Manufacturing Method and System of Multi-Material Pneumatic Soft Robot Based on Lamination Technology

Abstract

The present invention provides a method and system for manufacturing a multi-material pneumatic soft robot based on a lamination technique, including: Step S1: slicing and stratifying the three-dimensional model of the soft robot; Step S2: processing the material based on the two-dimensional pattern of each layer obtained by stratification to achieve a two-dimensional structure; Step S3: laminating and assembling the processed materials to complete the manufacturing of the multi-material pneumatic soft robot. The manufacturing method of the present invention is simple, can realize the manufacturing of a multi-material pneumatic soft robot with a complex three-dimensional structure, has strong flexibility, and has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the technical field of manufacturing methods for soft robots. Specifically, it relates to a manufacturing method and system for multi-material pneumatic soft robots based on a lamination technique. More specifically, it relates to manufacturing multi-material pneumatic soft actuators and robots with three-dimensional complex structures, which have broad application prospects in the fields of bionics, wearable devices, rehabilitation medicine, prosthetics, etc. Background Art

[0002] Pneumatic soft robots benefit from their flexibility in material selection and structural design and have extensive applications in the field of robots. Generally speaking, the structures of pneumatic soft robots mainly include multi-chamber type, fiber-reinforced type, etc. To manufacture these structures, the commonly used methods mainly include silicone casting and 3D printing. Among them, silicone casting often involves complex multi-step casting and assembly when manufacturing complex structures, which is time-consuming; although 3D printing can directly construct soft robots with complex shapes and structures, the lack of available materials limits its wide application.

[0003] Patent document CN111692457A (application number: 202010528220.7) discloses a worm-like pneumatic pipe soft robot with a fabric skin and a paper-folding skeleton, including a main actuator, a front anchor, a rear anchor, an air inlet pipe, a pneumatic pipeline system, and a control system. The main actuator is a three-dimensional structure formed by laminating and bonding an airtight woven fabric and a rigid paper, then folding and bonding it into an accordion bellows shape using the paper-folding process and sealing both ends. The front anchor and the rear anchor are three-dimensional structures formed by laminating and bonding an airtight woven fabric and a rigid paper, then folding them into a three-dimensional structure according to the Kresling pattern and sealing both ends. The main actuator, the front anchor, and the rear anchor are connected by magnetic attraction and are driven through the pneumatic pipeline system by means of the air inlet pipes leading to the main actuator, the front anchor, and the rear anchor. Summary of the Invention

[0004] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a manufacturing method and system for multi-material pneumatic soft robots based on a lamination technique.

[0005] According to a manufacturing method for multi-material pneumatic soft robots based on a lamination technique provided by the present invention, it includes:

[0006] Step S1: Slice and layer the three-dimensional model of the soft robot as needed;

[0007] Step S2: Process the material based on the two-dimensional pattern of each layer obtained by layering to achieve a two-dimensional structure;

[0008] Step S3: Stack and assemble the processed materials to complete the manufacturing of the multi-material pneumatic soft robot.

[0009] Preferably, in the step S1, the three-dimensional model includes multiple materials, and the multiple materials include multiple elastic soft materials and non-stretchable soft materials.

[0010] Preferably, in the step S2, the processing of the materials includes: based on the two-dimensional pattern of each layer obtained by layering, processing and manufacturing the corresponding material of each layer to form a two-dimensional planar structure.

[0011] Preferably, the step S3 includes: stacking each layer of the material processed by laser cutting to form a three-dimensional complex structure.

[0012] Preferably, the soft robot includes at least one degree of freedom.

[0013] Preferably, the pneumatic soft robot has multiple single-degree-of-freedom driving modes, including bending, elongation, contraction, torsion, and angle switching.

[0014] Preferably, the pneumatic soft robot is connected to a gas source, and each single degree of freedom is independently controlled to generate a driving effect under the inflation action of compressed gas.

[0015] A multi-material pneumatic soft robot manufacturing system based on a lamination technology provided by the present invention includes:

[0016] Module M1: Slicing and layering the three-dimensional model of the soft robot as required;

[0017] Module M2: Processing the materials based on the two-dimensional pattern of each layer obtained by layering to achieve a two-dimensional structure;

[0018] Module M3: Stacking and assembling the processed materials to complete the manufacture of the multi-material pneumatic soft robot.

[0019] Preferably, in the module M1, the three-dimensional model includes multiple materials, and the multiple materials include multiple elastic soft materials and non-stretchable soft materials;

[0020] In the module M2, the processing of the materials includes: based on the two-dimensional pattern of each layer obtained by layering, processing and manufacturing the corresponding material of each layer to form a two-dimensional planar structure.

[0021] Preferably, the module M3 includes: stacking each layer of the material processed by laser cutting to form a three-dimensional complex structure.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention starts from a two-dimensional planar structure through a lamination technique to directly manufacture a multi-material pneumatic soft robot with a complex structure. The manufacturing method has simple steps, high manufacturing efficiency, and saves time.

[0024] 2. The present invention can achieve multiple single-degree-of-freedom driving modes, including bending, elongation, contraction, torsion, and angle opening and closing.

[0025] 3. The present invention can achieve a combination of multiple driving modes to manufacture a multi-material pneumatic soft robot with complex motion capabilities, which has great practical value in the fields of prosthetics, wearable devices, rehabilitation medicine, bionics, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] By reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings, other features, objects, and advantages of the present invention will become more apparent:

[0027] Figure 1 It is a layered diagram of the three-dimensional model of a multi-material pneumatic bending soft actuator.

[0028] Figure 2 It is a layered diagram of the three-dimensional model of a multi-material pneumatic torsion soft actuator.

[0029] Figure 3 It is a layered diagram of the three-dimensional model of a multi-material pneumatic contraction soft actuator.

[0030] Figure 4 It is a layered diagram of the three-dimensional model of a multi-material pneumatic bionic soft hand.

[0031] Figure 5 It is a schematic diagram of the three-dimensional model of a multi-material pneumatic bionic soft hand. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those of ordinary skill in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0033] In order to overcome the deficiencies that the existing manufacturing methods of pneumatic soft robots are complex or time-consuming in steps, or lack available materials, the present invention provides a manufacturing method that is simple in steps, high in manufacturing efficiency, and can easily manufacture pneumatic soft robots with multi-materials and various structures.

[0034] Example 1

[0035] A manufacturing method of a multi-material pneumatic soft robot based on the lamination technique provided by the present invention includes:

[0036] Step S1: Slice and layer the 3D model of the soft robot as required;

[0037] Step S2: Process the material based on the 2D pattern of each layer obtained by layering to achieve a 2D structure;

[0038] Step S3: Stack and assemble the processed materials to complete the manufacturing of the multi-material pneumatic soft robot.

[0039] Specifically, in the step S1, the 3D model includes multiple materials, and the multiple materials include multiple elastic soft materials and non-stretchable soft materials.

[0040] Specifically, in the step S2, processing the material includes: based on the 2D pattern of each layer obtained by layering, processing and manufacturing the corresponding material for each layer to form a 2D planar structure.

[0041] Specifically, the step S3 includes: stacking each layer of the material processed by laser cutting to form a 3D complex structure.

[0042] Specifically, the soft robot includes at least one degree of freedom.

[0043] Specifically, the pneumatic soft robot has multiple single-degree-of-freedom driving modes, including bending, elongation, contraction, torsion, and angle switching.

[0044] Specifically, the pneumatic soft robot is connected to a gas source, and each single degree of freedom is independently controlled to generate a driving effect under the inflation of compressed gas.

[0045] According to a multi-material pneumatic soft robot manufacturing system based on a lamination technology provided by the present invention, it includes:

[0046] Module M1: Slice and layer the 3D model of the soft robot as required;

[0047] Module M2: Process the material based on the 2D pattern of each layer obtained by layering to achieve a 2D structure;

[0048] Module M3: Stack and assemble the processed materials to complete the manufacturing of the multi-material pneumatic soft robot.

[0049] Specifically, in the module M1, the 3D model includes multiple materials, and the multiple materials include multiple elastic soft materials and non-stretchable soft materials;

[0050] In the module M2, processing the material includes: based on the 2D pattern of each layer obtained by layering, processing and manufacturing the corresponding material for each layer to form a 2D planar structure.

[0051] Specifically, the module M3 includes: stacking each layer of material processed by laser cutting to form a three-dimensional complex structure.

[0052] Example 2

[0053] Example 2 is a preferred example of Example 1

[0054] A manufacturing method of a multi-material pneumatic bending soft actuator includes the following steps:

[0055] (1) Select VHB4910 as the main material of the soft actuator, select PET film and nylon mesh as the limiting materials of the soft actuator, and select release paper and steel needles as the airway materials of the soft actuator.

[0056] (2) Based on the materials in step (1), design a three-dimensional model of the multi-material pneumatic bending soft actuator, and layer it according to the materials to obtain the Figure 1 layered diagram of the actuator as shown. This layered diagram includes 12 layers of materials. Among them, from top to bottom, the materials corresponding to each layer are: the first layer, PET film; the second to seventh layers, VHB4910; the eighth layer, release paper; add steel needles between the eighth and seventh layers; the ninth layer, VHB4910; the tenth layer, nylon mesh; the eleventh layer, VHB4910; the twelfth layer, PET film;

[0057] (3) Based on the layered diagram in step (2), obtain the two-dimensional pattern corresponding to each layer. Based on this pattern, use laser cutting to process the materials to achieve a two-dimensional structure;

[0058] (4) After processing the materials in step (3), use a cold laminating machine to stack and assemble the materials to complete the manufacturing of the multi-material pneumatic bending soft actuator.

[0059] (5) This actuator can achieve a bending driving effect under the action of compressed gas.

[0060] Example 3

[0061] Example 3 is a preferred example of Example 1

[0062] A manufacturing method of a multi-material pneumatic torsion soft actuator includes the following steps:

[0063] (1) Select VHB4910 as the main material of the soft actuator, select PET film as the limiting material of the soft actuator, and select steel needles as the airway material of the soft actuator.

[0064] (2) Based on the materials in step (1), a three-dimensional model of the multi-material pneumatic torsion soft actuator is designed, and it is layered according to the materials to obtain the layered diagram of the actuator as shown in Figure 2 The layered diagram of the actuator. This layered diagram includes 9 layers of materials. Among them, from top to bottom, the materials corresponding to each layer are: the first layer, PET film arranged at 45 degrees; the second to eighth layers, VHB4910; steel needles are added between the third and fourth layers; the ninth layer, PET film arranged at 45 degrees.

[0065] (3) Based on the layered diagram in step (2), the two-dimensional pattern corresponding to each layer is obtained. Based on this pattern, the materials are processed using laser cutting to achieve a two-dimensional structure.

[0066] (4) After processing the materials in step (3), the materials are laminated and assembled using a cold laminator to complete the manufacture of the multi-material pneumatic torsion soft actuator.

[0067] (5) This actuator can achieve a torsional driving effect under the action of compressed gas.

[0068] Example 4

[0069] Example 4 is a preferred example of Example 1

[0070] A manufacturing method of a multi-material pneumatic contraction soft actuator includes the following steps:

[0071] (1) Select VHB4910 as the main material of the soft actuator, select nylon mesh as the limiting material of the soft actuator, and select steel needles as the airway material of the soft actuator.

[0072] (2) Based on the materials in step (1), a three-dimensional model of the multi-material pneumatic contraction soft actuator is designed, and it is layered according to the materials to obtain the layered diagram of the actuator as shown in Figure 3 The layered diagram of the actuator. This layered diagram includes 9 layers of materials. Among them, from top to bottom, the materials corresponding to each layer are: the first layer, VHB4910; the second layer, nylon mesh; the third to seventh layers, VHB4910; steel needles are added between the third and fourth layers; the eighth layer, nylon mesh; the ninth layer, VHB4910.

[0073] (3) Based on the layered diagram in step (2), the two-dimensional pattern corresponding to each layer is obtained. Based on this pattern, the materials are processed using laser cutting to achieve a two-dimensional structure.

[0074] (4) After processing the materials in step (3), the materials are laminated and assembled using a cold laminator to complete the manufacture of the multi-material pneumatic contraction soft actuator.

[0075] (5) The driver can achieve a shrinking driving effect under the action of compressed gas.

[0076] Example 5

[0077] Embodiment 5 is a preferred example of Embodiment 1

[0078] A manufacturing method of a multi-material pneumatic bionic soft hand, comprising the following steps:

[0079] (1) Select VHB4910 as the main material of the bionic soft hand, select PET film and nylon mesh as the limiting materials of the soft driver, and select release paper as the airway material of the bionic soft hand.

[0080] (2) Based on the materials in step (1), design a three-dimensional model of the multi-material pneumatic bionic soft hand, and layer it according to the materials to obtain a Figure 4-5 layered diagram of the driver as shown. This layered diagram includes 13 layers of materials. Among them, from top to bottom, the materials corresponding to each layer are: the first layer, PET film; the second to fourth layers, VHB4910; the fifth layer, release paper; the sixth to eighth layers, VHB4910; the ninth layer, release paper; the tenth layer, VHB4910; the eleventh layer, nylon mesh; the twelfth layer, VHB4910; the thirteenth layer, PET film.

[0081] (3) Based on the layered diagram in step (2), obtain the two-dimensional pattern corresponding to each layer. Based on this pattern, use laser cutting to process the materials to achieve a two-dimensional structure.

[0082] (4) After processing the materials in step (3), use a cold laminating machine to stack and assemble the materials to complete the manufacture of the multi-material pneumatic bionic soft hand.

[0083] (5) The bionic soft hand has 9 degrees of freedom, labeled 1-9. 1-5 respectively correspond to the bending degrees of freedom of the five fingers, 6-8 respectively correspond to the opening and closing of the index finger and middle finger, the opening and closing of the middle finger and ring finger, and the opening and closing of the ring finger and little finger, and 9 corresponds to the opposition degree of freedom of the palm part. These embodiments use a stacking technique to manufacture multi-material pneumatic soft drivers and robots with complex structures, having the advantages of simple steps, high manufacturing efficiency, being able to achieve multiple single-degree-of-freedom motion modes, and being able to easily combine multiple motion modes to manufacture pneumatic soft robots with complex motion capabilities. It has great practical value in the fields of prosthetics, wearable devices, rehabilitation medicine, bionics, etc.

[0084] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application.

[0085] Those skilled in the art know that in addition to implementing the systems, devices and their respective modules provided by the present invention in the form of pure computer-readable program codes, the method steps can be logically programmed to enable the systems, devices and their respective modules provided by the present invention to be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. to achieve the same program. Therefore, the systems, devices and their respective modules provided by the present invention can be regarded as a kind of hardware components, and the modules included therein for implementing various programs can also be regarded as the structures within the hardware components; the modules for implementing various functions can also be regarded as either software programs for implementing the methods or the structures within the hardware components.

[0086] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A manufacturing method of a multi-material pneumatic soft robot based on a lamination technique, characterized in that Including: Step S1: Slice and layer the 3D model of the soft robot as needed; Step S2: Process the material based on the 2D pattern of each layer obtained by layering to achieve a 2D structure; Step S3: Stack and assemble the processed materials to complete the manufacturing of the multi-material pneumatic soft robot; In the step S1, the 3D model includes multiple materials, and the multiple materials include multiple elastic soft materials and non-stretchable soft materials; In the step S2, processing the material includes: Based on the 2D pattern of each layer obtained by layering, processing and manufacturing the corresponding material for each layer to form a 2D planar structure; The step S3 includes: Stacking each layer of material processed by laser cutting to form a 3D complex structure; The soft robot includes at least one degree of freedom; The pneumatic soft robot has multiple single-degree-of-freedom driving modes, including bending, elongation, contraction, torsion, and angle switching; The pneumatic soft robot is connected to a gas source, and each single degree of freedom is independently controlled to generate a driving effect under the inflation of compressed gas; The step S1 includes: Selecting VHB4910 as the main material of the soft robot, selecting PET film and nylon mesh as the limiting materials of the soft robot, and selecting release paper and steel needles as the airway materials of the soft robot; Based on the selected materials, design a 3D model of the multi-material pneumatic bending soft robot and layer it according to the materials; Among them, from top to bottom, the materials corresponding to each layer are: the first layer, PET film; the second to seventh layers, VHB4910; the eighth layer, release paper; add steel needles between the eighth and seventh layers; the ninth layer, VHB4910; the tenth layer, nylon mesh; the eleventh layer, VHB4910; the twelfth layer, PET film; The step S2 includes: Based on the layering diagram, obtain the 2D pattern corresponding to each layer; Based on this pattern, use laser cutting to process the material to achieve a 2D structure; The step S3 includes: After processing the material, use a cold laminator to stack and assemble the materials to complete the manufacturing of the multi-material pneumatic bending soft actuator.

2. A multi-material pneumatic soft robot manufacturing system based on lamination technology, characterized in that, Including: Module M1: Slice and layer the 3D model of the soft robot as required; Module M2: Process the material based on the 2D pattern of each layer obtained by layering to achieve a 2D structure; Module M3: Stack and assemble the processed materials to complete the manufacturing of the multi-material pneumatic soft robot; In the module M1, the 3D model includes multiple materials, and the multiple materials include multiple elastic soft materials and non-stretchable soft materials; In the module M2, processing the material includes: Based on the 2D pattern of each layer obtained by layering, processing and manufacturing the corresponding material for each layer to form a 2D planar structure; The module M3 includes: Stacking each layer of material processed by laser cutting to form a 3D complex structure; The soft robot includes at least one degree of freedom; The pneumatic soft robot has multiple single-degree-of-freedom driving modes, including bending, elongation, contraction, torsion, and angle switching; The pneumatic soft robot is connected to the gas source and each single degree of freedom is independently controlled. Under the inflation of compressed gas, a driving effect is generated. The module M1 includes: Selecting VHB4910 as the main material of the soft robot, selecting PET film and nylon mesh as the limiting materials of the soft robot, and selecting release paper and steel needles as the airway materials of the soft robot. Based on the selected materials, a three-dimensional model of the multi-material pneumatic bending soft robot is designed and layered according to the materials. Among them, from top to bottom, the materials corresponding to each layer are: the first layer, PET film; the second to seventh layers, VHB4910; the eighth layer, release paper; steel needles are added between the eighth and seventh layers; the ninth layer, VHB4910; the tenth layer, nylon mesh; the eleventh layer, VHB4910; the twelfth layer, PET film. The module M2 includes: Based on the layered diagram, obtaining the two-dimensional pattern corresponding to each layer; based on this pattern, using laser cutting to process the materials to achieve a two-dimensional structure. The module M3 includes: After processing the materials, using a cold laminator to stack and assemble the materials to complete the manufacture of the multi-material pneumatic bending soft actuator.

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