CN114211669A - Reconfigurable software driver manufacturing die and driver manufacturing method thereof - Google Patents
Reconfigurable software driver manufacturing die and driver manufacturing method thereof Download PDFInfo
- Publication number
- CN114211669A CN114211669A CN202111571610.3A CN202111571610A CN114211669A CN 114211669 A CN114211669 A CN 114211669A CN 202111571610 A CN202111571610 A CN 202111571610A CN 114211669 A CN114211669 A CN 114211669A
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- driver
- pouring
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- clamping
- upper cover
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 30
- 238000005266 casting Methods 0.000 claims abstract description 13
- 238000007789 sealing Methods 0.000 claims description 4
- 229920002379 silicone rubber Polymers 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000005520 cutting process Methods 0.000 claims description 3
- 229920001971 elastomer Polymers 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 238000007711 solidification Methods 0.000 claims description 3
- 230000008023 solidification Effects 0.000 claims description 3
- 238000009966 trimming Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 2
- 230000000877 morphologic effect Effects 0.000 abstract description 6
- 230000008859 change Effects 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
Landscapes
- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
The invention discloses a reconfigurable soft driver manufacturing die which comprises a lower groove box and an upper cover plate, wherein the upper cover plate is covered above the lower groove box; a plurality of baffles are arranged in the casting groove of the lower groove box at intervals in the direction vertical to the length direction of the casting groove; the bottom surface of the upper cover plate is provided with a plurality of fixture blocks perpendicular to the length direction, the fixture blocks are inserted between two adjacent baffles, and a pouring gap is reserved between the fixture blocks and the baffles; and pouring openings communicated with the casting groove are formed in the two ends of the lower groove box. The soft driver of pneumatic net number not only can be accomplished in this mould to through the combination replacement of each module, the soft driver of multiple morphological structure can also be shaped, and simple to use is convenient, has stronger practicality.
Description
Technical Field
The invention belongs to the field of soft robot manufacturing, and particularly relates to a reconfigurable soft driver manufacturing die and a driver manufacturing method thereof.
Background
At present, the structure of the driver tends to be diversified, the form differentiation is serious, so a specific set of forming die needs to be designed for each driver with a special form, and any slight modification of the driver can also cause the die to be scrapped, thereby causing great waste. The design and manufacture of these models is possible only in laboratory studies, but it is difficult to make them practical in productive life. At present, the design target is simplified due to the fact that the pneumatic grid driver aims at specific application, the model structure is specially developed, and a system is difficult to form.
When the existing soft driver is manufactured, a single set of die needs to be designed and manufactured for adjusting the shape of the internal cavity of the driver, which not only needs to spend a lot of time and materials, but also generates great waste and pollution.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a reconfigurable software driver manufacturing die, which can complete the manufacturing of the software driver with the pneumatic grid number, can form the software drivers with various morphological structures through the combined replacement of all modules, is simple and convenient to use and has stronger practicability.
In order to achieve the purpose, the invention adopts the technical scheme that:
a reconfigurable soft driver manufacturing die comprises a lower groove box and an upper cover plate, wherein the upper cover plate is covered above the lower groove box; a plurality of baffles are arranged in the casting groove of the lower groove box at intervals in the direction vertical to the length direction of the casting groove; the bottom surface of the upper cover plate is provided with a plurality of fixture blocks perpendicular to the length direction, the fixture blocks are inserted between two adjacent baffles, and a pouring gap is reserved between the fixture blocks and the baffles; and pouring openings communicated with the casting groove are formed in the two ends of the lower groove box.
Preferably, a plurality of clamping grooves are formed in the pouring groove perpendicular to the length direction of the pouring groove at equal intervals, and the baffle is detachably clamped in the clamping grooves.
Preferably, the side surfaces of the baffles are provided with U-shaped lugs, the lugs on two adjacent baffles are matched with each other, and a pouring cavity is formed between the two adjacent lugs; the fixture block is downwards inserted in the middle of the pouring cavity, and the bottom end of the fixture block is in a U-shaped design matched with the projection.
Preferably, the top of the baffle is downwards provided with a circular arc-shaped notch; an arc-shaped block matched with the notch is arranged above the clamping block, and a gap is formed between the arc-shaped block and the notch.
Preferably, the bottom of the upper cover plate protrudes outwards to form a fixed block, and bayonets are arranged on the fixed block at equal intervals in a direction perpendicular to the length direction of the upper cover plate; the top end of the clamping block is provided with a clamping part clamped in the clamping opening.
The manufacturing method for manufacturing the driver by utilizing the reconfigurable software driver manufacturing die comprises the following specific manufacturing processes:
1) manufacturing the structure and the size of a target driver as required, selecting corresponding die parts, and correspondingly clamping the baffle and the clamping block in the corresponding clamping groove and the corresponding bayonet;
2) combining the lower groove box and the upper cover plate, and inserting the fixture block into the pouring cavity between the baffles;
3) pouring the mixed and prepared silicon rubber into a mold through a pouring opening, and placing the mold into a thermostat for solidification and molding;
4) taking out the molded bottomless driver and cutting and trimming the bottomless driver; placing a bottomless driver into the groove plate for bottom sealing, opening a hole on the side wall of the driver by using a fine needle, introducing a soft capillary rubber tube, and sealing by using glue;
5) and (3) fixedly connecting the end parts of a plurality of drivers with guide pipes through a plastic framework in a sticking way to finally form a coupling type soft driver finger model.
Wherein, when the number of the pneumatic grids in the driver in the step 1) is n, the set number of the fixture blocks is n, the set number of the baffles is n +1, and the value of n is greater than 2.
The distance between the pneumatic grids of the driver is determined by the thickness of the selected baffle plate; the thickness of the pneumatic grid wall and the size of the grid cavity are determined by the thickness and the height of the selected fixture block.
The invention has the following beneficial effects:
the baffle and the clamping block are detachably arranged in the clamping groove and the clamping opening, the manufacture of various shapes, structures and sizes of the driver can be realized by adjusting and replacing the baffle and the clamping block with different types, and the detachable connection and fixation mode of the baffle and the clamping block is more convenient for replacing mould parts and is simpler and more convenient to use. The mould adopts the multiple module, realizes the function of mould split combination, shaping multiple morphological structure.
Drawings
FIG. 1 is a schematic structural view of a mold of the present invention;
FIG. 2 is a schematic view of the construction of the lower trough box of the present invention;
FIG. 3 is a schematic view of the baffle of the present invention installed in the lower trough box;
FIG. 4 is a schematic structural view of a baffle of the present invention;
FIG. 5 is a schematic structural view of an upper cover plate according to the present invention;
FIG. 6 is a schematic diagram of a fixture block according to the present invention;
FIG. 7 is a schematic view of the bottomless actuator of the present invention installed into a recess plate;
FIG. 8 is a flow chart of the present invention for making a driver.
Detailed Description
As shown in fig. 1-7, the present invention provides a mold for manufacturing a reconfigurable soft actuator, comprising a lower slot box 1 and an upper cover plate 2, wherein the upper cover plate 2 is covered on the lower slot box 1; the middle part of the lower groove box 1 is provided with a casting groove, and two ends of the lower groove box 1 are outwards provided with casting openings 13 communicated with the casting groove. A plurality of clamping grooves 12 are formed in the pouring groove 11 perpendicular to the length direction of the pouring groove at equal intervals, and the baffle 3 is detachably clamped in the clamping grooves 12. Wherein, the baffle 3 left and right sides of establishing in the casting trough middle part all is equipped with the lug of U type symmetrically, and two baffles 3 of tip only have relative side to be equipped with the lug. When the baffle is used, the lugs on the two adjacent baffles 3 are matched and mutually approach, and a U-shaped pouring cavity with an upper opening is formed between the two adjacent lugs. The bottom end of the clamping block 4 on the upper cover plate 2 is designed into a U shape matched with the lug, the clamping block 4 is downwards inserted in the middle of the pouring cavity, and a pouring gap is formed between the clamping block 4 and the two adjacent baffles 3.
The top of the baffle 3 is downwards provided with a circular arc-shaped notch, an arc-shaped block 41 matched with the notch is arranged above the fixture block 4, and a gap is arranged between the arc-shaped block 41 and the notch. The bottom of the upper cover plate 2 is outwards protruded with a fixed block 21, and bayonets 211 are arranged on the fixed block 21 at equal intervals and are vertical to the length direction of the upper cover plate 2; the top end of the fixture block 4 is provided with a clamping part 42 clamped in the clamping opening 211.
The number of the baffles 3 in the die determines the number of the pneumatic grids of the driver, and the number of the fixture blocks 4 determines the number of the cavities of the pneumatic grids of the driver. When the number of the pneumatic grids in the driver is n, the number of the fixture blocks 4 is n, the number of the baffle plates 3 is n +1, and the value of n is greater than 2. The distance between the pneumatic grids of the driver can be changed by adjusting the thickness of the baffle 3, and the wall thickness of the pneumatic grids and the size of the grid cavity can also be changed by adjusting the thickness and the height of the fixture block 4. Baffle 3 and 4 detachable of fixture block are installed in draw-in groove 12 and bayonet socket 211, change the baffle 3 and the fixture block 4 of different models through the adjustment, can realize the preparation of the various morphological structures of driver and size to baffle 3 and 4 detachable of fixture block are connected the change of the mould part of being convenient for more of fixed mode, use simple and convenient more. The mould adopts the multiple module, realizes the function of mould split combination, shaping multiple morphological structure.
Accordingly, as shown in fig. 8, the present invention further provides a method for manufacturing a driver, which is directed to the mold for manufacturing the reconfigurable software driver, and the specific manufacturing process is as follows:
1) according to the structure and the size of the target driver, corresponding die parts are selected, and the baffle 3 and the fixture block 4 are correspondingly clamped in the corresponding clamping groove 12 and the corresponding bayonet 211.
The size of the lower groove box 1 and the size of the upper cover plate 2 determine the size of the whole driver, the number of the selected baffles 3 determines the number of the pneumatic grids of the driver, and the number of the fixture blocks 4 determines the number of the cavities of the pneumatic grids of the driver; the thickness of the baffle 3 determines the distance between the pneumatic grids, and the thickness and the height of the fixture block 4 can also change the wall thickness of the pneumatic grids and the size of the grid cavity.
2) The lower groove box 1 and the upper cover plate 2 are combined, and the fixture block 4 is inserted into the pouring cavity between the baffle plates 3.
3) Pouring the mixed and prepared silicon rubber into a mold through a pouring opening 13, and placing the mold into a thermostat for solidification and molding.
4) Taking out the molded bottomless driver 5 and cutting and trimming the bottomless driver; the bottomless actuator 5 is placed in the recess plate 6 and sealed, a hole is made in the side wall of the actuator using a fine needle, a soft capillary rubber tube is introduced, and the seal is sealed using glue.
5) And (3) fixedly connecting the end parts of a plurality of drivers with guide pipes through a plastic framework in a sticking way to finally form a coupling type soft driver finger model. Wherein the shaping skeleton is manufactured by a 3D printing technology, and the driver is formed by pouring silicon rubber.
The driver provided by the invention is simple and convenient in manufacturing method, can adapt to various morphological structures, can be used for manufacturing soft drivers of different models and sizes, and has stronger universality.
Claims (8)
1. A reconfigurable software driver manufacturing die is characterized in that: comprises a lower groove box and an upper cover plate, wherein the upper cover plate is arranged above the lower groove box in a covering manner; a plurality of baffles are arranged in the casting groove of the lower groove box at intervals in the direction vertical to the length direction of the casting groove; the bottom surface of the upper cover plate is provided with a plurality of fixture blocks perpendicular to the length direction, the fixture blocks are inserted between two adjacent baffles, and a pouring gap is reserved between the fixture blocks and the baffles; and pouring openings communicated with the casting groove are formed in the two ends of the lower groove box.
2. The reconfigurable software driver creation mold of claim 1, wherein: a plurality of clamping grooves are formed in the pouring groove perpendicular to the length direction of the pouring groove at equal intervals, and the baffle is detachably clamped in the clamping grooves.
3. The reconfigurable software driver creation mold of claim 1, wherein: the side surfaces of the baffles are provided with U-shaped lugs, the lugs on two adjacent baffles are matched with each other, and a pouring cavity is formed between the two adjacent lugs; the fixture block is downwards inserted in the middle of the pouring cavity, and the bottom end of the fixture block is in a U-shaped design matched with the projection.
4. The reconfigurable software driver creation mold of claim 3, wherein: the top of the baffle is downwards provided with a circular arc-shaped notch; an arc-shaped block matched with the notch is arranged above the clamping block, and a gap is formed between the arc-shaped block and the notch.
5. The reconfigurable software driver creation mold of claim 4, wherein: the bottom of the upper cover plate is outwards protruded with a fixed block, and bayonets are arranged on the fixed block at equal intervals in the direction vertical to the length direction of the upper cover plate; the top end of the clamping block is provided with a clamping part clamped in the clamping opening.
6. The method for manufacturing a mold making actuator by using the reconfigurable software actuator as set forth in claim 5, wherein: the specific manufacturing process is as follows:
manufacturing the structure and the size of a target driver as required, selecting corresponding die parts, and correspondingly clamping the baffle and the clamping block in the corresponding clamping groove and the corresponding bayonet;
combining the lower groove box and the upper cover plate, and inserting the fixture block into the pouring cavity between the baffles;
pouring the mixed and prepared silicon rubber into a mold through a pouring opening, and placing the mold into a thermostat for solidification and molding;
taking out the molded bottomless driver and cutting and trimming the bottomless driver; placing a bottomless driver into the groove plate for bottom sealing, opening a hole on the side wall of the driver by using a fine needle, introducing a soft capillary rubber tube, and sealing by using glue;
and (3) fixedly connecting the end parts of a plurality of drivers with guide pipes through a plastic framework in a sticking way to finally form a coupling type soft driver finger model.
7. The method of manufacturing according to claim 6, wherein: when the number of the pneumatic grids in the driver in the step 1) is n, the set number of the clamping blocks is n, the set number of the baffles is n +1, and the value of n is greater than 2.
8. The method of manufacturing according to claim 6, wherein: the distance between the pneumatic grids of the driver in the step 1) is determined by the thickness of the selected baffle plate; the thickness of the pneumatic grid wall and the size of the grid cavity are determined by the thickness and the height of the selected fixture block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111571610.3A CN114211669B (en) | 2021-12-21 | 2021-12-21 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111571610.3A CN114211669B (en) | 2021-12-21 | 2021-12-21 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
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| Publication Number | Publication Date |
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| CN114211669A true CN114211669A (en) | 2022-03-22 |
| CN114211669B CN114211669B (en) | 2024-05-31 |
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