CN111267137A - Novel flexible finger and preparation method thereof - Google Patents
Novel flexible finger and preparation method thereof Download PDFInfo
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- CN111267137A CN111267137A CN202010210677.3A CN202010210677A CN111267137A CN 111267137 A CN111267137 A CN 111267137A CN 202010210677 A CN202010210677 A CN 202010210677A CN 111267137 A CN111267137 A CN 111267137A
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C33/00—Moulds or cores; Details thereof or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C33/00—Moulds or cores; Details thereof or accessories therefor
- B29C33/70—Maintenance
- B29C33/72—Cleaning
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- Mechanical Engineering (AREA)
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- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
The embodiment of the invention provides a novel flexible finger, which comprises a finger belly part and an air bag part, wherein the finger belly part is used for grabbing a component, the air bag part is used for inflating and deflating to change the bending degree of the finger belly, and the air bag part comprises a bag surface part and a side part; the maximum cross-sectional shape of the side portion is a rectangular shape lacking one long side; the finger pulp is positioned on one side of the side part lacking one long edge and used for closing the bag face part in the side part; the side portion is made of a material having a hardness greater than that of the facing portion.
Description
Technical Field
The invention relates to the field of flexible fingers, in particular to a flexible finger and a preparation method thereof.
Background
At present, a soft actuating unit and an actuator made of elastic materials such as silicon rubber realize deformation and actuation by using internal and external pressure differences, and generally use fluid (for example, gas) as a driving medium to change the internal pressure of the soft actuating unit so as to realize pressure difference driving.
As an example of a soft actuating unit or actuator, a flexible finger has many application scenarios in industry and commerce, and generally comprises an interface for air intake, a plurality of knuckles connected with the interface, air bags corresponding to the knuckles one by one, a dual air passage for communicating the air bags and the interface, and an internode for connecting two adjacent knuckles.
However, the existing soft actuator is pressurized by filling gas or liquid into its inner cavity, so that the soft actuator is at least partially expanded and deformed to realize the actions of bending, straightening and the like, and further realize the purposes of grabbing an object, placing an object or forming a required posture and the like. However, the existing soft body actuator has some problems in use, for example, the soft body actuator with a long structure generates a plurality of redundant parts when being deformed, and partial expansion and expansion in unnecessary directions occur at the part of the air bag and the like when the pressurization is too large, and the expansion in the unnecessary directions consumes additional air source or liquid source pressure, thereby wasting energy. Moreover, if the wall thickness of the cavity of the soft actuator is small and the bending degree of the soft actuator is large, the local expansion of the air bag under high pressure may cause the local expansion areas to be broken, so as to destroy the air tightness, and further influence the service life of the soft robot.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a novel flexible finger.
The embodiment of the invention provides a novel flexible finger, which comprises a finger belly part and an air bag part, wherein the finger belly part is used for grabbing a component, the air bag part is used for inflating and deflating to change the bending degree of the finger belly, and the air bag part comprises a bag surface part and a side part; the maximum cross-sectional shape of the side portion is a rectangular shape lacking one long side; the finger pulp is positioned on one side of the side part lacking one long edge and used for closing the bag face part in the side part; the side portion is made of a material having a hardness greater than that of the facing portion.
Further, the material of the finger portion has a hardness greater than or equal to the hardness of the material of the side portions.
Another embodiment of the present invention provides a method for preparing a novel flexible finger, which includes a finger belly portion for grasping a part and a balloon portion for inflating and deflating to change a degree of curvature of the finger belly, the balloon portion including a balloon surface portion and a side portion, the method including: adding the material corresponding to the side edge part into a forming die; placing a first core mould into a forming mould, covering the material corresponding to the side part, and solidifying and forming the material corresponding to the side part, wherein the maximum cross section of the side part is in a rectangular shape lacking one long side; taking out the first core mold, and adding the material corresponding to the bag surface part into a forming mold; placing a second core mold into a forming mold, covering the material corresponding to the capsule surface part, and curing and forming the material corresponding to the capsule surface part, wherein the capsule surface part is flush with one side of the side part which lacks one long edge; the side portion material has a hardness after curing that is greater than a hardness of the facing portion material after curing.
Further, the method further comprises: taking out the second core mold, and adding the material corresponding to the finger web part into the forming mold; and placing a third core mould into a forming mould, covering the material corresponding to the finger web part, and solidifying and forming the material corresponding to the finger web part, wherein the finger web part is positioned on one side of the side edge part lacking one long edge, and the bag surface part is sealed in the side edge part.
Further, adding materials corresponding to the finger pulp parts into the finger pulp forming die; placing a fourth core mould into the finger web forming mould, and covering the material corresponding to the finger web part; the balloon portion is removed from the forming mold and bonded to the finger portion when the finger portion is not completely cured.
Further, the material of the finger portion has a hardness after curing not less than that of the material of the side portion.
Further, the method further comprises: pre-treating the forming mold before adding the material corresponding to the side edge portion into the forming mold, the pre-treating comprising: and if the forming mold is used for the first time, cleaning and curing the forming mold, and if the forming mold is not used for the first time, cleaning the forming mold.
Further, the method further comprises: before adding the material corresponding to the finger pulp part into the finger pulp forming mold, performing pretreatment on the finger pulp forming mold, wherein the pretreatment comprises the following steps: and if the finger-belly forming die is used for the first time, cleaning and curing the finger-belly forming die, and if the finger-belly forming die is not used for the first time, cleaning the finger-belly forming die.
Compared with the prior art, the technical scheme of the invention is applied, different parts of the formed soft actuator are made of different materials, and the deformation amount of the different parts is different when the deformation is generated, so that the problems that a plurality of redundant parts are generated when the soft actuator is deformed, and local expansion and expansion in an unnecessary direction occur at parts such as an air bag when the pressurization is too large in the prior art can be solved, and further, the additional consumption of an air source or a liquid source pressure by expansion in the unnecessary direction is avoided, so that the energy waste is avoided. In addition, the problems that the local expansion of the air bag of the soft actuator under high pressure can also cause the local expansion areas to be broken, thereby further destroying the air tightness, shortening the service life of the soft robot and the like can be solved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a novel flexible finger according to some embodiments of the present application;
FIG. 2 is a flow chart of a novel method for making a flexible finger according to some embodiments of the present application;
FIG. 3 is another flow chart of a novel method of making a flexible finger according to some embodiments of the present application;
FIG. 4 is another flow chart of a novel method of making a flexible finger according to some embodiments of the present application;
FIG. 5 is a schematic view of a forming die according to some embodiments of the present application;
FIG. 6 is a schematic view of a first core mold according to some embodiments of the present application;
FIG. 7 is a schematic view of a second core mold according to some embodiments of the present application;
FIG. 8 is a schematic view of a third core mold according to some embodiments of the present application;
FIG. 9 is a schematic view of a fourth core mold according to some embodiments of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Fig. 1 is a schematic diagram of a novel flexible finger according to some embodiments of the present application. As shown in figure 1, the novel flexible finger comprises a finger belly part 10 and a balloon part 20, wherein the finger belly part is used for grabbing a part, and the balloon part 20 is used for inflating and deflating to change the bending degree of the finger belly part. In practice, the finger portion is a layer of material on the underside of the flexible finger, and when the bladder of figure 1 is inflated, the finger portion arches upwardly, thereby providing a grip on the workpiece. As shown in fig. 1, the bag portion includes side edge portions 21 whose maximum sectional shape is a rectangular shape lacking one long side and a bag face portion 22. The finger pulp is located on the side of the side portion lacking one long side and encloses the sachet face portion within the side portion.
As shown in fig. 1, the side portion includes two parts, i.e., a knuckle portion and an internode portion, the maximum cross-section of the side portion is located at the knuckle portion, and two adjacent knuckle portions are connected by the internode portion.
In some embodiments, the side portions may also include only knuckle portions. And the internode part is made of the same material as the surface part.
The side portion is made of a material having a hardness greater than that of the facing portion. The hardness here corresponds to softness and stretchability. In flexible materials, hardness is inversely proportional to softness, with higher hardness giving lower softness and higher softness giving greater flexibility. The material hardness of the side portion is greater than that of the bag face portion 22, so that it is sufficient to suppress deformation at the side portion 21 to avoid breakage at the side portion 21. For example, the side portions 21 may be of hard silicone and the flap portions 22 may be of normal silicone. The service life of the flexible finger with the structure can be 5000 times of inflation and deflation circulation, and the output force of the soft finger under the normal working air pressure can reach 5N.
Further, the material of the finger portion has a hardness greater than or equal to the hardness of the material of the side portions. In this way, the finger portion can provide greater grip. In some other embodiments, the hardness of the material of the finger pulp part is equal to the hardness of the material of the bag surface part, that is, the same material as the bag surface is adopted, in this case, the finger pulp part does not need to be manufactured in the manufacturing process, and after the bag surface part is manufactured, the surface formed by the lower part of the bag surface part is the finger pulp part and is used for grabbing the component.
Fig. 2 is a flow chart of a method for manufacturing a novel flexible finger according to some embodiments of the present application. The novel flexible finger preparation method is completed by adopting a forming die and two core modules. The flexible finger prepared by the method is the novel flexible finger shown in figure 1.
At 202, material corresponding to the side portions is added to a forming mold. Fig. 5 is a schematic view of a forming die according to some embodiments of the present application. As shown in fig. 5, the forming die is shown in two views. The forming die center recess area is used to form the flexible finger or the bladder portion of the flexible finger described in this application.
At 204, a first core mold is placed in a forming mold, a cover is placed on the material corresponding to the side portion, and the material corresponding to the side portion is solidified and formed, the maximum cross-sectional shape of the side portion being a rectangular shape lacking one long side.
The side edge part 21 of the flexible finger formed in the way can ensure better precision, and ensure the processing precision of the side edge part 21 of the flexible finger, thereby ensuring the reliability of the finally formed flexible finger.
In some embodiments, the material of the side portion can be any suitable material according to different needs, as long as the side portion 21 of the flexible finger formed after curing has flexibility and can be deformed by filling fluid (such as gas or liquid). For example, the material corresponding to the side portions may be silicone.
FIG. 6 is a schematic view of a first core mold according to some embodiments of the present application. The first core mold is engaged with the forming mold for solidifying the material corresponding to the side portions into a desired shape. Wherein, according to the different of the corresponding material of side part, can adopt adaptive mode to make it solidify. For example, the material is cured by heating, irradiating light, or the like, but this embodiment is not limited thereto.
At 206, the first core mold is removed and material corresponding to the pocket face portion is added to the forming mold. At this time, the material corresponding to the bag surface part covers or partially covers the material corresponding to the side edge part.
At 208, a second core mold is placed into the forming mold, a cover is placed over the material corresponding to the pocket face portion, and the material corresponding to the pocket face portion is cured to form the pocket face portion flush with the side of the side edge portion lacking one long side.
Fig. 7 is a schematic view of a second core mold according to some embodiments of the present application. The second core mold shown in fig. 6 is set in a forming mold, and the pocket face portion can be formed.
In some embodiments, the material of the side portion has a cured hardness that is greater than the cured hardness of the material of the facing portion. Because the hardness of the material of the side part is greater than that of the bag surface part, the bending curvatures of the side part 21 and the bag surface part 22 are different after inflation, so that a flexible finger (a soft actuator) with a multi-material structure is formed through reasonable distribution of different materials, and the displacement and the deformation of the flexible finger in certain directions can be limited in the deformation process, so that the purposes of improving the motion capability and the energy efficiency of the flexible finger are achieved.
As previously mentioned, the new flexible finger also includes a finger portion, which in some embodiments may be of the same material as the cuff portion. That is, the base of the facing portion after curing forms a surface that can be used to grasp a part. Thus, the bottom of the cuff portion can be directly used as a finger portion for grasping the component.
In some embodiments, to achieve a better deformation effect. Different materials are required for the finger portion. Fig. 3 is another flow chart of a novel method of making a flexible finger according to some embodiments of the present application. The process flow of fig. 3 is performed after the process flow described in fig. 2 is completed.
At 302, the second core mold is removed and material corresponding to the finger portions is added to the forming mold. The material of the finger web portion has a hardness after curing not less than that of the material of the side edge portion.
At 304, a third core mold is placed into the forming mold, a cover is placed over and the material corresponding to the finger portions on the side of the side portion lacking one long side and the pocket face portion is enclosed within the side portion, and the material corresponding to the finger portions is cured. FIG. 8 is a schematic view of a third core mold according to some embodiments of the present application.
It is worth noting that the dimensions of the forming die employed in fig. 3 need to include a volume to accommodate the material corresponding to the finger portion. This includes three situations. First, a forming die a is used in fig. 2 and 3, which can accommodate materials corresponding to the side portions, the face portions, and the finger portions. Second, a forming die B is used in fig. 2 and a forming die a is used in fig. 3, and the forming die B can accommodate only the volumes of the side edge portion and the bag face portion. Third, a forming die B is used in fig. 2, and a forming die C is used in fig. 3, and the forming die C can accommodate only the volume of the finger portion.
In the second case, after the step of fig. 2 is performed, the cured and formed bladder portion (including the bladder surface portion and the side edge portion) is taken out of the forming mold B, placed in the forming mold a, and the step of fig. 3 is continued. In this case, the molding die a has a volume larger than that of the molding die B for accommodating the finger portion, but an additional operation (taking out and putting in) is not necessary in the middle, and in fact, only the molding die a is used.
In the third case, since the forming die C can accommodate only the volume of the finger portion, the flow described in fig. 3 needs to be adjusted. Fig. 4 is a flow chart of a method for making a novel flexible finger according to some embodiments of the present application.
At 402, material corresponding to the finger portion is added to a finger forming mold. The finger belly forming die is the forming die C.
At 404, a fourth core mold is placed into the finger cavity forming mold with a cap placed over the material corresponding to the finger cavity portion. The fourth core mold is used for molding the finger portion in cooperation with the finger portion molding mold. FIG. 9 is a schematic view of a fourth core mold according to some embodiments of the present application.
At 406, the balloon portion is removed from the forming mold and bonded to the finger portion when the finger portion is not fully cured. In some embodiments, the cured finger portion may also be removed from the finger shaping mold and bonded to the portion of the bladder that is not fully cured.
In some embodiments, the forming die (forming die A, B, C) requires pre-treatment prior to use. Because the forming mold is designed and processed according to the structure and shape of the soft actuator, the surface of the forming mold produced usually has residual incompletely solidified materials, the existence of the materials may have adverse effects on the performance of the flexible materials added later, and the shape of the forming mold is also affected, so that the formed shape is not consistent with the design and has large deviation, therefore, when the forming mold is used for the first time, the forming mold is cleaned and solidified, and the uncured residual on the forming mold is solidified by photocuring, and the forming mold is cleaned to remove dirt, dust and the like. This ensures the quality and structural strength of the subsequent formation. The pretreatment comprises the following steps: and if the forming mold is used for the first time, cleaning and curing the forming mold, and if the forming mold is not used for the first time, cleaning the forming mold.
In some embodiments, the forming mold and the core mold may be fabricated using 3D printing techniques.
The application designs a novel flexible finger and a preparation method thereof, different parts of the formed flexible finger are made of different materials, and deformation quantities of different parts are different when deformation is generated, so that the problems that a soft body actuator in the prior art can generate a plurality of redundant parts when deformation is generated, local expansion and expansion in unnecessary directions can occur at the parts such as a side part 21 when pressurization is too large are solved, and further, the expansion in the unnecessary directions is prevented from additionally consuming air source or liquid source pressure, and energy waste is avoided. Meanwhile, the problems of low energy efficiency and poor bending performance caused by local expansion of the existing soft actuator are solved. Moreover, the problems that the local expansion of the side part 21 of the flexible finger under high pressure can also cause the local expansion area to be broken, thereby destroying the air tightness, shortening the service life of the soft robot and the like can be solved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (8)
1. A novel flexible finger comprising a finger portion for gripping a part and a bladder portion for inflation and deflation to vary the degree of flexion of the finger, characterized in that:
the airbag portion includes a bag face portion and side edge portions;
the maximum cross-sectional shape of the side portion is a rectangular shape lacking one long side;
the finger pulp is positioned on one side of the side part lacking one long edge and used for closing the bag face part in the side part;
the side portion is made of a material having a hardness greater than that of the facing portion.
2. The novel flexible finger of claim 1 wherein the material of the finger belly portion has a hardness greater than or equal to the hardness of the material of the side portions.
3. A novel method for preparing a flexible finger, the novel flexible finger comprises a finger belly part and an air bag part, the finger belly part is used for grabbing a component, the air bag part is used for inflating and deflating to change the bending degree of the finger belly, the air bag part comprises a bag surface part and a side part, and the method comprises the following steps:
adding the material corresponding to the side edge part into a forming die;
placing a first core mould into a forming mould, covering the material corresponding to the side part, and solidifying and forming the material corresponding to the side part, wherein the maximum cross section of the side part is in a rectangular shape lacking one long side;
taking out the first core mold, and adding the material corresponding to the bag surface part into a forming mold;
placing a second core mold into a forming mold, covering the material corresponding to the capsule surface part, and curing and forming the material corresponding to the capsule surface part, wherein the capsule surface part is flush with one side of the side part which lacks one long edge;
the side portion material has a hardness after curing that is greater than a hardness of the facing portion material after curing.
4. The method of claim 3, further comprising:
taking out the second core mold, and adding the material corresponding to the finger web part into the forming mold;
and placing a third core mould into a forming mould, covering the material corresponding to the finger web part, and solidifying and forming the material corresponding to the finger web part, wherein the finger web part is positioned on one side of the side edge part lacking one long edge, and the bag surface part is sealed in the side edge part.
5. The method of claim 3, further comprising:
adding the material corresponding to the finger pulp part into a finger pulp forming die;
placing a fourth core mould into the finger web forming mould, and covering the material corresponding to the finger web part;
the balloon portion is removed from the forming mold and bonded to the finger portion when the finger portion is not completely cured.
6. The method of claim 4, wherein the material of the finger portion has a cured hardness not less than the cured hardness of the material of the side portions.
7. The method of claim 3, further comprising:
pre-treating the forming mold before adding the material corresponding to the side edge portion into the forming mold, the pre-treating comprising: and if the forming mold is used for the first time, cleaning and curing the forming mold, and if the forming mold is not used for the first time, cleaning the forming mold.
8. The method of claim 5, further comprising:
before adding the material corresponding to the finger pulp part into the finger pulp forming mold, performing pretreatment on the finger pulp forming mold, wherein the pretreatment comprises the following steps: and if the finger-belly forming die is used for the first time, cleaning and curing the finger-belly forming die, and if the finger-belly forming die is not used for the first time, cleaning the finger-belly forming die.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010210677.3A CN111267137B (en) | 2020-03-23 | 2020-03-23 | Novel flexible finger and preparation method thereof |
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| CN202010210677.3A CN111267137B (en) | 2020-03-23 | 2020-03-23 | Novel flexible finger and preparation method thereof |
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| CN111267137B CN111267137B (en) | 2021-07-20 |
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| 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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| CN114211669B (en) * | 2021-12-21 | 2024-05-31 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
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| Publication number | Publication date |
|---|---|
| CN111267137B (en) | 2021-07-20 |
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Address after: 102600 Building 12, Yard 109, Jinghai 3rd Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing (Yizhuang Cluster, High end Industrial Zone, Beijing Pilot Free Trade Zone) Patentee after: Beijing Software Robot Technology Co.,Ltd. Address before: 102400 room 4, 4 floor, 2 building, 85 Hong Yuan Road, Fangshan District, Beijing. Patentee before: BEIJING SOFT ROBOT TECH Co.,Ltd. |