Soft body finger capable of dual-direction bending and manufacturing method thereof

Abstract

The invention discloses a soft body finger capable of dual-direction bending and a manufacturing method thereof. The soft body finger capable of dual-direction bending is formed by connecting a soft body finger to a pneumatic control system; the soft body finger comprises an upper soft body enveloping layer, a limiting strain layer, a lower soft body enveloping layer and a pneumatic pipeline whichis connected to the soft body finger; the upper soft body enveloping layer and the soft body enveloping layer are soft body structures made of a silica gel material; the upper soft body enveloping layer and the soft body enveloping layer are axially symmetrical about the limiting strain layer at the middle part, and are bonded into the integral finger through the same silica gel material; the pneumatic control system can receive a command of a user and outputs air according to the command, so that the soft body finger bends and deforms to a required state; and changing of an inflation air cavity of the soft body finger is realized by adjusting the air path, so that dual-direction bending is realized, and requirements of grabbing or assistant rehabilitation training are met. By adopting the soft body finger capable of dual-direction bending, the application range of the soft body finger is expanded; and the soft body finger can be applied to the fields of soft body grabbing, soft bodycapturing, soft body rehabilitation and the like.

Description

technical field

[0001] The invention relates to a soft finger, in particular to a soft finger capable of bidirectional bending movement and a preparation method thereof. The invention belongs to the technical field of soft robots. Background technique

[0002] Compared with traditional rigid-body mechanical structures, soft-body structures can interact with the outside world more efficiently and safely because they can actively or passively change their shape and motion. Soft finger structures made of silicone materials are widely used in various fields. For example, in industrial environments, the effect of using claws made of soft fingers to grasp fragile objects on the surface is ideal; The rehabilitation equipment of the company can provide grasping assistance or rehabilitation training for people with hand function defects.

[0003] At present, there are already authorized invention patents on soft fingers in China, such as a dual-channel soft finger and soft robot wi...

Examples

Embodiment 1

[0058] Such as figure 1 As shown, a soft finger that can bend in both directions can be realized. The soft finger 1 is connected with the pneumatic control system 2 through the upper air cavity trachea 1-4 and the lower air cavity trachea 1-5. The soft finger 1 is bent and deformed after being inflated. The pneumatic control system 2 can receive the user's instruction, output gas according to the instruction, make the soft finger 1 bend and deform to the desired state, and realize the change of the inflatable air cavity of the soft finger 1 by adjusting the air path, so as to realize two-way bending and satisfy the grip Requirements for grip or assistive rehabilitation training.

Embodiment 2

[0059] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0060] Such as image 3 As shown, the soft finger 1 is composed of an upper soft body envelope layer 1-1, a strain-limiting layer 1-2 and a lower soft body envelope layer 1-3, and an upper air cavity trachea 1-4 connected to the upper air cavity of the soft finger and connected The lower air cavity of the soft finger lower air cavity consists of trachea 1-5. In this embodiment, the upper soft body envelope layer 1-1 and the lower soft body envelope layer 1-3 are soft body structures made of Dragonskin 20 silica gel material. Bonded into a whole finger.

[0061] Such as Figure 4 As shown, the upper soft body enveloping layer 1-1 adopts a design in which cavities and soft body structures are distributed in folds, and the cavities communicate with each other through air passages. The upper surface of the soft envelope layer is connected together by silica ge...

Embodiment 3

[0064] The preparation method of the soft finger is used to prepare the above-mentioned soft finger, which is divided into the following three parts:

[0065] (1) For the soft envelope layer, the preparation steps are as follows:

[0066] Step 7-1: Use 3D modeling software to design the mold of the soft envelope layer, and use 3D printing to manufacture the mold (see Figure 5 );

[0067] Step 7-2: Pour a certain amount of uncured silica gel into the beaker in turn, stir until evenly poured into the mold (see Figure 7 Step 7-2), so that the silicone gel just fills the groove on the mold. If there is too much silicone liquid poured in, the excess silicone liquid should be removed with a needle stick;

[0068] Step 7-3: Put the mold filled with silicone liquid into the vacuum drying oven, connect the vacuum drying oven and the vacuum pump with the air pipe, turn on the vacuum air pump to evacuate for 10 minutes, then turn off the vacuum air pump and unplug the air pipe until ...

technical field

[0001] The invention relates to a soft finger, in particular to a soft finger capable of bidirectional bending movement and a preparation method thereof. The invention belongs to the technical field of soft robots. Background technique

[0002] Compared with traditional rigid-body mechanical structures, soft-body structures can interact with the outside world more efficiently and safely because they can actively or passively change their shape and motion. Soft finger structures made of silicone materials are widely used in various fields. For example, in industrial environments, the effect of using claws made of soft fingers to grasp fragile objects on the surface is ideal; The rehabilitation equipment of the company can provide grasping assistance or rehabilitation training for people with hand function defects.

[0003] At present, there are already authorized invention patents on soft fingers in China, such as a dual-channel soft finger and soft robot wi...

Examples

Embodiment 1

[0058] Such as figure 1 As shown, a soft finger that can bend in both directions can be realized. The soft finger 1 is connected with the pneumatic control system 2 through the upper air cavity trachea 1-4 and the lower air cavity trachea 1-5. The soft finger 1 is bent and deformed after being inflated. The pneumatic control system 2 can receive the user's instruction, output gas according to the instruction, make the soft finger 1 bend and deform to the desired state, and realize the change of the inflatable air cavity of the soft finger 1 by adjusting the air path, so as to realize two-way bending and satisfy the grip Requirements for grip or assistive rehabilitation training.

Embodiment 2

[0059] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0060] Such as image 3 As shown, the soft finger 1 is composed of an upper soft body envelope layer 1-1, a strain-limiting layer 1-2 and a lower soft body envelope layer 1-3, and an upper air cavity trachea 1-4 connected to the upper air cavity of the soft finger and connected The lower air cavity of the soft finger lower air cavity consists of trachea 1-5. In this embodiment, the upper soft body envelope layer 1-1 and the lower soft body envelope layer 1-3 are soft body structures made of Dragonskin 20 silica gel material. Bonded into a whole finger.

[0061] Such as Figure 4 As shown, the upper soft body enveloping layer 1-1 adopts a design in which cavities and soft body structures are distributed in folds, and the cavities communicate with each other through air passages. The upper surface of the soft envelope layer is connected together by silica ge...

Embodiment 3

[0064] The preparation method of the soft finger is used to prepare the above-mentioned soft finger, which is divided into the following three parts:

[0065] (1) For the soft envelope layer, the preparation steps are as follows:

[0066] Step 7-1: Use 3D modeling software to design the mold of the soft envelope layer, and use 3D printing to manufacture the mold (see Figure 5 );

[0067] Step 7-2: Pour a certain amount of uncured silica gel into the beaker in turn, stir until evenly poured into the mold (see Figure 7 Step 7-2), so that the silicone gel just fills the groove on the mold. If there is too much silicone liquid poured in, the excess silicone liquid should be removed with a needle stick;

[0068] Step 7-3: Put the mold filled with silicone liquid into the vacuum drying oven, connect the vacuum drying oven and the vacuum pump with the air pipe, turn on the vacuum air pump to evacuate for 10 minutes, then turn off the vacuum air pump and unplug the air pipe until ...

Images