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Finger forming mould for soft bionic robot

A bionic robot and forming mold technology, applied in the field of soft bionic robot finger forming molds, can solve the problems of low forming efficiency, difficult demoulding, low yield rate, etc., and achieve the effect of ensuring the surface, reducing the difficulty of demoulding, and achieving good consistency.

Inactive Publication Date: 2020-05-01
CHANGZHOU INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the existence of multiple sets of parallel ribs 62 and comb-shaped teeth 63 inside, the contact surface between the finger and the finger forming mold is relatively large, and the finger will bear a large demoulding force during the separation process from the forming mold, resulting in a low yield
[0004] At present, the research on soft robot finger forming and manufacturing technology is still in the preliminary stage. The existing soft finger forming and manufacturing technology has problems such as low forming efficiency and difficult demoulding.

Method used

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  • Finger forming mould for soft bionic robot
  • Finger forming mould for soft bionic robot
  • Finger forming mould for soft bionic robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] Such as figure 2 and image 3 Shown, a kind of soft bionic robot finger molding mold of the present invention, described mold comprises snowflake cavity 1, bamboo shoot cavity 2, comb cavity 3 and pretensioning structure, wherein,

[0031] Such as Figure 4 As shown, the snowflake cavity 1 includes multiple groups of conical sectors 11 arranged along the circumferential direction. In this embodiment, the snowflake cavity 1 includes eight conical sectors 11, and each conical sector 11 can be embedded with a The bamboo shoot-shaped cavity 2 and the comb-shaped cavity 3 can be separated, and each tapered sector 11 is composed of two cavity arms 12, and the inner surface of the two cavity arms 12 on the side near the center is in the shape of a "V" , the inner surfaces of the two cavity arms 12 near the outer edge are parallel in the shape of "||"; the end of each cavity arm 12 is set on the side facing away from the parallel side of the "||" type, which is used to hook ...

Embodiment 2

[0037] The difference between this embodiment and Embodiment 1 is that the pre-tightening structure to realize the pre-tightening function is different. In this embodiment, the pre-tightening structure is formed by the snowflake cavity 1 itself. When the snowflake cavity 1 is in a free state, its The opening size at the end of the conical sector 11 is slightly smaller than the external dimension of the comb-shaped cavity 3. When the bamboo shoot cavity 2 and the comb-shaped cavity 3 are embedded in the snowflake cavity 1, the tension at the end of the conical sector 11 is pre-tensioned. . The end of the tapered sector 11 is provided with a protrusion protruding inwardly of the tapered sector 11 . The protrusion blocks the comb-shaped cavity 3, which can further prevent it from coming out of the conical sector 11.

[0038] Such as Figure 8 As shown, when the bamboo shoot cavity 2 and the comb cavity 3 are embedded in the conical sector 11 of the snowflake cavity 1, the snowf...

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Abstract

The invention provides a finger forming mould for a soft bionic robot. The finger forming mould comprises a snowflake-shaped cavity, bamboo-shoot-shaped cavities, comb-shaped cavities and pre-tightening structures. During use, each bamboo-shoot-shaped cavity and the corresponding comb-shaped cavity are embedded into each conical sector of the snowflake-shaped cavity, then the snowflake-shaped cavity and the corresponding bamboo-shoot-shaped cavity and comb-shaped cavity jointly constitute an entire finger-shaped cavity, and each finger-shaped cavity is pre-tightened through the corresponding pre-tightening structure. According to the finger forming mould, a multi-direction mould separation technology is adopted, and then forming of the fingers of the complex soft robot is achieved.

Description

technical field [0001] The invention relates to the technical field of robot manufacturing, in particular to a soft bionic robot finger forming mold. Background technique [0002] Soft robot is a new type of robot, which is an extension of robot research. Soft robots have good flexibility and environmental adaptability, and have broad application prospects in industrial production, medical services, military detection, etc. Soft robots have become a research hotspot in the field of robotics. The soft robot finger is an important factor to realize the safe interaction between the robot and the external environment. [0003] Such as figure 1 The soft robot finger shown is a soft finger used on a robot end effector, and includes a bamboo shoot-shaped wall 61, parallel ribs 62 and comb-shaped teeth 63. When the structure bears an external load on the bamboo shoot-shaped wall 61, it can The bending envelope deformation is generated, so as to realize the grasping of the object ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B29C39/26
CPCB29C39/26
Inventor 华洪良廖振强吴小锋苏纯黄成陈勇将
Owner CHANGZHOU INST OF TECH