Internal demoulding device and method for casting mold with long soft manipulator driven by fluid pressure

Abstract

The invention discloses an internal demoulding device and method for a casting mold of a long soft manipulator driven by fluid pressure. The outer shell of the soft manipulator casting body, and the core rod used to support the long soft manipulator casting body in the inner shell or the outer shell, wherein, on the outside of the mandrel rod, a The core valve, the core valve is provided with more than two pieces. The internal demoulding device and method of the fluid pressure-driven long software manipulator casting mold of the present invention adopt the core valve structure arranged close to the mandrel on the outside of the mandrel, which facilitates the convenience and rapid removal of the mandrel during the demoulding process. The mandrel and mandrel are withdrawn from the center of the silicone elastomer, thus facilitating the manufacturing process.

Description

technical field [0001] The invention relates to a fluid pressure-driven long soft manipulator manufacturing process, in particular to a fluid pressure-driven long soft manipulator's demoulding device in a casting mold and an improvement to its realization method. Background technique [0002] In the prior art, for soft manipulators driven by fluid pressure, generally shorter manipulators have little problem of demolding, such as figure 1 As shown, in the manufacturing process of the existing short soft manipulator, because the length of the existing soft manipulator itself is relatively short, the adsorption force between the mandrel and the inner cavity of the formed soft manipulator is relatively small during the casting process, which is easy to realize Cavity demoulding. In addition, due to the short overall size of the mold, the middle position of the mandrel is not prone to collapse. Therefore, the soft robotic arm after casting generally does not have the problems of...

AI Technical Summary

Problems solved by technology

In the casting process of the long soft manipulator over 1 meter, because the soft manipulator is usually driven by high-pressure fluid into the inner cavity to drive it to perform actions, the fluid pressure-driven soft manipulator is usually molded with silicone molds, during the casting process In this method, liquid silica gel is injected into the mold in advance, and after the silica gel is dried, it is demoulded to form a soft manipulator with a cavity. However, in the casting process of the long soft manipulator, there are difficulties in production because the mold is too long.

[0005] The common difficulty is the difficulty of demoulding the inner cavity: Since the inner cavity of the soft manipulator is formed by demoulding the mandrel mold, the silica gel itself has relatively strong viscosity, and when the silica gel dries, a large gap will form between the mandrel and the inner cavity. The adsorption force makes it difficult to demould the mandrel and the inner cavity of the soft manipulator

[0006] In addition, since the sealing of the pressure inlet of the fluid-driven soft manipulator is critical, it is often not handled properly, causing pressure leakage and affecting the normal use of the soft manipulator

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