CN110202597A - A kind of pneumatic software tentacle of non-newtonian fluid and its forming method - Google Patents
A kind of pneumatic software tentacle of non-newtonian fluid and its forming method Download PDFInfo
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- CN110202597A CN110202597A CN201910392570.2A CN201910392570A CN110202597A CN 110202597 A CN110202597 A CN 110202597A CN 201910392570 A CN201910392570 A CN 201910392570A CN 110202597 A CN110202597 A CN 110202597A
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- CN
- China
- Prior art keywords
- tentacle
- newtonian fluid
- limiting layer
- damper housing
- 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.)
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29B—PREPARATION OR PRETREATMENT OF THE MATERIAL TO BE SHAPED; MAKING GRANULES OR PREFORMS; RECOVERY OF PLASTICS OR OTHER CONSTITUENTS OF WASTE MATERIAL CONTAINING PLASTICS
- B29B11/00—Making preforms
- B29B11/06—Making preforms by moulding the material
-
- 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
- B29C39/028—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 having an axis of symmetry
-
- 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
- B29C39/10—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 incorporating preformed parts or layers, e.g. casting around inserts or for coating articles
-
- 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
Abstract
The present invention discloses a kind of pneumatic software tentacle of non-newtonian fluid and its forming method, and wherein the device is made of tentacle and chassis assembly.Tentacle top is divided into the strained layer actuating cavity of concaveconvex structure, middle section is strain limiting layer, lower part is the cuboid damper housing with partition, it is gas cavity between upper middle part point, it is non-newtonian fluid between middle-lower part, when pouring air pressure in actuation chamber body, since the strain of intermediate strain limiting layer part is smaller than the strain of upper part actuation chamber body unit, therefore tentacle to strain limiting layer lateral bend, lower part damper housing unit bending is driven simultaneously, therefore the non-newtonian fluid sealed in damper housing unit is by shear stress.Non-newtonian fluid viscosity changes with shear rate, so that damping is generated, so that the wild effect that tentacle occurs in the bending process by external interference is eliminated.And stability contorting can be carried out in complex environment, to effectively complete target action.
Description
Technical field
The present invention relates to pneumatic software manipulator technical fields, more particularly to a kind of pneumatic software tentacle of non-newtonian fluid
And its forming method.
Background technique
With the continuous development of industrial automation, manipulator as a kind of device particularly important in automated arm, it
Diversity also develop constantly.Currently, pneumatic software manipulator becomes the hot spot studied in industry.Pneumatic software manipulator
It is not only simple in structure, it is cheap, and there is good flexibility, to crawl target almost without injury.But it is pneumatic at present
Software manipulator due to be pneumatically supply power it is additional itself for soft body structure, so majority is applied in the relatively better ring of environment
In border.Stiffness by itself can not control most of pneumatic software tentacle during the work time.If being met in crawl object procedure
To extraneous emergency case, when tentacle is by extraneous biggish interference, self stability is very difficult to ensure.In the opposite evil of some environment
Bad, the more complicated occasion of situation, pneumatic software manipulator is still very difficult to keep stable control.
Summary of the invention
The object of the present invention is to provide a kind of pneumatic software tentacle of non-newtonian fluid and its forming methods, software can be allowed to touch
On the one hand hand can continue to retain itself soft characteristic during the work time, on the other hand can carry out under complex environment opposite
Stable work has certain anti-interference ability.The pneumatic software tentacle structure of the non-newtonian fluid that the present invention designs is simple, system
Make it is cheap, work when stability it is strong, easily controllable, high reliablity.
To achieve the above object, the present invention provides following schemes: the present invention provides a kind of pneumatic software of non-newtonian fluid
Tentacle, including three tentacles and chassis assembly, three tentacles are uniformly mounted on the bottom surface of the chassis assembly；
The tentacle include upper part actuation chamber body unit, intermediate strain limiting layer, lower part damper housing unit and
Non-newtonian fluid, one end of the upper part actuation chamber body unit offer the stomata being connected with gas-guide tube, and the upper part causes
Form cavity after dynamic Cavity unit and intermediate strain limiting layer bonding connection, the another side of the intermediate strain limiting layer with it is described
Lower part damper housing unit bonds to form enclosed construction, and the non-newtonian fluid, the non-ox are filled inside the enclosed construction
The fluid that pauses is that starch and water are formed by the mass mixing of 2:1；
The chassis assembly include middle part offer the cylinder of triple channel, chassis, horizontal fixed tracheae oblong channel,
The fixed frame and snap ring of fixed tentacle, the other end for three gas-guide tubes being connected to three tentacles successively pass through the card
Ring, fixed frame, chassis and oblong channel are finally fixed together by the cylinder and are connected with driving device.
Further, the upper part actuation chamber body unit includes multiple hollow halfround bar slices, the multiple institutes connected side by side
The intermediate connection for stating halfround bar slice is provided with the air flue connecting with the stomata, and the hollow cavity of the halfround bar slice is air cavity；It is described
Upper part actuation chamber body unit is silica gel material, and there are gaps between each halfround bar slice.
Further, the material of the intermediate strain limiting layer is silica gel, and the intermediate strain limiting layer is in continuous non-
Font, and the intermediate strain limiting layer is bonded completely with the medial surface of the upper part actuation chamber body unit.
Further, the lower part damper housing unit includes flank and the rectangular parallelepiped space with partition, the length
Cube space is uniformly divided into a plurality of cavities by partition, and the non-newtonian fluid is placed in each cavity, the cuboid
The two sides in space are connected with the flank, the non-font flank phase of the shape of the flank and the intermediate strain limiting layer
Fitting；The material of the lower part damper housing unit is also silica gel.
The present invention also provides a kind of forming methods of the pneumatic software tentacle of non-newtonian fluid, applied to above-mentioned non-newtonian flow
The pneumatic software tentacle of body, including the molding of upper part actuation chamber body unit, intermediate strain limitation formable layer, lower part damper housing list
Member molding and the molding of tentacle form,
Firstly, the molding of upper part actuation chamber body unit: using 3D printer print actuating Cavity unit upper mold and
Cavity unit lower die tool is activated, the actuating Cavity unit upper mold includes upper mold plate face, air flue plate and several halfround bar slices,
The silica gel being stirred pours into the cavity of lower mold, then covers upper mold, and the halfround bar slice in upper mold is made to be inserted into lower mold
Circular arc chamber in, be pressed into air flue plate in the groove on lower mold interval plate, upper/lower die waits for 12 hours drafts quietly after combining,
Form the upper part actuation chamber body unit with air flue and air cavity；
The molding of centre strain limiting layer: printing the mold of strain limiting layer using 3D printer, which is centre
The die sheet surface of continuous non-font groove is set, the silica gel made is poured into the non-font groove in mold, it is small to wait for 12 quietly
When after draft, formed and intermediate strain limiting layer；
Lower part damper housing unit formation: damper housing unit upper molds, damper housing are printed using 3D printer
Unit lower molds and front and rear baffle, upper mold are the template with interval rectangular body convex block and non-font flank, during lower mold is
Between be provided with the template that through-going recess and groove two sides are the symmetrically arranged non-font flank of boss, two flank both sides of lower mold
It is additionally provided with baffle；Front and rear baffle is bonded in the opening both ends of lower mold by glue, silica gel is poured into lower mold, is reached
Stop pouring into after the highest plane of flank, upper mold is pressed into lower mold, waits for draft after 12 hours quietly, being formed has two flanks
And the intermediate lower part damper housing unit for the rectangular parallelepiped space with partition；
The molding of tentacle forms: the lower part damper housing unit after draft is again loaded into lower part lower die tool,
The non-newtonian fluid made uniformly pour into 4 of rectangular parallelepiped space it is intracavitary and separated by partition；Centre strain limiting layer is put
On the lower part damper housing unit equipped with non-newtonian fluid, the flank of lower part damper housing unit and intermediate strain are limited
Layer alignment plays two side baffles of mold to be higher than intermediate strain limiting layer at this time, pours into silica gel in the lower mold in part down and waits for 12 quietly
Hour, middle-lower part bonding is completed；Finally upper part actuation chamber body unit be placed in lower bound fraction intermediate surface on, it is right
Silica gel is poured into after neat, draft after waiting 12 hours, molding is completed.
The present invention achieves following technical effect compared with the existing technology:
1, tentacle is divided into upper, middle and lower and four part of non-newtonian fluid composition, and it is (concave-convex that top is divided into actuating Cavity unit
The strained layer of structure), middle section is strain limiting layer, and lower part is the cuboid damper housing unit with partition.Non newtonian
Fluid is in cuboid damper housing unit of the lower part with partition, and upper, middle and lower three parts are bonded by silica gel, after bonding
Upper part actuation chamber body unit side open pore.The structure is while being passed through air pressure and being bent tentacle, so that damping cavity
Non-newtonian fluid in body unit is by shearing force, and non-newtonian flow bulk concentration becomes larger, and tentacle overall stiffness becomes larger, and increases instantaneous work
The stability of work.
2, upper part actuation chamber body unit (strained layer of concaveconvex structure) is silica gel to be injected upper part lower die tool, by top
Upper mold lid is divided to close, draft is made after waiting 12 hours.
3, the strain limiting layer of middle section is that silica gel is injected middle section mold, and draft makes after waiting 12 hours
It forms.
4, the cuboid damper housing unit with partition of lower part is that lower part mould front and rear panel is first sticked to lower part
Then mold front and rear sides under point are injected silica gel in lower part lower die tool, are finally closed by lower part upper mold lid, waiting 12 is small
When after draft be made.The effect of partition is so that non newtonian in the cuboid damper housing unit with partition of lower part
Fluid is segmented in several lesser spaces, and when driver bending motion, non-newtonian fluid can occur bigger shearing and become
Shape, to generate bigger damping.
5, non-newtonian fluid is made by heating starch water 2:1 mixing.
6, upper, middle and lower and its four part of non-newtonian fluid are bonded by silica gel is divided into five steps, step 1: lower part mould
Tool front and rear panel seals the two sides that lower part lower die has, and lower part damper housing unit is then fixed on lower part lower die and is had
In, step 2: non-newtonian fluid is filled in lower part damper housing unit.Step 3: intermediate strain limiting layer part is placed
It is neatly bonded in lower part lower die tool, and with the lower part damper housing unit equipped with non-newtonian fluid, is then injected into silica gel
It is bonded, is waited 12 hours.Middle-lower part bonding is completed, and is between the two non-newtonian fluid, forms enclosure space.4th
Step: upper part actuation chamber body unit is put into lower part lower die tool, and the upper layer of the intermediate strain limiting layer in after lower bonding
Neat fitting, is then injected into silica gel and is bonded, and waits 12 hours.The bonding of upper, middle and lower three parts is completed, and is between upper middle part point
Air cavity.Step 5: remove the lower ambilateral lower part mould front and rear panel of part lower die, then draft.
7, upper part side open pore after fabrication is the air flue being aligned in upper part with needle tubing, then penetrates, changes
It takes different pinhead-sized needle tubings gradually to expand, finally imports the tracheae that diameter is 3mm, in conjunction with tracheae with tentacle utilizes snap ring,
Prevent gas leakage.Fixed frame is connect with snap ring and chassis, plays the role of fixed tentacle, and tracheae also passes through fixed frame, snap ring
It is connected with tentacle.
8, chassis assembly include chassis, the fixed frame of fixed tentacle, in conjunction with tentacle after be connected to snap ring on fixed frame,
Channel, the centre of horizontal fixed tracheae are provided with the cylinder of the vertical fixed tracheae of threeway on chassis.The channel of the fixed tracheae of level
It is mounted on the support of its own one end two sides by bolt and is fixed on chassis.The structure makes its compact overall structure, shape
Beauty is aggregated to tracheae together, and driving is facilitated to operate.
The pneumatic software tentacle of non-newtonian fluid of the invention and its forming method, wherein the device is by tentacle and chassis group
Part is constituted.The structure of tentacle is silica gel material, and tentacle top is divided into the strained layer actuating cavity of concaveconvex structure, and middle section is to answer
Become limiting layer, lower part is the cuboid damper housing with partition, is gas cavity between upper middle part point, is between middle-lower part
Non-newtonian fluid, when pouring air pressure in actuation chamber body, since the strain of intermediate strain limiting layer part is than upper partial actuation
The strain of Cavity unit wants small, therefore tentacle is to strain limiting layer lateral bend, while driving lower part damper housing unit bending,
Therefore the non-newtonian fluid sealed in damper housing unit is by shear stress.Non-newtonian fluid viscosity changes with shear rate
Become, so that damping is generated, so that the wild effect that tentacle occurs in the bending process by external interference is eliminated.And
Stability contorting can be carried out in complex environment, to effectively complete target action.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the overall structure diagram of pneumatic software tentacle；
Fig. 2 is the connection schematic diagram of tracheae；
Fig. 3 a, 3b and 3c are the link position schematic diagram for forming the three parts of tentacle；
Fig. 4 a and 4b are the structural schematic diagram of upper part actuation chamber body unit；
Fig. 5 is actuating Cavity unit upper mold；
Fig. 6 is actuating Cavity unit lower die tool；
Fig. 7 is the structural schematic diagram of intermediate strain limiting layer；
Fig. 8 is the mold schematic diagram of intermediate strain limiting layer；
Fig. 9 is the structural schematic diagram of lower part damper housing unit；
Figure 10 a is front and rear baffle schematic diagram；10b is damper housing unit lower molds schematic diagram；
Figure 11 is damper housing unit upper molds schematic diagram；
Wherein, part actuation chamber body unit on 1；Limiting layer is strained among 2；3 lower part damper housing units；4 stomatas；5
Air flue；6 air cavitys；7 halfround bar slices；8 air flue plates；9 actuating Cavity unit upper mold plate faces；10 actuating Cavity unit lower die plate faces；
11 circular arc chambers；Groove on 12 partitions；13 continuous non-font grooves；14 partitions；15 flanks；16 rectangular parallelepiped spaces；17 protrusive boards；
18 flank faces；19 liang of side baffles；20 bottom recesses；21 front and rear sides face；22 front and rear baffles；Two sides before and after 23 upper molds；24 liang
Flank plate face；25 notch boards；26 cuboid convex blocks；27 cuboid intervals；28 chassis；29 cylinders；30 tracheaes；31 oblong channels；
32 bolts；33 supports；34 fixed frames；35 snap rings.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of pneumatic software tentacle of non-newtonian fluid and its forming methods, software can be allowed to touch
On the one hand hand can continue to retain itself soft characteristic during the work time, on the other hand can carry out under complex environment opposite
Stable work has certain anti-interference ability.The pneumatic software tentacle structure of the non-newtonian fluid that the present invention designs is simple, system
Make it is cheap, work when stability it is strong, easily controllable, high reliablity.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Please refer to Fig. 1-11, wherein Fig. 1 is the overall structure diagram of pneumatic software tentacle, and Fig. 2 is that the connection of tracheae is shown
It is intended to；Fig. 3 a, 3b and 3c are the link position schematic diagram for forming the three parts of tentacle；Fig. 4 a and 4b are upper part actuation chamber body list
The structural schematic diagram of member；Fig. 5 is actuating Cavity unit upper mold；Fig. 6 is actuating Cavity unit lower die tool；Fig. 7 is intermediate strain
The structural schematic diagram of limiting layer；Fig. 8 is the mold schematic diagram of intermediate strain limiting layer；Fig. 9 is lower part damper housing unit
Structural schematic diagram；Figure 10 a is front and rear baffle schematic diagram；10b is damper housing unit lower molds schematic diagram；Figure 11 is damping cavity
Body unit upper mold schematic diagram.
As shown in figs. 1-11, it is by three tentacles and chassis that the present invention, which provides a kind of pneumatic software tentacle of non-newtonian fluid,
Component is constituted.Chassis assembly is opened the cylinder 29 of triple channel, the oblong channel 31 of horizontal fixed tracheae 30, fixed tentacle by middle part
Fixed frame 34 and snap ring 35 form, three 30 one end of tracheae attach on tentacle by these component parts, the other end and drive
Dynamic device is connected.The oblong channel 31 of the fixed tracheae 30 of level is mounted on the support 33 of its own one end two sides by bolt 32
And it is fixed on chassis 28.
Tentacle part is designed as part actuation chamber body unit 1, intermediate strain limiting layer 2, lower part damper housing unit 3
And four parts of non-newtonian fluid, top is divided into a kind of Cavity unit (strained layer of concaveconvex structure) and one end is provided with stomata
4 are connected with gas-guide tube, form cavity after the part and intermediate strain limiting layer 2 bonding connection, are passed through air pressure by tracheae 30
Variation makes software tentacle generate bending deformation, referred to as actuating Cavity unit.Middle section be strain limiting layer, connection above and below with
And three parts of non-newtonian fluid.Lower part is divided into a kind of cuboid Cavity unit for having multiple partitions, limits with centre strain
2 bonding of layer forms enclosed construction, and inside fills non-newtonian fluid, referred to as damper housing unit.Using non-in damper housing unit
The characteristics of dilatant fluid in time variation non-newtonian fluid, dilatant fluid, increases for oneself viscosity with the increase of shear rate
Greatly.When fiercely being impacted by external environment, non-newtonian fluid oneself viscosity instantaneously becomes larger, and rigidity is also with becoming larger, damping cavity
Body unit rigidity greatly improves, to resist impact bring short time set.This two parts Cavity unit is answered with middle section
Become limiting layer bonding connection, during gas is filled with upper part actuation chamber body unit, cavity is bent due to air pressure change
Deformation, since the deformation of middle section strain limiting layer is small, so entire software tentacle is bent towards middle layer, under driving at this time
Part damper housing unit bends.It is shear-deformable that non-newtonian fluid occurs for damper housing unit bending, causes itself viscous
Degree changes and increases with the increase of shear rate.This characteristic can make software tentacle deform in abrupt bend
Increase the rigidity of itself in the process, reduces the influence that external environment works to itself.The novel soft tentacle is in specific severe ring
(such as underwater crawl) under border, buffering can be played, damping, does software tentacle by extraneous at the effects of resisting short time set
The wild effect occurred in the bending process disturbed is eliminated.And a certain moment after completing flexure operation, even if by
To external impact, do not deformed significantly since the characteristic of non-newtonian fluid is also able to maintain movement.
In order to reach said effect, the three parts of tentacle are all made with silica gel, and non-newtonian fluid is that starch adds water
2:1 is mixed.Upper, middle and lower three parts have separately designed corresponding mold, and mold is all made of 3D printing material.Respectively
Upper part upper mold, upper part lower die tool；Middle section mold；Lower part upper mold, lower part lower die tool.
Non-newtonian fluid is injected after upper, middle and lower three parts injecting glue draft and carries out silica gel bonding, in upper part actuation chamber body list
First side open pore 4.Tentacle after having made imports tracheae 30 at stomata 4, and three tracheaes 30 are fixed on by chassis assembly
It together, can external driving device.
Further, referring to Fig. 3-Fig. 6, the system of part actuation chamber body unit 1 on the pneumatic software tentacle of this non-newtonian fluid
Make method.Upper part upper mold, such as Fig. 5, upper part lower die tool, such as Fig. 6 are printed first with 3D printer.Main production side
Method are as follows: uniform stirring mixes in proportion silica gel, and during stirring, splash bar will be stirred according to same circumferencial direction, be prevented
Generate a large amount of bubbles.Then silica gel is poured into circular arc chamber 11, pours into the process of silica gel it may be noted that the point for pouring into silica gel is protected always
It holds constant, silica gel itself is allowed to overflow toward at circular arc chamber 11, bubble is reduced with this.Silica gel fills actuating Cavity unit upper mold plate face
After 10 cavity, actuating Cavity unit upper mold plate face 9 is covered, all halfround bar slices 7 is inserted into circular arc chambers 11 and is formed with this
Air cavity 6 in Fig. 4 b is pressed into all air flue plates 8 on the groove 12 on partition, forms the air flue 5 in Fig. 4 b.Activate cavity list
First upper mold plate face 9 and actuating Cavity unit lower die plate face 10 combine, draft after waiting 12 hours, partial actuation in formation
Cavity unit 1.
The production of tentacle mid section modules:
Referring to fig. 2, Fig. 7, Fig. 8.The production method of strain limiting layer 2 among the pneumatic software tentacle of this non-newtonian fluid.It is first
Intermediate strain limiting layer mold, such as Fig. 8 are printed first with 3D printer.Main production method is similar with example one.Making
Silica gel pour into continuous non-font groove 13, draft after waiting 12 hours forms and intermediate strains limiting layer 2.
Part of module makes under tentacle:
Referring to Fig. 1, Fig. 9-Figure 11.The production side of part damper housing unit 3 under the pneumatic software tentacle of this non-newtonian fluid
Method.Lower part lower die tool, such as Figure 10, lower part upper mold, such as Figure 11 are printed first with 3D printer.First lower part
Lower mold front and back crosspiece plate 22 has front and rear sides face 21 by glue and lower part lower die and bonds.The purpose of front and back plate washer 22 is to pull out
Mould is prepared, and can be laid down at any time.Lower die tool in lower part forms a complete vessel space after having bonded, and silica gel is poured into
In bottom recesses 20, reach the stopping of flank face 18.Finally the indentation of lower part upper mold is filled in the lower part lower die tool of silica gel,
Upper mold bottom cuboid convex block 26 is pressed into lower mold bottom recesses 20, but with bottom recesses 20 not in contact with ultimately forming
The silica gel bottom surface of lower part damper housing unit.After being pressed into lower part upper mold, silica gel is full of in cuboid interval 27, formed every
Plate 14, lower part upper mold wing plates on two sides face 24, notch board 25 are respectively with lower part lower die tool flank face 18, protrusive board 17 to level
It sets, but does not contact, to form middle-lower part silica gel faying face.Before two sides 23 and lower part lower die have before and after the upper mold of lower part
Plate washer 22 does not contact afterwards, to form the two silica gel face of front and back of lower part damper housing unit.After waiting 12 hours, front and back is taken away
Plate washer 22 carries out draft, forms lower part damper housing unit 3.
Tentacle upper, middle and lower and non-newtonian fluid connecting shaping:
Upper, middle and lower three parts combination production method first has plate washer 22 before and after lower part lower template and lower part lower die
The bonding of 21 face of front and back sides.The lower part damper housing unit 3 after draft check it is errorless after be again loaded into lower part lower die tool
In.The non-newtonian fluid made uniformly is poured at this time 4 chambers of the rectangular parallelepiped space 16 of lower part damper housing unit 3
It is interior, it is separated by partition 14.Centre strain restricted part 2 is placed on the lower part damper housing unit 3 equipped with non-newtonian fluid,
The flank 15 of lower part damper housing unit 3 is aligned with centre strain limiting layer 2 above, and flank 15 is right with flank face 18 below
Together.It pours into silica gel to wait 12 hours, middle-lower part bonding is completed, and is between the two non-newtonian fluid.Finally upper part
Actuating Cavity unit 1 be placed in lower bound fraction middle section upper surface, alignment falls silica gel, it is upper after waiting 12 hours in part
Bonding is completed, and is between the two air cavity 6, air flue 5.Draft completes the production.It should be noted in the production process, upper, middle and lower triplicity
Part all carries out in two side baffles 19.
Embodiment one
Upper 1 side open pore 4 of part actuation chamber body unit after fabrication is directed at the air flue 5 in upper part with needle tubing,
Then it penetrates, exchanges different pinhead-sized needle tubings for and gradually expand, finally import the tracheae that diameter is 3mm, tracheae 30 and tentacle
Bound fraction is connected with snap ring 35, prevents gas leakage.Three tracheaes 30 pass through snap ring 35, and fixed frame 34, chassis 28 and rectangle are logical
Road 31 is finally fixed together by the cylinder 29 that triple channel is opened at middle part.Gas driving device (air pump or syringe) is passed through
Tracheae 30 is pressed into air flue 5, and rushes in air cavity 6, and under gas pressure, air cavity 6 deforms, but since middle section is strain limit
Preparative layer, deformation is small, so whole can bend towards middle section direction.Due to middle and upper part point bending, drive is equipped with
The lower part damper housing unit 3 of non-newtonian fluid occurs bending and deformation, and the non-newtonian fluid in rectangular parallelepiped space 16 receives curved
Bent shear stress deformation, itself concentration increases with shear rate and is increased, therefore the damping of tentacle becomes larger, conducive to being controlled.
And can resist some external force does not influence to work normally.
The present invention is the pneumatic software tentacle of non-newtonian fluid, its working principle is that soft tentacle bends under pneumatic action,
The non-newtonian fluid bending in conjunction with tentacle is driven, since non-newtonian fluid bending is cut, oneself viscosity changes, from
And change the rigidity of entire tentacle.The invention can work under complex environment.On the one hand there is the software feature of software tentacle, it is another
Aspect can stability contorting in the presence of a harsh environment, there is preferable anti-interference ability.And tentacle after grabbing target is unexpected
It can be mutated the rigidity of tentacle when receiving external interference, keep grasping movement.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (5)
1. a kind of pneumatic software tentacle of non-newtonian fluid, it is characterised in that: including three tentacles and chassis assembly, three tentacles are equal
Cloth is mounted on the bottom surface of the chassis assembly；
The tentacle includes upper part actuation chamber body unit, intermediate strain limiting layer, lower part damper housing unit and non-ox
Pause fluid, and one end of the upper part actuation chamber body unit offers the stomata being connected with gas-guide tube, the upper part actuation chamber
Cavity, the another side of the intermediate strain limiting layer and the lower part are formed after body unit and intermediate strain limiting layer bonding connection
Point damper housing unit bonds to form enclosed construction, and the non-newtonian fluid, the non-newtonian flow are filled inside the enclosed construction
Body is that starch and water are formed by the mass mixing of 2:1；
The chassis assembly includes that middle part offers the cylinder of triple channel, chassis, the oblong channel of horizontal fixed tracheae, fixation
The fixed frame and snap ring of tentacle, the other end for three gas-guide tubes being connected to three tentacles successively pass through the snap ring, consolidate
Determine frame, chassis and oblong channel to be finally fixed together by the cylinder and be connected with driving device.
2. the pneumatic software tentacle of non-newtonian fluid according to claim 1, it is characterised in that: the upper part actuation chamber body
Unit includes multiple hollow halfround bar slices, and the intermediate connection of the multiple halfround bar slices connected side by side is provided with to be connected with the stomata
The air flue connect, the hollow cavity of the halfround bar slice are air cavity；The upper part actuation chamber body unit is silica gel material, and each institute
State between halfround bar slice that there are gaps.
3. the pneumatic software tentacle of non-newtonian fluid according to claim 2, it is characterised in that: the intermediate strain limiting layer
Material be silica gel, the intermediate strain limiting layer is in continuous non-font, and the intermediate strain limiting layer and the top
The medial surface of actuating Cavity unit is divided to be bonded completely.
4. the pneumatic software tentacle of non-newtonian fluid according to claim 3, it is characterised in that: the lower part damper housing
Unit includes flank and the rectangular parallelepiped space with partition, and the rectangular parallelepiped space is uniformly divided into a plurality of cavities by partition,
The non-newtonian fluid is placed in each cavity, and the two sides of the rectangular parallelepiped space are connected with the flank, the side
The non-font flank of the shape of the wing and the intermediate strain limiting layer fits；The material of the lower part damper housing unit
For silica gel.
5. a kind of forming method of the pneumatic software tentacle of non-newtonian fluid is applied to of any of claims 1-4 non-
The pneumatic software tentacle of Newtonian fluid, which is characterized in that including the molding of upper part actuation chamber body unit, intermediate strain limiting layer at
The molding of type, lower part damper housing unit formation and tentacle forms,
Firstly, the molding of upper part actuation chamber body unit: printing actuating Cavity unit upper mold and actuating using 3D printer
Mold under Cavity unit, the actuating Cavity unit upper mold includes upper mold plate face, air flue plate and several halfround bar slices, stirring
Good silica gel pours into the cavity of lower mold, then covers upper mold, the halfround bar slice in upper mold is made to be inserted into the circle of lower mold
In arc chamber, it is pressed into air flue plate in the groove on lower mold interval plate, upper/lower die waits for 12 hours drafts quietly after combining, formed
Upper part actuation chamber body unit with air flue and air cavity；
The molding of centre strain limiting layer: printing the mold of strain limiting layer using 3D printer, which is intermediate setting
The die sheet surface of continuous non-font groove, the silica gel made is poured into the non-font groove in mold, after waiting for 12 hours quietly
Draft forms intermediate strain limiting layer；
Lower part damper housing unit formation: damper housing unit upper molds, damper housing unit are printed using 3D printer
Lower mold and front and rear baffle, upper mold are the template with interval rectangular body convex block and non-font flank, and lower mold sets for centre
It is equipped with through-going recess and groove two sides is the template of the symmetrically arranged non-font flank of boss, two flank both sides of lower mold are also set
It is equipped with baffle；Front and rear baffle is bonded in the opening both ends of lower mold by glue, silica gel is poured into lower mold, flank is reached
Highest plane after stop pouring into, upper mold is pressed into lower mold, waits for draft after 12 hours quietly, formed have two flanks and in
Between be the rectangular parallelepiped space with partition lower part damper housing unit；
The molding of tentacle forms: the lower part damper housing unit after draft being again loaded into lower part lower die tool, production
Good non-newtonian fluid uniformly pour into 4 of rectangular parallelepiped space it is intracavitary and separated by partition；Centre strain limiting layer is placed on dress
Have on the lower part damper housing unit of non-newtonian fluid, the flank of lower part damper housing unit and intermediate strain limiting layer pair
Together, it plays two side baffles of mold to be higher than intermediate strain limiting layer at this time, pours into silica gel in the lower mold in part down and wait for quietly 12 hours,
Middle-lower part bonding is completed；Finally upper part actuation chamber body unit be placed in lower bound fraction intermediate surface on, after alignment
Silica gel is poured into, draft after waiting 12 hours, molding is completed.
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| CN201910392570.2A CN110202597A (en) | 2019-05-13 | 2019-05-13 | A kind of pneumatic software tentacle of non-newtonian fluid and its forming method |
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| CN201910392570.2A CN110202597A (en) | 2019-05-13 | 2019-05-13 | A kind of pneumatic software tentacle of non-newtonian fluid and its forming method |
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| CN111098322A (en) * | 2020-01-07 | 2020-05-05 | 中国石油大学(北京) | Software execution device, preparation method and clamping mechanism |
| CN111216161A (en) * | 2020-01-16 | 2020-06-02 | 哈尔滨工业大学 | Variable-stiffness flexible arm based on non-Newtonian fluid drive and manufacturing method thereof |
| CN114211669A (en) * | 2021-12-21 | 2022-03-22 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
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