CN115256342A - Small-volume large-rotation-angle flexible hinge for micro robot and preparation method - Google Patents
Small-volume large-rotation-angle flexible hinge for micro robot and preparation method Download PDFInfo
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- CN115256342A CN115256342A CN202210726592.XA CN202210726592A CN115256342A CN 115256342 A CN115256342 A CN 115256342A CN 202210726592 A CN202210726592 A CN 202210726592A CN 115256342 A CN115256342 A CN 115256342A
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- 238000002360 preparation method Methods 0.000 title abstract description 9
- 238000004519 manufacturing process Methods 0.000 claims abstract description 28
- 239000000463 material Substances 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims description 34
- 239000003292 glue Substances 0.000 claims description 8
- 239000007779 soft material Substances 0.000 claims description 8
- 238000007639 printing Methods 0.000 claims description 7
- 239000004677 Nylon Substances 0.000 claims description 4
- 239000011248 coating agent Substances 0.000 claims description 4
- 238000000576 coating method Methods 0.000 claims description 4
- 239000013078 crystal Substances 0.000 claims description 4
- 229920001778 nylon Polymers 0.000 claims description 4
- 239000007769 metal material Substances 0.000 claims description 3
- 239000002184 metal Substances 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 239000000741 silica gel Substances 0.000 description 3
- 229910002027 silica gel Inorganic materials 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 229920001296 polysiloxane Polymers 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- 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
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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
- 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
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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
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
Abstract
The invention relates to a small-volume large-corner flexible hinge for a micro robot and a preparation method thereof, wherein the flexible hinge comprises a rigid body and a flexible body, the rigid body and the flexible body are made of different materials, the distance between the rigid body and the rigid body is small, the flexible body consists of more than two flexible beams, and two ends of each flexible beam are respectively embedded into the rigid body; the invention also provides three preparation methods for manufacturing the small-volume large-corner flexible hinge, which are respectively a 3D printer manufacturing method, an integral die manufacturing method and a combined die manufacturing method. The flexible hinge disclosed by the invention is made of 2 materials with different elastic moduli, the traditional concept of designing the flexible hinge by one material is changed, and compared with the traditional flexible hinge made of metal, the flexible hinge disclosed by the invention has a larger rotation range under the same size.
Description
Technical Field
The invention relates to the technical field of flexible hinges, in particular to a small-size large-corner flexible hinge for a micro robot and a preparation method thereof.
Background
Flexible mechanisms are an important component of flexible systems, which transmit or convert motion, force and energy by elastic deformation of flexible elements. One of the key components of the flexible mechanism is a flexible hinge, which is a kinematic pair structure that uses the deformation of materials to generate relative motion between adjacent rigid rods under the action of external force and moment, and the action of the flexible mechanism is similar to that of a revolute pair in a rigid mechanism. The flexible hinge and the flexible mechanism have the advantages of integral design and processing, no clearance and friction, no abrasion and no need of lubrication. The current research on flexible hinges mainly focuses on improving the motion precision of the hinge and increasing the deformation range of the hinge. The motion precision of the hinge is inversely related to the length of the flexible unit, and the currently adopted method mainly changes the structural size of the flexible unit on the performance index of enlarging the deformation range of the hinge. At present, the existing flexible hinge has the problems of large structural size, small deformation range, large rotation rigidity, large weight and the like, and the problems limit the application of the flexible hinge in the field of micro-robots.
Disclosure of Invention
In order to improve the flexibility of the flexible hinge, expand the rotation range of the flexible hinge and solve the problem of difficult manufacture of the small-volume large-rotation-angle flexible hinge, the invention provides the small-volume large-rotation-angle flexible hinge for the micro robot and a preparation method of the flexible hinge.
The technical scheme adopted by the invention is as follows:
the invention provides a small-volume large-corner flexible hinge for a micro robot, which comprises a rigid body and a flexible body; the flexible body is arranged between the two rigid bodies; the rigidity of the flexible body is less than that of the rigid body; the flexible body is composed of more than two flexible beams; two ends of the flexible beam are respectively embedded into the two rigid bodies; the cross section area of the rigid body is far larger than that of a single flexible beam and is larger than the sum of the cross sections of all the flexible beams.
Furthermore, the flexible beams between the two rigid bodies are arranged in a mutually parallel or mutually crossed mode.
Furthermore, when the flexible beams are arranged in a parallel mode, the flexible beams are parallel to each other and are in the same plane.
Furthermore, when the flexible beams are arranged in an intercrossing mode, the flexible beams are arranged in a crossed mode in a space formed by the two rigid bodies, and the crossed points are located on the same straight line, so that the flexible hinge takes the straight line as a rotation center.
Further, the cross-sectional shape of the flexible beam is circular or rectangular.
Further, the rigid body is a high-elasticity modulus non-metallic material; the flexible body is a high-toughness material.
Further, the rigid body is made of PLA or solidified crystal glue; the flexible body is made of nylon.
A preparation method of a small-volume large-corner flexible hinge for a micro robot comprises the following steps:
step 1: guiding the designed flexible hinge model into a 3D printer, and starting the 3D printer;
and 2, step: printing the flexible hinge to the designed progress, and pausing the 3D printer;
and step 3: paving a flexible body, and coating glue to bond the flexible body on the printed part;
and 4, step 4: continuously printing the part;
and 5: and (5) repeating the steps (2), (3) and (4) according to the designed flexible hinge until the designed part is processed.
A preparation method of a small-volume large-corner flexible hinge for a micro robot comprises the following steps:
step 1: making a mold that does not include a flexible body;
step 2: manufacturing a soft material mould by using the mould manufactured in the step 1;
and 3, step 3: embedding the flexible body into a soft material mold according to the designed flexible hinge;
and 4, step 4: injecting the solution which is mixed and stirred uniformly according to a certain proportion into a soft material mould;
and 5: and (5) removing the soft material die to obtain the flexible hinge.
A preparation method of a small-volume large-corner flexible hinge for a micro robot comprises the following steps:
step 1: manufacturing a die of the designed flexible hinge;
step 2: manufacturing a combined die by using the die manufactured in the step 1;
and 3, step 3: assembling the flexible body into a combined mold;
and 4, step 4: injecting the solution which is mixed and stirred uniformly according to a certain proportion into a combined die;
and 5: and disassembling the combined die to obtain the flexible hinge.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a small-volume large-rotation-angle flexible hinge which is composed of 2 materials with different elastic modulus, changes the traditional concept of designing the flexible hinge by one material, and has larger rotation range, lighter weight and smaller rotation rigidity under the same size compared with the traditional flexible hinge made of metal.
2. The invention provides three methods for preparing a small-volume large-corner flexible hinge, which respectively have the following advantages: the 3D printing manufacturing method has the advantages of high manufacturing efficiency and capability of quickly customizing and manufacturing; the integral die manufacturing method has the advantages of large batch and excellent finished product quality; the manufacturing method of the combined die has the advantages of large batch and reusable die.
Drawings
FIG. 1 is a schematic view of a flexure hinge with parallel arrangements of circular flexure beams.
Fig. 2 is a schematic view of a flexure hinge with parallel arrangement of rectangular flexure beams.
Fig. 3 is a schematic view of a flexure hinge with two circular flexure beams arranged in a cross.
Fig. 4 is a schematic view of a flexure hinge with two rectangular flexure beams arranged in a cross.
Fig. 5 is a schematic view of the flexible hinge with four round flexible beams arranged in a crossing manner.
Fig. 6 is a schematic view of a flexible hinge with four rectangular flexible beams arranged in a spatially crossing manner.
Fig. 7 is a schematic diagram of a main process of manufacturing the circular flexible beam parallel arrangement flexible hinge by a 3D printer method.
FIG. 8 is a schematic diagram of the main process of making the flexible hinges with parallel arrangement of rectangular flexible beams by 3D printer method.
Fig. 9 is a schematic diagram of a main process of manufacturing a flexible hinge with two crossed circular flexible beams by a 3D printer method.
Fig. 10 is a schematic diagram of a main process of manufacturing a flexible hinge with two crossed rectangular flexible beams by a 3D printer method.
FIG. 11 is a schematic view of the main process of making a parallel flexible hinge with round flexible beams by the integral mold method.
FIG. 12 is a schematic view of the main process of making the parallel flexible hinges with rectangular flexible beams by the integral molding method.
Fig. 13 is a schematic view of the main process of manufacturing the flexible hinge with two crossed circular flexible beams by the integral die method.
Fig. 14 is a schematic diagram of a main process for manufacturing a flexible hinge with two crossed rectangular flexible beams by using an integral die method.
FIG. 15 is a schematic diagram of the main process of fabricating the flexible hinge with parallel arrangement of circular flexible beams by the combined die method.
FIG. 16 is a schematic diagram of the main process of fabricating the parallel flexible hinges of rectangular flexible beams by the combined die method.
Fig. 17 is a schematic diagram of the main process of manufacturing the flexible hinge with two crossed circular flexible beams by the combined die method.
Fig. 18 is a schematic diagram of the main process of manufacturing the flexible hinge with two crossed rectangular flexible beams by the combined mold method.
Wherein, the reference numbers: 1-a first rigid body; 2-a second rigid body; 3-flexible beam.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
It should be noted that in the description of the present invention, the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience of description and simplification of description, and do not mean that a device or an element must have a specific orientation, be configured and operated in a specific orientation.
The invention provides a small-volume large-corner flexible hinge for a micro robot, which comprises a first rigid body 1, a second rigid body 2 and a flexible body; the flexible body is arranged between a first rigid body 1 and a second rigid body 2; the elastic modulus of the flexible body is smaller than that of the rigid body, namely the rigidity of the rigid body is larger than that of the flexible body; the first rigid body 1 and the second rigid body 2 are high-elasticity-modulus non-metallic materials such as PLA or solidified crystal glue, and the flexible body is a high-toughness material such as nylon; the flexible body is composed of at least two flexible beams 3, and the cross section of each flexible beam 3 is circular or rectangular; two ends of the flexible beam are respectively embedded into the first rigid body 1 and the second rigid body 2; the cross-sectional area of the rigid body is much larger than the cross-sectional area of a single flexible beam 3 and larger than the sum of the cross-sectional areas of all the flexible beams 3.
The flexible beams between the two rigid bodies are arranged in a mutually parallel or mutually crossed mode; when the flexible beams 3 are arranged in a parallel mode, the flexible beams 3 are parallel to each other and are positioned on the same plane; when the flexible beams 3 are arranged in an intercrossing mode, the flexible beams 3 are arranged in a crossed mode in a space formed by the first rigid body 1 and the second rigid body 2, and the crossed points are located on the same straight line, so that the flexible hinge takes the straight line as a rotation center.
The present invention is further described with reference to the accompanying drawings, and referring to fig. 1 and 2, a specific embodiment of a hinge in which flexible beams 3 are arranged in parallel is shown, two ends of the flexible hinge are a first rigid body 1 and a second rigid body 2, the middle of the flexible hinge is connected by two flexible beams 3, in the same flexible hinge, the flexible beams 3 are parallel to each other and in the same plane, the cross-sectional shape of the flexible beams 3 is circular or rectangular, the flexible beams 3 penetrate through the first rigid body 1 and the second rigid body 2, when the first rigid body 1 and the second rigid body 2 are subjected to an external force, the flexible beams 3 deform to cause the first rigid body 1 and the second rigid body 2 to move relative to each other, and the range and precision of the flexible hinge movement can be adjusted by adjusting the length of the flexible beams 3.
Referring to fig. 3 to 6, a specific embodiment of the hinge with the flexible beams 3 arranged in a crossed manner is shown, wherein the flexible hinge shown in fig. 3 and 4 comprises two flexible beams 3, and the two flexible beams 3 are in a crossed position relationship with each other and only have one rotating shaft; the flexible hinge shown in fig. 5 and 6 includes four flexible beams 3, and the four flexible beams 3 form a spatial crossing position relationship, and have two mutually perpendicular rotation axes, so that the range and precision of the flexible hinge motion can be adjusted by adjusting the length and crossing angle of the flexible beams 3.
In addition, the invention also provides three modes for preparing the flexible hinge, which are respectively as follows:
a method for preparing a small-volume large-corner flexible hinge for a micro-robot is to use a 3D printer to prepare, referring to FIGS. 7 to 10, taking two flexible beams 3 as an example, and specifically, the method comprises the following steps:
step 1: guiding the designed flexible hinge model into a 3D printer, starting the 3D printer, and printing the PLA material;
step 2: printing the flexible hinge to the designed schedule, as shown in fig. 7 (1), fig. 8 (1), fig. 9 (1), and fig. 10 (1), and then pausing the 3D printer;
and step 3: paving a nylon flexible beam, and coating glue to bond the flexible beam on the printed part; as shown in fig. 7 (2), fig. 8 (2), fig. 9 (2) and fig. 10 (2);
and 4, step 4: continuing to print the part to the next progress, as shown in fig. 7 (3), fig. 8 (3), fig. 9 (3) and fig. 10 (3);
and 5: laying another flexible beam, and coating glue to bond the flexible beam on the printed part; as shown in fig. 7 (4), 8 (4), 9 (4) and 10 (4);
step 6: printing is continued until the flexible hinge is completed, as shown in fig. 7 (5), fig. 8 (5), fig. 9 (5) and fig. 10 (5).
A method for preparing a small-volume large-corner flexible hinge for a micro-robot is to use a mold to prepare, referring to FIGS. 11 to 14, taking two flexible beams 3 as an example, and the specific steps of the flexible hinge are as follows:
step 1: making a hinge mold made of PLA without including a flexible body, as shown in fig. 11 (1), 12 (1), 13 (1) and 14 (1);
and 2, step: introducing a silica gel solution obtained by mixing two components into the mold in step 1 to prepare a silica gel mold, as shown in fig. 11 (2), fig. 12 (2), fig. 13 (2) and fig. 14 (2);
and step 3: embedding two flexible beams into a silicone mold according to the designed flexible hinge, as shown in fig. 11 (3), fig. 12 (3), fig. 13 (3) and fig. 14 (3);
and 4, step 4: injecting the crystal glue which is mixed and stirred uniformly according to a certain proportion into a silica gel mould, and waiting for solidification;
and 5: the flexible hinge can be obtained by removing the silicone mold, as shown in fig. 11 (4), fig. 12 (4), fig. 13 (4) and fig. 14 (4).
A method for preparing a small-volume large-corner flexible hinge for a micro-robot is to use a combined die to prepare, referring to fig. 15 to 18, taking two flexible beams 3 as an example, and the specific steps of preparing the flexible hinge are as follows:
step 1: a mold for manufacturing the designed flexible hinge is shown in fig. 15 (1), fig. 16 (1), fig. 17 (1) and fig. 18 (1);
step 2: using the mold manufactured in step 1 to manufacture a combined mold, as shown in fig. 15 (2), fig. 16 (2), fig. 17 (2) and fig. 18 (2);
and step 3: assembling two flexible beams into a split mold as shown in fig. 15 (3), fig. 16 (3), fig. 17 (3) and fig. 18 (3);
and 4, step 4: injecting the solution mixed and stirred uniformly according to a certain proportion into the combined mould assembled in the step 3, as shown in fig. 15 (4), fig. 16 (4), fig. 17 (4) and fig. 18 (4);
and 5: the flexible hinge can be obtained by disassembling the combined mold, as shown in fig. 15 (5), fig. 16 (5), fig. 17 (5) and fig. 18 (5).
The invention is not the best known technology.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (10)
1. A flexible hinge of big corner of little volume for micro-robot which characterized in that: the hinge comprises a rigid body and a flexible body; the flexible body is arranged between the two rigid bodies; the rigidity of the flexible body is less than that of the rigid body; the flexible body is composed of more than two flexible beams; two ends of the flexible beam are respectively embedded into the two rigid bodies; the cross section area of the rigid body is far larger than that of a single flexible beam and is larger than the sum of the cross sections of all the flexible beams.
2. A small-sized large-turning angle flexible hinge for a micro-robot according to claim 1, wherein: the flexible beams between the two rigid bodies are arranged in a mutually parallel or mutually crossed mode.
3. A small-sized large-turning angle flexible hinge for a micro-robot according to claim 2, wherein: when the flexible beams are arranged in a parallel mode, the flexible beams are parallel to each other and are positioned on the same plane.
4. A small-sized large-turning angle flexible hinge for a micro-robot according to claim 2, wherein: when the flexible beams are arranged in an intercrossing mode, the flexible beams are arranged in a crossed mode in a space formed by the two rigid bodies, and the crossed points are located on the same straight line, so that the flexible hinge takes the straight line as a rotation center.
5. A small-volume large-corner flexible hinge for a micro-robot according to claim 1, wherein: the cross section of the flexible beam is circular or rectangular.
6. A small-sized large-turning angle flexible hinge for a micro-robot according to claim 1, wherein: the rigid body is a high-elasticity modulus non-metallic material; the flexible body is a high-toughness material.
7. A small-volume large-rotation-angle flexible hinge for a micro-robot according to claim 6, wherein: the rigid body is made of PLA or solidified crystal glue; the flexible body is made of nylon.
8. A method for manufacturing a small-volume large-corner flexible hinge for a micro-robot as claimed in claim 2, wherein the method comprises the steps of:
step 1: guiding the designed flexible hinge model into a 3D printer, and starting the 3D printer;
and 2, step: printing the flexible hinge to the designed progress, and pausing the 3D printer;
and 3, step 3: paving a flexible body, and coating glue to bond the flexible body on the printed part;
and 4, step 4: continuously printing the part;
and 5: and (5) repeating the steps 2, 3 and 4 according to the designed flexible hinge until the designed part is machined.
9. A method for manufacturing a small-sized and large-angle flexible hinge for a micro-robot according to claim 2, comprising the steps of:
step 1: making a mold that does not include a flexible body;
and 2, step: manufacturing a soft material mould by using the mould manufactured in the step 1;
and step 3: embedding the flexible body into a soft material mold according to the designed flexible hinge;
and 4, step 4: injecting the solution which is mixed and stirred uniformly according to a certain proportion into a soft material mould;
and 5: and removing the soft material die to obtain the flexible hinge.
10. A method for manufacturing a small-sized and large-angle flexible hinge for a micro-robot according to claim 2, comprising the steps of:
step 1: manufacturing a die of the designed flexible hinge;
step 2: manufacturing a combined die by using the die manufactured in the step 1;
and step 3: assembling the flexible body into a combined mold;
and 4, step 4: injecting the solution which is mixed and stirred uniformly according to a certain proportion into a combined die;
and 5: and the flexible hinge can be obtained by disassembling the combined die.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210726592.XA CN115256342A (en) | 2022-06-23 | 2022-06-23 | Small-volume large-rotation-angle flexible hinge for micro robot and preparation method |
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| CN202210726592.XA CN115256342A (en) | 2022-06-23 | 2022-06-23 | Small-volume large-rotation-angle flexible hinge for micro robot and preparation method |
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