CN108621147A - A kind of rigid soft coupling air impeller based on novel stiffness changing structure - Google Patents
A kind of rigid soft coupling air impeller based on novel stiffness changing structure Download PDFInfo
- Publication number
- CN108621147A CN108621147A CN201810365694.7A CN201810365694A CN108621147A CN 108621147 A CN108621147 A CN 108621147A CN 201810365694 A CN201810365694 A CN 201810365694A CN 108621147 A CN108621147 A CN 108621147A
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- wax
- air impeller
- skin
- container
- pattern
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Classifications
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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
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
- Moulding By Coating Moulds (AREA)
Abstract
The present invention proposes a kind of novel stiffness changing structure, and provides a kind of production method of just soft coupling air impeller based on this novel stiffness changing structure, which is made of several parts：Wax-pattern is made, air impeller, the unstrained layer of patch is made and winds filament, makes novel stiffness changing structure and make skin layer；Produce it is rigid it is soft coupling air impeller basic function be：The first does not draw cordage, just soft coupling air impeller is soft state, to rigid soft coupling air impeller air-chamber pressing after power output it is smaller, draw cordage second, just soft coupling air impeller is hard state, to rigid soft coupling air impeller air-chamber pressing after power output it is larger.
Description
Technical field
The invention belongs to Dextrous Hand technical fields, design an a kind of finger (i.e. just soft coupling of just soft coupling Dextrous Hand
Air impeller) and production method
Background technology
Dextrous Hand is a kind of mechanical device of contributor's crawl article, and early stage research and development are Rigid Manipulators, in the factory
The weight for helping workers carry's large size, had developed software Dextrous Hand according to medical demand later, can help handicapped
People captures article, is now based on software Dextrous Hand and invents a kind of Dextrous Hand that can change stiffness by itself to capture different weight model
The article enclosed.Rigid soft coupling air impeller is different with inner gas pressure by the pulling force difference of fiber line and changes power output.Just
There are several difficult points for the design and making of soft coupling air impeller：
(1) common material and structure are all rigidity of fixation, and a kind of novel variation rigidity is designed by the material of rigidity of fixation
Structure is more difficult；
(2) the method success rate of common domestic and international making air impeller is low, and the success rate for how increasing making is highly difficult；
In conclusion there is presently no it is a kind of can be with the air impeller of stiffness variable and the higher making side of success rate
Method.Therefore, the present invention designs a kind of novel stiffness changing structure, and provides a kind of production method of just soft coupling air impeller.
Invention content
It is an object of the invention to designing a kind of novel stiffness changing structure, and provide a kind of just soft coupling air impeller
Production method, to solve the problems, such as to mention in above-mentioned background technology.
To achieve the above object, the present invention provides the following technical solutions：
It is a kind of just it is soft coupling air impeller production method, the rigid soft coupling air impeller include air impeller,
Unstrained layer, filament, novel stiffness changing structure and skin layer, it is described just it is soft coupling air impeller production method include with
Lower step：
(1) wax-pattern is made：Industrial casting wax is heated and is melted, a rectangular carbon fiber rod is inserted in wax-pattern container center, will be melted
The wax of change pours into wax-pattern container, is taken out after wax completely cooling and solidifying, forms wax-pattern；
(2) air impeller is made：Silicon rubber is matched by a certain percentage pour into inner core make container stir evenly, in wax-pattern
A connector is fixed with thermosol gelgun on carbon fiber rod, then is fixed on inner core making after the part is positioned by carbon fiber rod
On mold, mounted inner core is made into mold and slowly injects the inner core making container with silicon rubber, silicon rubber is according to design
The air admission hole for making die main body from inner core is entered, the venthole outflow of mold cap is made from inner core, is placed at normal temperatures
It 12 hours, waits for that silicon rubber solidifies completely, inner core making container is dismantled, removal inner core makes the silicon rubber outside container, then will be interior
Core making mold, which is dismantled, to be built to get there is the air impeller of wax-pattern to inside；
(3) it pastes unstrained layer and winds filament：The air impeller plane side with wax-pattern made is sticked unstrained
Layer is used in combination filament that unstrained layer and air impeller with wax-pattern are intertwined；
(4) novel stiffness changing structure is made：Together with fiber line string by high temperature resistant nylon particle, it resists with cylinder boss
One particle tenses fiber line, novel by what is made using method of dipping by the attached thin wax of last layer outside high temperature resistant nylon particle
Stiffness changing structure and the filametntary air impeller drop wax of winding connect together；
(5) skin layer is made：Silicon rubber is matched by a certain percentage pour into skin make container stir evenly, described is connected in
Novel stiffness changing structure and the filametntary air impeller of winding together is fixed on skin by described pair of rectangular carbon fiber rod
On the cap for making mold, lower end is located in skin by the air impeller and makes in the main body of mold, will be mounted
Skin makes mold and is slowly inserted into the skin making container equipped with silicon rubber, and silicon rubber will make mold master according to design from skin
The air admission hole of body enters, and the venthole outflow of mold cap is made from skin, places 12 hours at normal temperatures, waits for that silicon rubber is complete
Skin making container is dismantled in solidification, and removal skin makes the silicon rubber outside container, then skin making mold is dismantled and is built,
By de-waxing in the high temperature resistant nylon particle hole from connector and with cylinder boss in the part high temperature split out, a novel change is completed
The making of the rigid soft coupling air impeller of stiffness structure.
As a further solution of the present invention：The industrial casting wax heating fusing, it is characterised in that：120 DEG C of temperature,
10 minutes time or more.
As a further solution of the present invention：The rectangular carbon fiber rod, it is characterised in that：Length is 200mm, section
For the square of 2mm*2mm.
As a further solution of the present invention：The wax-pattern container, it is characterised in that：Consist of two parts, main part
The cavity length 80mm divided, intracavity section are the semicircle of radius 3.5mm, and wax-pattern lid and main body have in the rectangular of same level
Hole, size 2mm*2mm.
As a further solution of the present invention：The inner core makes container, it is characterised in that：Consist of two parts, mesh
In order to make terminate conveniently retract, cavity length 170mm, intracavity section be 21mm*31mm rectangle, everywhere wall thickness be
3mm。
As a further solution of the present invention：The connector, it is characterised in that：Material is high temperature resistant nylon.
As a further solution of the present invention：The inner core makes mold, it is characterised in that：It is made of three parts, point
Not Wei die main body, lid and cap, main body and lid form a length be 100mm and be 8.35mm with radius semicircle
With the cavity of 16.7mm*2mm rectangles, there are one air admission hole, the other end is opening for main body one end, to lid there are installation site,
There are venthole and rectangular carbon-point location hole on lid.
As a further solution of the present invention：It is described to dip method, it is characterised in that：In higher container heat wax until
It is completely melt, high temperature resistant nylon particle is completely immersed in wax and is taken out rapidly, can adhere to a thickness on the outside of high temperature resistant nylon particle
Very thin wax-pattern of the degree less than 0.5mm.
As a further solution of the present invention：The skin makes container, it is characterised in that：Consist of two parts, purpose
Terminate conveniently to retract to make, cavity length 170mm, intracavity section is the rectangle of 28mm*33mm, and wall thickness is 3mm everywhere.
As a further solution of the present invention：The skin makes mold, it is characterised in that：It is made of three parts, point
Not Wei die main body, lid and cap, main body and lid form a length be 100mm and be 9.35mm with radius semicircle
With the cavity of 18.7mm*12.2mm rectangles, there are one air admission hole, air admission holes may be used as the pneumatic driving on one side for main body one end
The positioning of dynamic device, the other end are opening, to lid there are installation site, have venthole and rectangular carbon-point location hole on lid.
The present invention it is rigid it is soft coupling air impeller production method it is simple, efficiently and be easy study, inner core make mold and
Skin makes two stomatas design of the mold using improvement, and just soft coupling air impeller success rate obtained is high, using effect
It is good.
Description of the drawings
For clearer explanation technical solution according to the present invention, below in embodiment or the description of existing technology
Used attached drawing does simple introduction, it is clear that, the accompanying drawings in the following description is the embodiment of the present invention, for ability
For the those of ordinary skill in domain, without creative efforts, others are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the making schematic diagram of wax-pattern in the embodiment of the present invention；
Fig. 2 is the making schematic diagram that inner core makes mold in the embodiment of the present invention；
Fig. 3 is that silicon rubber makes container in inner core when inner core makes mold insertion inner core making container in the embodiment of the present invention
The slow raised making schematic diagram of middle liquid level；
Fig. 4 is to paste unstrained layer in the embodiment of the present invention and twine filametntary making schematic diagram；
Fig. 5 is the making schematic diagram of novel stiffness changing structure in the embodiment of the present invention；
Fig. 6 is the making schematic diagram that method is dipped in the embodiment of the present invention；
Fig. 7 is the making schematic diagram that skin makes mold in the embodiment of the present invention；
Fig. 8 is that silicon rubber makes container in skin when skin makes mold insertion skin making container in the embodiment of the present invention
The slow raised making schematic diagram of middle liquid level；
Fig. 9 is the just soft making schematic diagram for coupling wax in air impeller of heating discharge in the embodiment of the present invention；
Figure 10 is integral manufacturing flow chart in the embodiment of the present invention.
Specific implementation mode
Embodiment
A kind of production method of just soft coupling air impeller, the rigid soft coupling air impeller includes pneumatic actuation
Device, unstrained layer, filament, novel stiffness changing structure and skin layer, the production method packet of the just soft coupling air impeller
Include following steps：
(1) wax-pattern is made：The heating 10 minutes of 120 DEG C of industrial casting wax is above until melt, by 200mm*2mm*2mm's
Rectangular carbon fiber rod is inserted in wax-pattern container center, and the wax of fusing is poured into wax-pattern container, is taken out after wax completely cooling and solidifying,
Form wax-pattern；
(2) air impeller is made：The silicon rubber of gross mass 60g is pressed into certain AB liquid mass ratio 9：1 ratio pours into inner core system
As container stir evenly after be evacuated 10 minutes, fix a connector with thermosol gelgun on the carbon fiber rod of wax-pattern, then by institute
It states and is fixed on after part is positioned by carbon fiber rod on inner core making mold, mounted inner core is made mold, and slowly reeve carries
The inner core of silicon rubber makes container, and silicon rubber enters the air admission hole that die main body is made from inner core according to design, from inner core system
The venthole outflow for making mold cap, places 12 hours, waits for that silicon rubber solidifies completely at normal temperatures, and inner core making container is torn open
Open, removal inner core make container outside silicon rubber, then by inner core making mold dismantle build to get to inside have the pneumatic of wax-pattern
Driver；
(3) it pastes unstrained layer and winds filament：The air impeller plane side with wax-pattern made is sticked unstrained
Layer is used in combination the filament of 2000mm long that unstrained layer and air impeller with wax-pattern are intertwined；
(4) novel stiffness changing structure is made：Together with fiber line string by high temperature resistant nylon particle, it resists with cylinder boss
One particle tenses fiber line, high temperature resistant nylon particle string is rapidly inserted into the wax of fusing using method of dipping and rapid again
Take out, in this way can outside high temperature resistant nylon particle string the attached thin wax of last layer, the novel stiffness changing structure made and will twine
It connects together around filametntary air impeller drop wax；
(5) skin layer is made：The silicon rubber of gross mass 60g is pressed into certain AB liquid mass ratio 9：1 ratio, which is poured into skin and made, to be held
Device stirs evenly, and by the novel stiffness changing structure to connect together and winds filametntary air impeller by described pair
Rectangular carbon fiber rod is fixed on skin and makes on the cap of mold, and lower end is located in skin by the air impeller and makes mould
In the main body of tool, by mounted skin make mold slowly be inserted into equipped with silicon rubber skin make container, silicon rubber according to
Design enters the air admission hole that die main body is made from skin, the venthole outflow of mold cap is made from skin, at normal temperatures
It places 12 hours, waits for that silicon rubber solidifies completely, skin making container is dismantled, removal skin makes the silicon rubber outside container, then
Skin making mold is dismantled and is built, by the high temperature resistant nylon particle from connector and with cylinder boss in the part high temperature split out
De-waxing in hole completes the making of the rigid soft coupling air impeller of a novel stiffness changing structure.
Claims (9)
1. a kind of just soft coupling air impeller, which is characterized in that just soft coupling air impeller includes for this：Air impeller,
It is connected with air pump by connector, is driven by an air pump, air pressure is changed by pressure regulator valve, and the air pressure change of internal cavities is direct
Influence the bending angle of software air impeller；Unstrained layer and filament, unstrained layer are attached to software air impeller
Plane side, filament are wrapped in by fixed mode on the software air impeller for posting unstrained layer, for limiting software
Being radially expanded when air impeller is inflated；Novel stiffness changing structure is fixed on the plane side of software air impeller, stretches
Fiber line can change the rigidity of particle, to change the rigidity of just soft coupling software air impeller；Skin layer, by software gas
Dynamic driver, unstrained layer, filament and rigid soft coupled structure packet are the appearances of just soft coupling software air impeller in inside
Face.
The software air impeller, it is characterised in that：Inside has cavity, cavity to carry out gas friendship with extraneous by connector
It changes, soft material is silicone rubber material；
The unstrained layer, it is characterised in that：It can be bent but cannot stretch, material can be glass fiber mesh, nylon
Screen of screen window or paper；
The novel stiffness changing structure, it is characterised in that：By the high temperature resistant nylon particle that 18 sizes are 4mm*7mm*12mm
With 1 4mm*7mm*12mm and the high temperature resistant nylon particle with 8mm*d=7mm cylinder boss and one is with going here and there between particles
Fiber line forms.
2. a kind of manufacture craft of just soft coupling software air impeller, which is characterized in that the manufacture craft is divided into five
Step：Wax-pattern is made, air impeller, the unstrained layer of patch is made and winds filament, makes novel stiffness changing structure and making
Skin layer；
Make wax-pattern：Industrial casting wax is heated and is melted, a rectangular carbon fiber rod is inserted in wax-pattern container center, by fusing
Wax pours into wax-pattern container, is taken out after wax completely cooling and solidifying, forms wax-pattern；
Make air impeller：Silicon rubber is matched by a certain percentage pour into inner core make container stir evenly, in the carbon of wax-pattern
A connector is fixed with thermosol gelgun on fiber stick, then is fixed on inner core after the part is positioned by carbon fiber rod and makes mould
On tool, mounted inner core is made into mold and slowly injects the inner core making container with silicon rubber, silicon rubber will according to design
The air admission hole that die main body is made from inner core enters, and the venthole outflow of mold cap is made from inner core, places 12 at normal temperatures
Hour, it waits for that silicon rubber solidifies completely, inner core making container is dismantled, removal inner core makes the silicon rubber outside container, then by inner core
Making mold, which is dismantled, to be built to get there is the air impeller of wax-pattern to inside；
It pastes unstrained layer and winds filament：The air impeller plane side with wax-pattern made is sticked into unstrained layer,
Filament be used in combination that unstrained layer and air impeller with wax-pattern are intertwined；
Make novel stiffness changing structure：Together with fiber line string by high temperature resistant nylon particle described in claim 1, band is resisted
There is a particle of cylinder boss, tenses fiber line, it, will using method of dipping by the attached thin wax of last layer outside high temperature resistant nylon particle
The filametntary air impeller drop wax of novel stiffness changing structure and winding made connects together；
Make skin layer：Silicon rubber is matched by a certain percentage pour into skin make container stir evenly, described is connected in one
The novel stiffness changing structure and the filametntary air impeller of winding risen is fixed on skin system by described pair of rectangular carbon fiber rod
Make on the cap of mold, lower end is located in skin by the air impeller and makes in the main body of mold, by mounted skin
Skin makes mold and is slowly inserted into the skin making container equipped with silicon rubber, and silicon rubber will make die main body according to design from skin
Air admission hole enter, the venthole outflow of mold cap is made from skin, is placed 12 hours at normal temperatures, waits for that silicon rubber is completely solidifying
Gu skin making container is dismantled, removal skin makes the silicon rubber outside container, then skin making mold is dismantled and is built, will
It is rigid to complete a novel change for de-waxing in high temperature resistant nylon particle hole in the part high temperature split out from connector and with cylinder boss
Spend the making of the rigid soft coupling air impeller of structure.
3. wax-pattern container as claimed in claim 2, it is characterised in that：Consist of two parts, the cavity length of main part
80mm, intracavity section are the semicircle of radius 3.5mm, and wax-pattern lid and main body have the square hole in same level, size to be
2mm*2mm。
4. inner core as claimed in claim 2 makes container, it is characterised in that：Consist of two parts, purpose terminates to make
It conveniently retracts, cavity length 170mm, intracavity section is the rectangle of 21mm*31mm, and wall thickness is 3mm everywhere.
5. connector as claimed in claim 2, it is characterised in that：Material is high temperature resistant nylon.
6. inner core as claimed in claim 2 makes mold, it is characterised in that：It is made of, respectively die main body, covers three parts
Son and cap, main body and lid form a length and are 100mm and carry semicircle and 16.7mm*2mm squares that radius is 8.35mm
The cavity of shape, there are one air admission hole, the other end is opening for main body one end, to lid there are installation site, has venthole on lid
With rectangular carbon-point location hole.
7. dipping method as claimed in claim 2, it is characterised in that：Heating wax, will be resistance to up to being completely melt in higher container
High-temperature nylon particle, which is completely immersed in wax, to be taken out rapidly, and a layer thickness can be adhered on the outside of high temperature resistant nylon particle and is less than 0.5mm
Very thin wax-pattern.
8. skin as claimed in claim 2 makes container, it is characterised in that：Consist of two parts, purpose is in order to make end side
Just it retracts, cavity length 170mm, intracavity section is the rectangle of 28mm*33mm, and wall thickness is 3mm everywhere.
9. skin as claimed in claim 2 makes mold, it is characterised in that：It is made of, respectively die main body, covers three parts
Son and cap, main body and lid form a length and are 100mm and carry semicircle and 18.7mm*12.2mm that radius is 9.35mm
The cavity of rectangle, there are one air admission hole, the positioning that may be used as the air impeller on one side of air admission hole is another for main body one end
End is opening, to lid there are installation site, has venthole and rectangular carbon-point location hole on lid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810365694.7A CN108621147B (en) | 2018-04-23 | 2018-04-23 | Rigid-flexible coupling pneumatic driver based on novel variable stiffness structure and manufacturing process thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810365694.7A CN108621147B (en) | 2018-04-23 | 2018-04-23 | Rigid-flexible coupling pneumatic driver based on novel variable stiffness structure and manufacturing process thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108621147A true CN108621147A (en) | 2018-10-09 |
| CN108621147B CN108621147B (en) | 2021-02-19 |
Family
ID=63694157
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810365694.7A Expired - Fee Related CN108621147B (en) | 2018-04-23 | 2018-04-23 | Rigid-flexible coupling pneumatic driver based on novel variable stiffness structure and manufacturing process thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108621147B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113071124A (en) * | 2021-04-07 | 2021-07-06 | 北京航空航天大学 | Soft driver based on Jicun origami and preparation method and application thereof |
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| CN105027831A (en) * | 2015-07-09 | 2015-11-11 | 华中农业大学 | Under actuated fruit picking mechanical gripper with rigid and flexible mixed structure |
| JP2016516592A (en) * | 2013-03-04 | 2016-06-09 | プレジデント アンド フェローズ オブ ハーバード カレッジ | Magnetic assembly of a soft robot with hard parts |
| CN205685332U (en) * | 2016-06-03 | 2016-11-16 | 中国计量大学 | A kind of have from perception and the Pneumatic artificial muscle of driving function |
| CN106859770A (en) * | 2017-02-27 | 2017-06-20 | 西安交通大学 | A kind of pneumatic operation technique arm of multiple degrees of freedom variable rigidity and preparation method |
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
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2018
- 2018-04-23 CN CN201810365694.7A patent/CN108621147B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101879941A (en) * | 2010-07-27 | 2010-11-10 | 哈尔滨工业大学 | Variable-rate wing covering |
| JP2016516592A (en) * | 2013-03-04 | 2016-06-09 | プレジデント アンド フェローズ オブ ハーバード カレッジ | Magnetic assembly of a soft robot with hard parts |
| CN105027831A (en) * | 2015-07-09 | 2015-11-11 | 华中农业大学 | Under actuated fruit picking mechanical gripper with rigid and flexible mixed structure |
| CN205685332U (en) * | 2016-06-03 | 2016-11-16 | 中国计量大学 | A kind of have from perception and the Pneumatic artificial muscle of driving function |
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| CN108621147B (en) | 2021-02-19 |
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Granted publication date: 20210219 |