing element are inserted, or a corresponding cavity is dug out in a solid soft finger through a tool, but the inner layer of the finger is made of soft materials, and is directly inserted into parts or easily scratched by digging through the tool, so that the air tightness is affected by cracks.
Disclosure of Invention
The present invention has been made to solve at least one of the problems of the prior art, and an object of the present invention is to provide a method for manufacturing an inflatable soft finger, which can complete the attachment of a sealing member and an inflation port without damaging the inner layer of the finger.
According to a first aspect of the present invention, there is provided a method for manufacturing an inflatable soft finger, comprising the steps of:
step S1, placing the air cavity mold into a finger inner layer mold, injecting filler into the finger inner layer mold, and obtaining the finger inner layer after the filler wraps the air cavity mold and is solidified;
step S2, laying a limiting component for limiting deformation to the plane side of the finger inner layer;
step S3, the inner layer of the finger obtained in the step S2 is placed in a mold of the outer layer of the finger, and filler is injected to obtain a soft finger after the outer layer of the finger is solidified;
step S4, one end of the air cavity mold in the soft finger is pulled to the cavity in the center of the inner layer of the finger, and the filler is injected into the formed groove, so that the filler seals the upper opening of the soft finger, and the air cavity is formed in the soft finger;
step S5, removing the air cavity mold, plugging water-soluble material from the lower side opening of the soft finger, forming a groove on the lower side, inserting the air-tight component of the inflation inlet into the groove, wherein the air inlet of the air-tight component protrudes out of the opening of the groove, and injecting filler into the groove to form sealing;
and step S6, inserting the air pipe from the air inlet of the air-tight component, injecting water into the air cavity from the air pipe, and after the water-soluble material is dissolved, air-tightly installing the air inlet on the outer sides of the air pipe and the air-tight component.
Further, the filler is silica gel.
Further, the limiting component is a limiting layer and a fiber reinforced thread wound on the surface of the limiting layer.
Further, the fiber-reinforced threads were wound around the surface of the constraining layer at a pitch of 3 mm.
Further, after the step S6 is completed, the method further includes: a finger sleeve and a finger tip sleeve for limiting the bending of the soft finger are arranged in the soft finger.
Further, still include: a flexible pressure sensor for detecting pressure is installed in the fingertip cover.
The manufacturing method of the inflatable soft finger provided by the invention at least has the following beneficial effects: the invention obtains the inner layer and the outer layer of the finger with the cavity by a method of injecting fillers layer by layer in the mould, then forms the cavity by moving the mould of the air cavity in the inner layer of the finger, seals the cavity by injecting the fillers into the cavity to form the air cavity, then blocks the air cavity by water-soluble materials to form a groove, and injects water from the air inlet to dissolve the water-soluble materials after installing the air-tight component with the air inlet in the groove, thereby communicating the air inlet and the air cavity. Compared with the technical scheme that the air cavity is dug by the tool in the prior art, the finger inner layer is prevented from being damaged by the tool, and the yield of production is improved.
Drawings
The invention is further described below with reference to the accompanying drawings and examples;
FIG. 1 is a flow chart of a method for manufacturing an inflatable soft finger according to an embodiment of the present invention;
FIG. 2 is an exploded view of step S1 of a method for manufacturing an inflatable soft finger according to an embodiment of the present invention;
FIG. 3 is an exploded view of step S2 of a method for manufacturing an inflatable soft finger according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of step S4 of a method for manufacturing an inflatable soft finger according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view of step S5 of a method for manufacturing an inflatable soft finger according to an embodiment of the present invention;
fig. 6 is an exploded view of the finger tip cover installed in the method for manufacturing the inflatable soft finger according to the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
It should be noted that the mold mentioned in the present embodiment is only used to help understanding the technical solution, the mold itself is not a necessary technical feature of the present invention, and any type and size of mold that can implement the manufacturing method on the market can be adopted, and will not be described herein again.
Referring to fig. 1 to 5, an embodiment of the present invention provides a method for manufacturing an inflatable soft finger, including the following steps:
step S1, placing the air cavity mold 200 into the finger inner layer mold 100, injecting filler into the finger inner layer mold 100, and obtaining the finger inner layer 110 after the filler wraps the air cavity mold 200 and is solidified;
step S2, laying a limiting component 400 for limiting deformation to the plane side of the finger inner layer;
step S3, the finger inner layer 110 obtained in the step S2 is placed in the finger outer layer mold 120, and the filler is injected to obtain the soft finger 130 after the finger outer layer is solidified;
step S4, one end of the air cavity mold 200 in the soft finger 130 is pulled to the cavity in the center of the inner layer of the finger, and the filler is injected into the formed groove, so that the filler seals the upper opening of the soft finger, and the air cavity is formed in the soft finger;
step S5, removing the air cavity mold 200, plugging water-soluble material 520 from the lower side opening of the soft finger, forming a groove on the lower side, inserting the air-tight component 510 of the inflation inlet into the groove, wherein the air inlet of the air-tight component 510 protrudes out of the opening of the groove, and injecting filler into the groove to form sealing;
step S6, inserting the air tube from the air inlet of the airtight module 510, injecting water from the air tube into the air chamber, and after the water-soluble material 520 is dissolved, air-tightly mounting the air inlet on the outside of the air tube and the airtight module.
It should be noted that the height of the air cavity mold 200 shown in fig. 2 is greater than the height of the finger inner mold 100, so that the air cavity mold 200 can form a protrusion when being installed in the finger inner mold 100, thereby preventing the finger inner mold from being blocked by the filler. It is understood that the syringe 300 preferred in this embodiment may be used for injecting the filler, and any tool capable of injecting the silica gel may be used for injecting the silica gel, which will not be described herein. It should be noted that after step S1 is executed, the formed finger inner layer 110 has a cavity due to the center of the air cavity mold 200, and the size of the cavity is adjusted according to the size of the air cavity required for actual inflation.
As shown in fig. 3, the restricting member 400 for restricting strain in step S2 is laid on the flat side of the finger inner layer 110, that is, on the finger side corresponding to the soft finger, and the finger can be bent toward the finger side by being pulled by the restricting member 400 when the finger is bent. It can be understood that the shapes of the outer layer and the inner layer of the finger are consistent, so that the soft finger 120 can be more closely shaped to the human finger, and the shapes of the two layers can be adjusted according to actual production requirements.
It should be noted that, as shown in fig. 4, since the inner layer of the finger is to be closed to form the finger tip, the filling material injected after the groove is formed by the air cavity mold 200 can avoid damaging the inner layer of the finger, so as to achieve better air tightness.
It should be noted that, as shown in fig. 5, the water-soluble material 520 in step S5 is preferably a material that is soluble in water but insoluble in the filler, and has the same size and dimension as the cavity to avoid damaging the inner layer of the finger. It should be noted that the air-tight assembly 510 is mainly used to maintain air-tightness during inflation, no air leakage occurs, and the air inside the air chamber is not kept sealed, so the center of the air-tight assembly 510 in this embodiment is provided with an air tube through which the air input from the air inlet enters the air chamber during use. It should be noted that the air-tight component 510 is a cylindrical structure, the radius of the air-tight component is smaller than the radius of the semi-cylinder of the air cavity, and the air cavity cannot be sealed by the air-tight component 510, so that the space between the water-soluble material 520 and the air-tight component 510 can be filled with the injected filler, thereby achieving sealing. Since the airtight member 510 includes the air tube, after the airtight member 510 is set, water is injected through the air tube, and the water-soluble material 520 can be dissolved, thereby achieving communication between the airtight member 510 and the air chamber.
In another embodiment of the present invention, the filler is silica gel.
It should be noted that the filler may be any soft material, and in this embodiment, silica gel is preferred, so that the air-tightness is good, and the production is also convenient.
In another embodiment of the present invention, the restraining component 400 is a restraining layer and a fiber-reinforced thread wound around a surface of the restraining layer.
The restricting layer may be any soft material with low elasticity, such as rubber, and in order to reduce the amount of bending due to resistance when the finger inner layer 110 deforms during inflation, the frictional force between the finger inner layer 110 and the restricting layer needs to be increased. Meanwhile, the fiber reinforced wire is wound around the finger inner layer 110 to wind the limiting layer, so that the radial expansion of the part of the finger inner layer 110 can be limited, and the bending effect is enhanced.
In another embodiment of the invention, the fiber-reinforced threads are wound around the surface of the restriction layer at a pitch of 3 mm.
It should be noted that the pitch of the fiber-reinforced threads may be any value, and 3 mm is preferred in this embodiment.
Referring to fig. 6, in another embodiment of the present invention, after the step S6 is completed, the method further includes: a finger sleeve and a fingertip sleeve 610 for limiting the bending of the soft finger are arranged in the soft finger.
The number of the finger sleeves may be any number, and is determined according to the actually required bending degree. It will be appreciated that the shape and size of each finger cuff may be varied to achieve different degrees of flexion for each portion.
Referring to fig. 6, in another embodiment of the present invention, further comprising: a flexible pressure sensor 620 for sensing pressure is installed in the fingertip cover.
It should be noted that the pressure sensor may be any sensor, and the embodiment preferably uses a flexible pressure sensor 620, which can better detect the pressure applied to the fingertip. It should be noted that, in this embodiment, a silicone pad is preferably laid on the surface of the flexible pressure sensor 620, so that the pressure can be more uniformly distributed in the sensor, and the detection accuracy is improved.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (4)
1. The manufacturing method of the inflatable soft finger is characterized by comprising the following steps:
step S1, placing the air cavity mold into a finger inner layer mold, injecting filler into the finger inner layer mold, and obtaining the finger inner layer after the filler wraps the air cavity mold and is solidified;
step S2, laying a limiting component for limiting deformation to the plane side of the finger inner layer;
step S3, the inner layer of the finger obtained in the step S2 is placed in a mold of the outer layer of the finger, and filler is injected to obtain a soft finger after the outer layer of the finger is solidified;
step S4, one end of the air cavity mold in the soft finger is pulled to the cavity in the center of the inner layer of the finger, and the filler is injected into the formed groove, so that the filler seals the upper opening of the soft finger, and the air cavity is formed in the soft finger;
step S5, removing the air cavity mold, plugging water-soluble material from the lower side opening of the soft finger, forming a groove on the lower side, inserting the air-tight component of the inflation inlet into the groove, wherein the air inlet of the air-tight component protrudes out of the opening of the groove, and injecting filler into the groove to form sealing;
step S6, inserting the air pipe from the air inlet of the air-tight component, injecting water from the air pipe into the air cavity, and after the water-soluble material is dissolved, air-tightly installing the air inlet on the outer side of the air pipe and the air-tight component;
the limiting component comprises a limiting layer and fiber reinforced threads wound on the surface of the limiting layer, and the fiber reinforced threads are wound on the surface of the limiting layer at intervals of 3 mm.
2. The method for manufacturing an inflatable soft finger according to claim 1, wherein: the filler is silica gel.
3. The method as claimed in claim 1, wherein the step S6 is completed and further includes: a finger sleeve and a finger tip sleeve for limiting the bending of the soft finger are arranged in the soft finger.
4. The method for manufacturing an inflatable soft finger according to claim 3, further comprising: a flexible pressure sensor for detecting pressure is installed in the fingertip cover.
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 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910433295.4A CN110125958B (en) | 2019-05-23 | 2019-05-23 | Manufacturing method of inflatable soft finger |
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| CN110125958A CN110125958A (en) | 2019-08-16 |
| CN110125958B true CN110125958B (en) | 2022-04-05 |
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Families Citing this family (3)
| 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 |
| CN111300459B (en) * | 2020-03-13 | 2022-10-25 | 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 |
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