CN207889000U - A kind of soft soft mixing bionic mechanical hand mold of air pressure driving - Google Patents
A kind of soft soft mixing bionic mechanical hand mold of air pressure driving Download PDFInfo
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- CN207889000U CN207889000U CN201721805476.8U CN201721805476U CN207889000U CN 207889000 U CN207889000 U CN 207889000U CN 201721805476 U CN201721805476 U CN 201721805476U CN 207889000 U CN207889000 U CN 207889000U
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- air cavity
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- bottom plate
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- mechanical hand
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Abstract
The utility model discloses a kind of air pressures to drive soft soft mixing bionic mechanical hand mold, mold includes die main body, end cap, breather plug, first air cavity forming bottom plate, first air cavity curved lever, second air cavity forming bottom plate, second air cavity vent rod, bonding piece mold afterwards, bonding piece clamping cap afterwards, non-extensible layer bonds mold and non-extensible layer bonds clamping cap, the technical program carries out the preparation of mechanical finger using 20 silica gel solutions of Exoflex cooperation particular manufacturing craft, and preparation method is explored and has been improved, the best winding spacing of Kev bracing wire efficiency is obtained, overcome the problem of being not easy to be molded of the second air cavity with compound semicolumn cavity configuration.
Description
Technical field
The utility model belongs to soft robot field, and especially a kind of air pressure drives soft soft mixing bionic mechanical fingerprint
Tool.
Background technology
As the requirement of the precision and generally applicable degree that are captured to robot increasingly increases, the robot object to be operated
Also chaotic or unstructured field is turned to from rule, structuring, rigid operation object.Traditional robot manipulator clamping jaw is used
Rigidity, the usual inertia of low degree-of-freedom end effector mechanism is larger and cost is higher, the type of action that can be executed is limited, safety be
Number is low, environmental suitability is poor, reliability is low, transmission efficiency is low, noise is big, in the unstructured and crowded environment of height often
It can meet difficulty, cannot meet certain spaces, structure constraint, environment is complicated, changeable, and operation object structure diversification is wanted
It asks.
There is flexible surface and hyper-redundant by the bionic soft robot that software basic material is constituted, can utilize bionical
Hydrostatic skeletal structure or muscularity hydrostatic skeletal structure realize that shape in wide range, accurate size change, for operation object,
It improves a lot in terms of working environment, body degree of freedom and machine energy consumption and cost.Especially in scouting, detection, rescue and doctor
The fields such as treatment all have broad application prospects.The hair of deficiency and novel flexible bio-robot for conventional rigid robot
Exhibition demand, researcher propose existing flexible robot is further developed to and is extended to conventional robot institute irrealizable accurate
Flexible crawl field.Make manipulator that there is infinite degrees of freedom and distributed continuous modification ability, the side of submissive deformation can be passed through
Formula is compatible with barrier, and contact force can be greatly reduced in this way, to carry soft and frangible article.
Utility model content
The shortcomings that the utility model is overcome in the prior art provides a kind of soft soft mixing bionic mechanical hand of air pressure driving
Mold and preparation method.
In order to solve the above-mentioned technical problem, the utility model is achieved through the following technical solutions：
A kind of soft soft mixing bionic mechanical hand mold of air pressure driving, including die main body, end cap, breather plug, the first air cavity
Forming bottom plate, the first air cavity curved lever, the second air cavity forming bottom plate, the second air cavity vent rod, rear bonding piece mold, rear bonding piece
Clamping cap, non-extensible layer bonds mold and non-extensible layer bonds clamping cap, and die main body is closed one end for one end and opened
The trough body structure put, inside are arc groove, and groove body closes one end and is provided with ventilation rod aperture, and groove body opens one end and the first phase of end cap
The first air cavity forming bottom plate and the second air cavity forming bottom plate, the second air cavity forming bottom plate is arranged in the top of groove body in connection
On be placed equidistant with semicylinder, on semicylinder setting pass through stomata, setting ventilation a plug slot in the middle part of arc groove, breather plug is set to logical
On vent plug slot, the intracavity space that arc groove is surrounded with the first air cavity forming bottom plate, the second air cavity forming bottom plate is divided by breather plug
First cavity and the second cavity, the first air cavity curved lever are stretched into across end cap in the first cavity, and the second air cavity vent rod is worn
Cross that ventilation rod aperture stretches into the second cavity and (vent rod passes through and respectively passes through gas through each semicylinder of the second air cavity forming bottom plate
Hole).
In the above-mentioned technical solutions, the breather plug is made of scallop, fan alar part and snorkel, and fan alar part is set to fan
Venthole is arranged in the both sides in shape portion at the top of scallop, and snorkel is arranged in scallop bottom, and venthole is connected with snorkel.
In the above-mentioned technical solutions, the rear bonding piece mold on the semicylinder air cavity top of the second air cavity for forming
Adhesive layer.
In the above-mentioned technical solutions, the rear bonding piece clamping cap is set on rear bonding piece mold, for after gland
Bonding piece mold is sealed.
In the above-mentioned technical solutions, the non-extensible layer bonding mold can not for being formed in the bottom of bionic mechanical hand
Extended layer.
In the above-mentioned technical solutions, the non-extensible layer bonding clamping cap is set to non-extensible layer bonding mold
On, it is sealed for gland non-extensible layer bonding mold.
In the above-mentioned technical solutions, the quantity of the semicylinder on the second air cavity forming bottom plate is 6-8, and width is
1.8-2mm, spacing 1.8-2mm.
In the above-mentioned technical solutions, the section radius of first air cavity is 5-6mm, and the length of the first air cavity is 35-
40mm。
A kind of air pressure drives the preparation method of soft soft mixing bionic mechanical hand, close according to body making, the second air cavity successively
Envelope, non-extensible layer bonding and Kev bracing wire are wrapped up four steps and are carried out：
Step 1: body making
Die main body is connected to form mold slots with end cap, breather plug is put into the arc groove of die main body, by first
Air cavity curved lever extends through end cap and stretches into arc groove, and the second air cavity formed sole is covered above mold slots (the second cavity)
Plate enters the second air cavity vent rod from the ventilation rod aperture interpolation of die main body, and the second air cavity vent rod is made to be molded across the second air cavity
Each semicylinder of bottom plate；Prepared silica gel solution is poured into mold slots, mold slots rear cover is fully filled in silica gel solution
Upper first air cavity forming bottom plate (as shown in Figure 6)；Mold is integrally put into baking oven and is cured.
Step 2: the second air cavity seals
After mold cured cooling, the second air cavity vent rod is extracted, the second air cavity forming bottom plate is opened, the second air cavity is led to
Gas bar is turned back to original position, and bonding piece mold after being placed above the second air cavity pours into proper silica gel solution, in rear bonding piece mold
Bonding piece clamping cap (as shown in Figure 7) after on upper lid is completed to seal the second air cavity after silica gel solidification.
Step 3: non-extensible layer bonds
Rear bonding piece clamping cap and the first air cavity forming bottom plate are removed, glass fibre is fitted in into manipulator surface,
Non-extensible layer bonding mold and non-extensible layer bonding clamping cap (as shown in Figure 8) are covered, is put into baking oven and is cured.
Step 4: Kev bracing wire is wrapped up
Mold is opened, block mold is taken out, extracts imperforate first air cavity curved lever, and be inserted into the first gas with stomata
Chamber breather plug is to top, in the outer surface uniform winding Kev bracing wire of the first air cavity.
In the above-mentioned technical solutions, the silica gel solution is using Smooth-On (thinking mould) Exoflex silica gel products, model
For Exoflex-20.
In the above-mentioned technical solutions, in step 1, the cured temperature is 60-70 DEG C, and the cured time is 30-
49min。
In the above-mentioned technical solutions, in step 3, the thickness of the non-extensible layer is 0.5-2mm.
In the above-mentioned technical solutions, the winding spacing 2.6-2.8mm of the Kev bracing wire
Compared with prior art, the utility model has the beneficial effects that：
1, a kind of air pressure described in the technical program drives soft soft mixing bionic mechanical hand mold and preparation method to be used to prepare
It is ginseng with the highest index finger structural parameters of function accounting that air pressure, which drives soft soft mixing bio-simulation mechanical finger, the bio-simulation mechanical finger,
It examines, three joint finger of human hand is replaced using doublejointed pneumatic actuator, to realize that reach structure while effective crawl most simple
Change.The first air cavity of bio-simulation mechanical finger (the first joint of simulation finger) is designed as single semicolumn chamber, it is intended to curved by low-angle
Qu Shixian is to being crawled a wide range of positioning of object；Second air cavity (second and third joint of simulation finger) is designed as compound semicolumn
Chamber realizes the crawl to object by wide-angle bending；The design may be implemented each position effect and maximize.
2, the technical program carries out the preparation of mechanical finger using Exoflex-20 silica gel solutions cooperation particular manufacturing craft, and right
Preparation method is explored and has been improved, and has been obtained the best winding spacing of Kev bracing wire efficiency, has been overcome with compound semicircle
The problem of being not easy to be molded of the second air cavity of column cavity configuration.
Description of the drawings
Fig. 1 is the utility model mold overall structure diagram.
Fig. 2 is die main body structural schematic diagram.
Fig. 3 is end cover structure schematic diagram.
Fig. 4 is the second air cavity forming bottom plate structural schematic diagram.
Fig. 5 is ventilation plug structure schematic diagram, and a is top view, and b is bottom view.
Fig. 6 is preparation process mold plane structural representation Fig. 1.
Fig. 7 is preparation process mold plane structural representation Fig. 2.
Fig. 8 is preparation process mold plane structural representation Fig. 3.
Wherein, 1 is the second air cavity forming bottom plate, and 1-1 is semicylinder, and 1-2 is to pass through stomata, and 2 be the second air cavity vent rod,
3 be die main body, and 3-1 is ventilation a plug slot, and 3-2 is arc groove, and 3-3 is edge, and 3-4 is ventilation rod aperture, and 4 be breather plug, and 4-1 is
Scallop, 4-2 are venthole, and 4-3 is fan alar part, and 4-4 is snorkel, and 5 be end cap, and 6 be the first air cavity curved lever, and 7 be first
Air cavity forming bottom plate, 8 be rear bonding piece mold, and 9 be rear bonding piece clamping cap, and 10 bond clamping cap for non-extensible layer,
11 bond mold for non-extensible layer.
Specific implementation mode
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
Exoflex-20 silica gel products used in following embodiment are purchased from Smooth-On (the thinking mould) country of company agency
The virgin magnificent skill landscape development in science and technology Co., Ltd in quotient Beijing day, technical parameter see the table below.
Table 1.Ecoflex-20 associated technical parameters
As shown in the figure, a kind of air pressure drives soft soft mixing bionic mechanical hand mold, including die main body 3, end cap 5, leads to
Vent plug 4, the first air cavity forming bottom plate 7, the first air cavity curved lever 6, the second air cavity forming bottom plate 1, the second air cavity vent rod 2, after
Bonding piece mold 8, rear bonding piece clamping cap 9, non-extensible layer bonds mold 11 and non-extensible layer bonds clamping cap 10,
Die main body is the trough body structure that one end open is closed in one end, and inside is arc groove 3-2, and groove body closes one end and is provided with vent rod
Hole 3-4, groove body open one end and are connected with end cap first, and the first air cavity forming bottom plate and the second air cavity is arranged in the top of groove body
Forming bottom plate is placed equidistant with semicylinder 1-1 on the second air cavity forming bottom plate, on semicylinder setting pass through stomata 1-2, arc
Setting ventilation a plug slot 3-1 in the middle part of shape slot, breather plug are set in ventilation a plug slot, and breather plug is by arc groove and the first air cavity formed sole
The intracavity space that plate, the second air cavity forming bottom plate surround is divided into the first cavity and the second cavity, and the first air cavity curved lever is worn
End cap is crossed to stretch into the first cavity, the ventilation rod aperture that the second air cavity vent rod passes through stretch into the second cavity and through the second air cavity at
Each semicylinder of type bottom plate (vent rod passes through each venthole).
The breather plug is made of scallop 4-1, fan alar part 4-3 and snorkel 4-4, and fan alar part is set to the two of scallop
Venthole 4-2 is arranged in side at the top of scallop, and snorkel is arranged in scallop bottom, and venthole is connected with snorkel.
Bonding piece mold is used to form adhesive layer on the semicylinder air cavity top of the second air cavity after described.
Bonding piece clamping cap is set on rear bonding piece mold after described, is carried out for bonding piece mold after gland close
Envelope.
The non-extensible layer bonding mold is used to form non-extensible layer in the bottom of bionic mechanical hand.
The non-extensible layer bonding clamping cap is set on non-extensible layer bonding mold, non-extensible for gland
Layer bonding mold is sealed.
The quantity of semicylinder on the second air cavity forming bottom plate is 7, width 2mm, spacing 2mm.
The section radius of first air cavity is 6mm, and the length of the first air cavity is 40mm.
A kind of air pressure drives the preparation method of soft soft mixing bionic mechanical hand, close according to body making, the second air cavity successively
Envelope, non-extensible layer bonding and Kev bracing wire are wrapped up four steps and are carried out：
Step 1: body making
Die main body is connected to form mold slots with end cap, breather plug is put into the arc groove of die main body, by first
Air cavity curved lever extends through end cap and stretches into arc groove, and the second air cavity formed sole is covered above mold slots (the second cavity)
Plate enters the second air cavity vent rod from the ventilation rod aperture interpolation of die main body, and the second air cavity vent rod is made to be molded across the second air cavity
Each semicylinder of bottom plate；Prepared silica gel solution is poured into mold slots, mold slots rear cover is fully filled in silica gel solution
Upper first air cavity forming bottom plate (as shown in Figure 6)；Mold is integrally put into baking oven and is cured.
Step 2: the second air cavity seals
After mold cured cooling, the second air cavity vent rod is extracted, the second air cavity forming bottom plate is opened, the second air cavity is led to
Gas bar is turned back to original position, and bonding piece mold after being placed above the second air cavity pours into proper silica gel solution, in rear bonding piece mold
Bonding piece clamping cap (as shown in Figure 7) after on upper lid is completed to seal the second air cavity after silica gel solidification.
Step 3: non-extensible layer bonds
Rear bonding piece clamping cap and the first air cavity forming bottom plate are removed, glass fibre is fitted in into manipulator surface,
Non-extensible layer bonding mold and non-extensible layer bonding clamping cap (as shown in Figure 8) are covered, is put into baking oven and is cured.
Step 4: Kev bracing wire is wrapped up
Mold is opened, block mold is taken out, extracts imperforate first air cavity curved lever, and be inserted into the first gas with stomata
Chamber breather plug is to top, in the outer surface uniform winding Kev bracing wire of the first air cavity.
In step 1, the cured temperature is 60 DEG C, and the cured time is 30min.
In step 3, the thickness of the non-extensible layer is 2mm.
The winding spacing 2.8mm of the Kev bracing wire.
Heat cure skill：
Curing schedule is carried out in 60-70 DEG C of baking oven can greatly shorten manufacturing time (curing schedule can be from contracting overnight
Short is 30min), but improperly heating operation is likely to result in making failure, therefore also have much during heat cure
Points for attention.
At a high temperature of oven, ABS material 3D models made of mold can become very soft.Therefore, be placed on it is roasting
Before in case, any rubber band or fixture on the outside of mold must all be removed, and otherwise can make softening mold that recess and deformation occur.
It places into before oven, under the model poured should being placed at room temperature, fixture or rubber band is connected at least one hour, so
It puts it into oven again afterwards.It is partially cured that this single stepping will be such that silica gel generates, and reduce disclosure risk.
If a hour cannot be waited for before mold is put into oven, mold is placed on before oven for solidifying 5 minutes,
Both sides are then placed on to complete solidification (again, because mold can hang down and start to leak at these tem-peratures).It is recommended that into
Oven is not put it into when row external skin coating step, and places revealed to prevent model overnight as possible.
After the completion of heat cure, mold can be peeled off easily with hand, need not be pried open with screwdriver.It can be by it after taking-up
Pico- heating in an oven, then allow them to cool down on a flat surface and have a small amount of deformation brought to eliminate form removal.
Reduce bubble methods：
During modelling, silica gel solution is stirred and poured all can introduce bubble to system, with bubble solidification
The pneumatic actuator that silica gel is formed not only influences beautiful, intensity and substantially reduces, or even it is also possible to cause system.Reduce system gas
The method of bubble is mainly reflected in the following aspects：
In the case where vacuum withdraw device can be used, the mixed liquor being stirred is placed in vacuum tank stands 5 points as possible
Clock or so makes the bubble introduced in whipping process all be discharged；When cannot use vacuum withdraw device, stirring speed should be slowed down as possible
Degree, and be stirred in the same direction.The operable time of Exoflex-20 silica gel is 30 minutes, is sufficiently used for stirring and pours
It builds.Mixed liquor should suitably be stood after stirring, makes a small amount of bubble portion discharge for being dissolved in mixed liquor；It is same with this
When, to avoid casting process from introducing a large amount of bubbles, need uniformly to smear mixed solution in die surface in advance, this step can reduce
The effect of surface tension greatly reduces bubble generation；Operating process suitable control indoor temperature.Temperature is more stingy in a certain range
Bubble is fewer, and room temperature model at 25 DEG C has minimum bubble in manufacturing process, and has higher setting rate.
Influence of 2. different temperatures of table to modelling
The utility model is described in detail above, but the content is only the preferred embodiment of the utility model,
It should not be considered as limiting the scope of the present invention.Equivalent change made according to the scope of application of this utility model with
Improve etc., it should all still belong within the patent covering scope of the utility model.
Claims (8)
1. a kind of air pressure drives soft soft mixing bionic mechanical hand mold, it is characterised in that：Including die main body, end cap, breather plug,
First air cavity forming bottom plate, the first air cavity curved lever, the second air cavity forming bottom plate, the second air cavity vent rod, rear bonding piece mold,
Bonding piece clamping cap afterwards, non-extensible layer bonds mold and non-extensible layer bonds clamping cap, and die main body is an end seal
The trough body structure of one end open is closed, inside is arc groove, and groove body closes one end and is provided with ventilation rod aperture, and groove body opens one end and end
Lid first is connected, and the first air cavity forming bottom plate and the second air cavity forming bottom plate, second air cavity is arranged in the top of groove body
It is placed equidistant with semicylinder on forming bottom plate, is arranged on semicylinder and passes through stomata, setting ventilation a plug slot, breather plug in the middle part of arc groove
It is set in ventilation a plug slot, the inner cavity that breather plug surrounds arc groove and the first air cavity forming bottom plate, the second air cavity forming bottom plate
Space is divided into the first cavity and the second cavity, and the first air cavity curved lever is stretched into across end cap in the first cavity, the second air cavity
Vent rod passes through ventilation rod aperture to stretch into each semicylinder in the second cavity and through the second air cavity forming bottom plate.
2. a kind of air pressure according to claim 1 drives soft soft mixing bionic mechanical hand mold, it is characterised in that：It is described logical
Vent plug is made of scallop, fan alar part and snorkel, and fan alar part is set to the both sides of scallop, and ventilation is arranged at the top of scallop
Snorkel is arranged in hole, scallop bottom, and venthole is connected with snorkel.
3. a kind of air pressure according to claim 1 drives soft soft mixing bionic mechanical hand mold, it is characterised in that：After described
Bonding piece mold is used to form adhesive layer on the semicylinder air cavity top of the second air cavity.
4. a kind of air pressure according to claim 1 drives soft soft mixing bionic mechanical hand mold, it is characterised in that：After described
Bonding piece clamping cap is set on rear bonding piece mold, is sealed for bonding piece mold after gland.
5. a kind of air pressure according to claim 1 drives soft soft mixing bionic mechanical hand mold, it is characterised in that：It is described not
Extensible layer bonding mold is used to form non-extensible layer in the bottom of bionic mechanical hand.
6. a kind of air pressure according to claim 1 drives soft soft mixing bionic mechanical hand mold, it is characterised in that：It is described not
Extensible layer bonding clamping cap is set on non-extensible layer bonding mold, is carried out for gland non-extensible layer bonding mold
Sealing.
7. a kind of air pressure according to claim 1 drives soft soft mixing bionic mechanical hand mold, it is characterised in that：Described
The quantity of semicylinder on two air cavity forming bottom plates is 6-8, width 1.8-2mm, spacing 1.8-2mm.
8. a kind of air pressure according to claim 1 drives soft soft mixing bionic mechanical hand mold, it is characterised in that：Described
The section radius of one air cavity is 5-6mm, and the length of the first air cavity is 35-40mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721805476.8U CN207889000U (en) | 2017-12-21 | 2017-12-21 | A kind of soft soft mixing bionic mechanical hand mold of air pressure driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721805476.8U CN207889000U (en) | 2017-12-21 | 2017-12-21 | A kind of soft soft mixing bionic mechanical hand mold of air pressure driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207889000U true CN207889000U (en) | 2018-09-21 |
Family
ID=63549338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721805476.8U Withdrawn - After Issue CN207889000U (en) | 2017-12-21 | 2017-12-21 | A kind of soft soft mixing bionic mechanical hand mold of air pressure driving |
Country Status (1)
| Country | Link |
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| CN (1) | CN207889000U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247926A (en) * | 2017-12-21 | 2018-07-06 | 天津大学 | A kind of air pressure drives soft soft mixing bionic mechanical hand mold and preparation method |
-
2017
- 2017-12-21 CN CN201721805476.8U patent/CN207889000U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247926A (en) * | 2017-12-21 | 2018-07-06 | 天津大学 | A kind of air pressure drives soft soft mixing bionic mechanical hand mold and preparation method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180921 Effective date of abandoning: 20191203 |
|
| AV01 | Patent right actively abandoned |