A gas-driven soft driving structure, a casting mold and a manufacturing method thereof

Abstract

The application discloses a gas-driven soft body driving structure, a casting mold and a manufacturing method thereof; the soft body driving structure can be combined with other structures to form a soft body robot system. The manufacturing method is based on the casting idea and can be combined with the assembly type mold group through 3D printing to manufacture the part structures of the soft body actuator in steps. Since the soft body structure is not easy to be demolded by one-time casting through the mold, even if the corresponding demolding agent is used before the silica gel is cast, the soft body structure is easy to be damaged in the demolding stage, and therefore the application provides a step-by-step casting method of the split mold group.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of soft robots, in particular, to the field of soft body manufacturing technology, and specifically relates to a gas-driven soft body driving structure, a casting mold and a manufacturing method thereof. BACKGROUND

[0002] Soft robots are a new type of bionic continuum robots, and are one of the important technical development directions in the future. Soft robots can be independent soft structures or combinations of soft drivers and solid structures. The materials of the soft structure or driver mainly use flexible materials with large deformation, so that continuous deformation can be realized, and the size and shape of the soft robot can be changed arbitrarily within a certain limit. Soft robots are lighter than traditional robots, and are more suitable for safe human-robot collaboration, and can also complete various complex pipeline work.

[0003] Due to the characteristics of unlimited degrees of freedom and high flexibility of soft robots, the manufacturing methods of flexible driving structures are different. However, many new manufacturing methods suitable for specific conditions are not mature enough, and the theoretical basis that can be used in the manufacturing method of traditional rigid robots is also very limited. Therefore, the manufacturing of soft driving structures often needs to be specially processed according to the actual materials, structures and the like. The structure manufacturing of some atypical flexible materials often needs special process processing. With the gradual improvement of the rapid prototyping technology of soft robots, 3D printing, mold casting, laser sintering and other methods have become the main soft processing methods.

[0004] Different driving methods have a great influence on the final deformation effect of the soft actuator, and also have corresponding requirements for the structure of the soft actuator, so it is necessary to consider selecting appropriate driving methods to match the soft actuator to achieve appropriate driving effect. The common driving methods of soft actuators at present include pneumatic, intelligent material driving and chemical reaction driving.

[0005] The present application provides a pneumatic soft driver, which can be combined with a solid structure to form different types of soft driving robots. Due to the particularity of the soft structure, the present application proposes a new manufacturing method for the soft driver. SUMMARY

[0006] Therefore, in order to solve the above problems, the present application provides a gas-driven soft driving structure, a casting mold and a manufacturing method thereof.

[0007] The present application is achieved by constructing a gas-driven soft body driving structure, characterized in that: the soft body driving structure has a ventilation side and a cavity side, wherein the ventilation side includes two connecting air holes (two holes are provided to improve the air intake and exhaust efficiency) for connecting with the driving gas source; the cavity side is fixedly bonded with other entity structures to achieve closure.

[0008] A casting mold of a gas-driven soft body driving structure, which is made by mold casting; the casting mold set of the soft body driver includes five components, namely, an outer arc surface mold A1, an inner side surface mold A2, a top cover mold A3, a cavity mold A4, and a base mold A5.

[0009] The outer arc surface mold A1 is used for forming the outer arc surface of the soft body driver, and forms the outer shape accommodating area of the driver body in combination with the inner side surface mold A2. The circular arc wrinkle on the inner surface of the outer arc surface mold A1 is opposite to the surface wrinkle of the driver in concave-convexity to match the required structural shape. A notch is left at the top of the outer arc surface mold A1, and a cylindrical key is arranged at the bottom end to facilitate the subsequent combination and assembly with the top cover mold A3 and the base mold A5. The overall length of the outer arc surface mold A1 is 55 mm, the cross-sectional circular arc radius is 25 mm, the radian is 90 degrees, and the radius of the small circular arc wrinkle on the inner surface is 2.5 mm.

[0010] The inner side surface mold A2 is used for forming the inner three side surfaces of the soft body driver, and is used in combination with the outer arc surface mold A1. The inner surface of the inner side surface mold A2 is provided with a semi-cylindrical wrinkle opposite in concave-convexity to the inner side surface of the soft body driver. A notch is arranged at the top of the inner side surface mold A2, and a cylindrical key is arranged at the bottom end, which has the same principle as the outer arc surface mold A1. The overall length of the inner side surface mold A2 is 55 mm, the top and bottom edges of the trapezoidal cross section are 17 mm and 35 mm respectively, the side length is 13 mm, and the radius of the small cylindrical surface on the inner surface is 1.25 mm.

[0011] The top cover mold A3 is used for positioning and constraining the upper half of the cavity mold A4, and cooperates with the outer arc surface mold A1 and the inner side surface mold A2. The protrusions at the upper and lower ends cooperate with the notches of the outer arc surface mold A1 and the inner side surface mold A2 to fix the relative positions. The two circular holes in the middle are used to constrain the cavity mold A4, and the size of the circular holes is consistent with the air hole of the soft body driver, with a radius of 4 mm and an overall thickness of 5 mm.

[0012] The cavity mold A4 is used for forming the inner cavity of the driver, and the two cylindrical bodies at the top are used for forming two air hole cavities, which cooperate with the top cover mold A3 for constraint. The bottom shape is consistent with the cavity cross section, and cooperates with the base mold A5 for constraint. The overall length is 60 mm, and the cylindrical body length is 10 mm.

[0013] Base mold A5: used for fixing and supporting outer arc surface mold A1, inner side mold A2, cavity mold A4, the groove shape in the middle is the same as the cavity section, used for fixing cavity mold A4, the circular hole of 4 fixed points is used for fixing the relative position of outer arc surface mold A1 and inner side mold A2; considering its support stability and material amount, the groove and circular hole depth is set to 5mm, the overall thickness is 10mm, the length is 30mm, and the width is 22mm.

[0014] According to the casting mold, the machining of the mold set is directly made into a finished product by 3D printing, and the material is photosensitive resin which is easy to form. The printed structure has sufficient precision and strength and can meet the requirements of the assembled body due to the characteristics of small swelling and small curing shrinkage.

[0015] A manufacturing method of a gas-driven soft drive structure, characterized in that the manufacturing process of the soft drive is as follows:

[0016] The first stage is to prepare the structure of the outer arc surface half part of the soft drive. The outer arc surface mold A1, the top cover mold A3, the cavity mold A4 and the base mold A5 are combined and assembled, and the outer surface of the outer arc surface mold A1 is the side that is attached to the ground. After spraying an appropriate amount of release agent on the surface of the outer arc surface mold A1, the silicone with the curing agent added in proportion is stirred uniformly and slowly poured into the mold set. When the amount of silicone reaches the highest point of the inner surface of the outer arc surface mold A1, stop. Place the mold set in a cool place for 3 to 4 hours to wait for the silicone to solidify and form. After forming, the material demolding operation can be performed;

[0017] First, the top cover mold A3 and the base mold A5 with the smallest silicone contact surface are disassembled, and then the cavity mold A4 is disassembled. Finally, the edge material separation of the silicone and the outer arc surface mold A1 is performed by using tools to facilitate the peeling and falling off of the final outer arc surface. Finally, the semi-finished product a1 of the soft drive is obtained.

[0018] The second stage is to prepare the structure of the inner side part of the soft drive. The inner side mold A2, the top cover mold A3, the cavity mold A4 and the base mold A5 are combined and assembled. The outer surface of the inner side mold A2 is the side that is attached to the ground. The steps of spraying release agent and pouring silicone are the same as those in the first stage, except that the semi-finished product a1 obtained in the first stage needs to be placed in the mold set here, and the semi-finished product a1 needs to be in full contact with the lower part of the uncured silicone at the cross section.

[0019] The subsequent operation is substantially the same as that in the first stage, first, the top cover mold and the base mold with a small contact surface of the silica gel material are disassembled, then the edge of the silica gel internal cavity mold is picked up with an elongated tool such as a toothpick (in the second stage, the cavity mold is attached with the silica gel material, and cannot be directly separated as in the first stage), and the silica gel is demolded with the internal side mold A2; finally, the main body part a2 of the soft driver is obtained;

[0020] The third stage: the main body part a2 obtained in the second stage does not have a real cavity structure, so it needs to be sealed; the silica gel material is used to seal the cavity, a small cup is used, 5mm deep silica gel is filled, the side to be sealed of the main body part a2 is slowly immersed in the cup, the bottom of the object is kept coincident with the bottom of the cup, and the object is stably placed and cooled for 3 to 4 hours; after the silica gel bottom is formed, the soft driver is separated from the cup, the excess silica gel material on the bottom edge is divided with a knife, the cavity sealing of the soft driver bottom is completed (only two air holes are left), and the main body a3 of the soft driver is obtained;

[0021] The fourth stage: after the main body of the soft driver is obtained in the third stage, the last limiting constraint layer is added, which is located on the inner side of the soft driver with a circular hole wrinkle, and has the same shape as the inner side; the limiting constraint layer is made of carbon fiber cloth, which has poor tensile properties to meet the limitation of deformation, and is cut to obtain the corresponding shape; there are two ways to add the limiting layer, one is to directly adhere by glue, but this way requires that the adhered section be as flat as possible, and there is still a possibility of subsequent movement and falling off; therefore, the second way is selected, that is, the limiting constraint layer is added in the silica gel pouring process. The specific steps are as follows: in the mold set used in the third stage, a proper amount of release agent is sprayed, 2mm deep silica gel is poured, the cut carbon fiber cloth is placed on the top, a proper amount of silica gel is poured to cover the surface, then the soft driver main body is embedded on the top to keep the inner side contact surface stable, and after the cooling and solidification, the final soft driver product is obtained.

[0022] The present application has the following advantages:

[0023] The application patent designs a soft body driving structure driven by gas, a casting mold and a manufacturing method thereof. The manufacturing method provides a new way for manufacturing the soft body driver, and can avoid the tearing phenomenon easily occurring in the integral casting. Meanwhile, the soft body driving structure can be combined with other structures to form a soft body robot system. The manufacturing method is proposed based on the casting idea, and the mold assembly can be combined and assembled by 3D printing, and each part of the soft body actuator is manufactured in steps. Since the soft body structure is not easy to demold by one-time casting of the mold, even if the corresponding demolding agent is used before pouring the silica gel, the soft body structure is easy to be damaged in the demolding stage, therefore, the application patent provides a step-by-step casting method of splitting the mold assembly. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a soft body actuator structure schematic diagram (ventilation side schematic diagram);

[0025] Figure 2 It is a soft body actuator structure schematic diagram (cavity side schematic diagram);

[0026] Figure 3 It is an outer arc surface mold A1 structure schematic diagram;

[0027] Figure 4 It is an inner side surface mold A2 structure schematic diagram;

[0028] Figure 5 It is a top cover mold A3 structure schematic diagram;

[0029] Figure 6 It is a cavity mold A4 structure schematic diagram;

[0030] Figure 7 It is a base mold A5 structure schematic diagram;

[0031] Figure 8 It is a mold assembly structure schematic diagram;

[0032] Figure 9 It is an outer arc surface mold assembly structure schematic diagram;

[0033] Figure 10 It is an inner side surface mold assembly structure schematic diagram. DETAILED DESCRIPTION

[0034] The application will be described in detail below with reference to the accompanying drawings. Figures 1-10 The application will be described in detail below with reference to the accompanying drawings. The technical solutions in the embodiments of the application are described clearly and completely, obviously, the described embodiments are only part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the application.

[0035] The present application provides a gas-driven soft actuator, a casting mold and a manufacturing method thereof. The structure of the soft actuator is shown in Figure 1 . Figure 1 The left side is a schematic diagram of the vent side, including two connecting air holes for connecting with the driving gas source. Figure 2 The right side is a schematic diagram of the cavity side, which is bonded and fixed with other entity structures to achieve closure.

[0036] The present application adopts the mold casting method to complete the manufacturing of the soft actuator. The casting mold set of the soft actuator includes five components, which are defined as the outer arc surface mold A1, the inner side surface mold A2, the top cover mold A3, the cavity mold A4, and the base mold A5, and the shape structure is shown in Figures 3-7 .

[0037] The size parameters and functions of each mold component are described as follows:

[0038] The outer arc surface mold A1 is used for forming the outer arc surface of the soft actuator, and by combining with the inner side surface mold A2, it constitutes the outer shape accommodating area of the actuator body. The circular arc wrinkle on the inner surface is opposite to the surface wrinkle of the actuator in concave-convex, so as to match the required structure shape. The top of the outer arc surface mold A1 is left with a notch, and the bottom end is provided with a cylindrical key, so as to facilitate the subsequent combination and assembly with the top cover mold A3 and the base mold A5. The overall length of the outer arc surface mold A1 is 55 mm, the cross-sectional circular arc radius is 25 mm, the arc is 90 degrees, and the radius of the small circular arc wrinkle on the inner surface is 2.5 mm. The specific structure is shown in Figure 3 .

[0039] The inner side surface mold A2 is used for forming the inner three sides of the soft actuator, and is used in combination with the outer arc surface mold A1. The inner surface is provided with a semi-cylindrical wrinkle opposite in concave-convex, corresponding to the inner side surface of the soft actuator. The top of the inner side surface mold A2 is provided with a notch, and the bottom end is provided with a cylindrical key, which has the same principle as the outer arc surface mold A1. The overall length of the inner side surface mold A2 is 55 mm, the top and bottom edges of the trapezoidal cross section are 17 mm and 35 mm respectively, the side length is 13 mm, and the small cylindrical radius of the inner surface is 1.25 mm. The specific structure is shown in Figure 4 .

[0040] The top cover mold A3 is used for positioning and constraining the upper half of the cavity mold A4, which cooperates with the outer arc surface mold A1 and the inner side surface mold A2. The protrusions at the upper and lower ends cooperate with the notches of the outer arc surface mold A1 and the inner side surface mold A2, for fixing the relative position. The two circular holes in the middle are used to constrain the cavity mold A4, and the size of the circular holes is consistent with the vent hole of the soft actuator, with a radius of 4 mm and a thickness of 5 mm. The specific structure is shown in Figure 5 .

[0041] Cavity mold A4: used for pouring the middle driver internal cavity, the top of two cylinders for two air hole cavity forming, with the top cover mold A3 to constrain, the bottom shape with the cavity section, with the base mold A5 to constrain. The overall length is 60mm, the cylinder length is 10mm, the specific structure is shown in Figure 6 .

[0042] Base mold A5: used for fixing and supporting the outer arc surface mold A1, the inner side surface mold A2, the cavity mold A4, the middle groove shape is the same as the cavity section, used for fixing the cavity mold A4, the four fixed point round holes are used to fix the relative position of the outer arc surface mold A1 and the inner side surface mold A2. Considering the support stability and the amount of material, the groove and the round hole depth are set to 5mm, the overall thickness is 10mm, the length is 30mm, and the width is 22mm, and the specific structure is shown in Figure 7 .

[0043] The mold set is directly manufactured by 3D printing, and the material is photosensitive resin which is easy to form. Because it has the characteristics of small swelling and small curing shrinkage, the structure printed out has enough precision and strength to meet the needs of the assembly body. It is worth noting that due to the limited manufacturing precision of the 3D printing equipment itself, reasonable structural gaps need to be left in places such as notches and hole shafts on the design drawing according to the actual manufacturing error to avoid the situation that the physical object cannot be assembled and used. The mold assembly body product is shown in Figure 8 .

[0044] The production process of the soft driver will be described in detail below.

[0045] First stage: first, the structure of the soft driver outer arc surface half is prepared. The outer arc surface mold A1, the top cover mold A3, the cavity mold A4 and the base mold A5 are combined and assembled in the form of Figure 9 . The outer surface of the outer arc surface mold A1 is the side that is attached to the ground. After spraying an appropriate amount of release agent on the surface of the outer arc surface mold A1, the silicone with the curing agent added in proportion is stirred uniformly, and then slowly poured into the mold set. Stop when the amount of silicone reaches the highest point of the inner surface of the outer arc surface mold A1. Place the mold set in a cool place for 3 to 4 hours to wait for the silicone to solidify and form. After forming, the material demolding operation can be performed.

[0046] First, the top cover mold A3 and the base mold A5 with the smallest silicone contact surface are disassembled, and then the cavity mold A4 is disassembled. Finally, the edge of the silicone and the outer arc surface mold A1 is separated by using tools to facilitate the peeling and falling off of the final outer arc surface. Finally, the semi-finished product a1 of the soft driver is obtained.

[0047] Second stage: the structure of the inner side of the software driver is prepared. The inner side mold A2, the top cover mold A3, the cavity mold A4 and the base mold A5 are assembled in the form of combination. Figure 10 The outer surface of the inner side mold A2 is the side that is in contact with the ground. The steps of spraying release agent and pouring silica gel are the same as those in the first stage, except that the semi-finished product a1 obtained in the first stage is placed on the mold set here, and attention should be paid to the fact that the semi-finished product a1 needs to be in full contact with the lower uncured silica gel at the cross section.

[0048] The subsequent operation is basically the same as that in the first stage. First, the top cover mold and the base mold that are in contact with the silica gel material are removed. Then, attention should be paid to the fact that the edge of the silica gel inside the cavity mold is picked up with a slender tool such as a toothpick (in the second stage, the silica gel material is attached to the periphery of the cavity mold, and it cannot be separated directly as in the first stage), and the silica gel as a whole is demolded from the inner side mold A2. Finally, the main part a2 of the software driver is obtained.

[0049] Third stage: the main part a2 obtained in the second stage does not have a real cavity structure in terms of structure, so it needs to be sealed. The silica gel material is also used to seal the closed cavity. A small cup is used to pour 5mm deep silica gel, the side to be sealed of the main part a2 is slowly immersed in the cup, the bottom of the object is kept in coincidence with the bottom of the cup, and the object is stably placed for cooling and solidification for 3 to 4 hours.

[0050] After the bottom of the silica gel is formed, the software driver is separated from the cup, and the excess silica gel material at the edge of the bottom is divided by a knife or other tools, the cavity sealing of the bottom of the software driver is completed (only two air holes are left), and the main part a3 of the software driver is obtained.

[0051] Fourth stage: after the main part of the software driver is obtained in the third stage, the last limiting constraint layer is added. The specific position is the inner side of the software driver with a circular hole wrinkle, and the shape is consistent with the inner side. The limiting constraint layer adopts carbon fiber cloth, which has poor tensile properties to meet the function of limiting deformation, and is cut to obtain the corresponding shape. There are two ways to add the limiting layer. One is to directly adhere by using glue, but in this way, the adhesion cross section needs to be as flat as possible, and there is still a possibility of subsequent movement and falling off. Therefore, the second way is adopted, that is, the limiting constraint layer is added in the silica gel pouring process. The specific steps are as follows: first, spray an appropriate amount of release agent in the mold set used in the third stage, pour 2mm deep silica gel, place the cut carbon fiber cloth on the top, pour appropriate amount of silica gel to cover the surface, then embed the main part of the software driver on the top to keep the inner side contact surface stable, and wait for the cooling and solidification to obtain the final software driver product.

[0052] In summary, the application designs a soft body driving structure driven by gas, a casting mold and a manufacturing method thereof. The manufacturing method provides a new way for manufacturing the soft body driver, and can avoid the tearing phenomenon which is easily occurred in the whole casting. Meanwhile, the soft body driving structure can be combined with other structures to form a soft body robot system. The manufacturing method is based on the casting idea, and the soft body actuator is manufactured in steps through the combined and assembled mold set by 3D printing. Since the soft body structure is not easy to demold by one-time casting through the mold, even if the corresponding demolding agent is used before the casting of silica gel, the soft body structure is easy to be damaged in the demolding stage, therefore the application provides a step-by-step casting method of splitting the mold set.

[0053] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A gas-driven soft actuation structure, characterized by ； The soft body driving structure has a ventilation side and a cavity side, wherein the ventilation side includes two connecting air holes for connecting with a driving gas source; and the cavity side is adhered and fixed with other entity structures to achieve closure. The soft body driving structure driven by gas is made by pouring in a mold as follows: the pouring mold set of the soft body driver includes five components, namely, an outer arc surface mold A1, an inner side surface mold A2, a top cover mold A3, a cavity mold A4, and a base mold A5. The outer arc surface mold A1 is used for forming an outer arc surface of the soft body driver, and forms an outer shape accommodating area of the body of the driver in combination with the inner side surface mold A2. The circular arc fold on the inner surface of the outer arc surface mold A1 is opposite to the surface fold of the driver in concave-convexity to match the required structure shape. A notch is left at the top of the outer arc surface mold A1, and a cylindrical key is arranged at the bottom end to facilitate the subsequent combination and assembly of the top cover mold A3 and the base mold A5. The overall length of the outer arc surface mold A1 is 55 mm, the cross-sectional circular arc radius is 25 mm, the arc is 90 degrees, and the radius of the small circular arc fold on the inner surface is 2.5 mm. The inner side surface mold A2 is used for forming three inner side surfaces of the soft body driver, and is used in combination with the outer arc surface mold A1. The inner surface of the inner side surface mold A2 is provided with a semi-cylindrical fold opposite in concave-convexity to the inner side surface of the soft body driver. The inner side surface mold A2 is provided with a notch at the top and a cylindrical key at the bottom end, and the principle is the same as that of the outer arc surface mold A1. The overall length of the inner side surface mold A2 is 55 mm, the top and bottom edges of the trapezoidal cross section are 17 mm and 35 mm respectively, the side length is 13 mm, and the inner surface small cylindrical radius is 1.25 mm. The top cover mold A3 is used for positioning and constraining the upper half of the cavity mold A4, and is matched with the outer arc surface mold A1 and the inner side surface mold A2. The protrusions at the upper and lower ends are matched with the notches of the outer arc surface mold A1 and the inner side surface mold A2 to fix the relative positions. The two circular holes in the middle are used to constrain the cavity mold A4, and the size of the circular holes is consistent with that of the ventilation holes of the soft body driver, the radius is 4 mm, and the overall thickness is 5 mm. The cavity mold A4 is used for pouring and forming the inner cavity of the driver, and the two cylindrical bodies at the top are used for forming two ventilation hole cavities, matched with the top cover mold A3 for constraint, and the bottom shape is consistent with the cavity cross section, matched with the base mold A5 for constraint. The overall length is 60 mm, and the cylindrical body length is 10 mm. The base mold A5 is used for fixing and supporting the outer arc surface mold A1, the inner side surface mold A2, and the cavity mold A4. The recess in the middle has the same shape as the cavity cross section, and is used for fixing the cavity mold A4. The four circular holes are used to fix the relative positions of the outer arc surface mold A1 and the inner side surface mold A2. The depth of the recess and the circular holes is 5 mm, the overall thickness is 10 mm, the length is 30 mm, and the width is 22 mm.

2. The casting mold according to claim 1, characterized by; The mold set is directly made into a finished product by 3D printing, and the material is photosensitive resin which is easy to form.

3. A method for manufacturing a soft actuator driven by gas, characterized by comprising the steps of: The manufacturing process of the soft body driver is as follows. The first stage: firstly, the structure preparation of the outer arc surface half part of the soft driver is carried out; the outer arc surface mold A1, the top cover mold A3, the cavity mold A4 and the base mold A5 are combined and assembled, the outer surface of the outer arc surface mold A1 is the side which is attached to the ground; after spraying an appropriate amount of release agent on the surface of the outer arc surface mold A1, the silicon glue with the curing agent added in proportion is stirred uniformly, and then slowly poured into the mold group; when the amount of the silicon glue reaches the highest position of the inner surface of the outer arc surface mold A1, the pouring is stopped; the mold group is placed in a cool place for 3 to 4 hours to wait for the silicon glue to be cured and formed, and then the demolding operation of the material is carried out after the forming; Firstly, the top cover mold A3 and the base mold A5 with the smallest contact surface with the silicon glue are disassembled, and then the cavity mold A4 is disassembled; finally, the edge material separation of the silicon glue and the outer arc surface mold A1 is carried out by using a tool, so that the final outer arc surface peeling and falling off is facilitated; finally, the semi-finished product a1 of the soft driver is obtained; The second stage: the structure preparation of the inner side surface part of the soft driver is carried out; the inner side surface mold A2, the top cover mold A3, the cavity mold A4 and the base mold A5 are combined and assembled; the outer surface of the inner side surface mold A2 is the side which is attached to the ground, the steps of spraying the release agent and pouring the silicon glue are the same as those in the first stage, except that the semi-finished product a1 obtained in the first stage is placed on the mold group here, and it is noted that the semi-finished product a1 needs to be in full contact with the silicon glue which is not cured at the cross section; The subsequent operation is the same as that in the first stage, firstly, the top cover mold and the base mold with the smaller contact surface with the silicon glue material are disassembled, then the edge of the silicon glue inside the cavity mold is picked off by using an elongated tool, and the demolding operation of the silicon glue as a whole and the inner side surface mold A2 is carried out; finally, the main body part a2 of the soft driver is obtained; The third stage: a small cup is used, 5mm depth of silicon glue is filled in the cup, the side to be sealed of the main body part a2 is slowly immersed in the cup, the bottom surface of the object is kept coinciding with the bottom of the cup, and the object is stably placed after the shape is stabilized, and then the cooling curing is carried out for 3 to 4 hours; after the bottom of the silicon glue is formed, the soft driver is separated from the cup, the tool is used to divide the excess silicon glue material at the bottom edge, the cavity sealing of the bottom surface of the soft driver is completed, and the main body a3 of the soft driver is obtained; The fourth stage: after the main body of the soft driver is obtained in the third stage, the last limiting constraint layer is added, the specific position is the inner side surface of the soft driver with a circular hole wrinkle, and the shape is consistent with the inner side surface; the limiting constraint layer adopts carbon fiber cloth, the tensile property of which is poor to meet the role of limiting deformation, and the limiting constraint layer with the corresponding shape is obtained by cutting; the adding of the limiting layer adopts the method of adding the limiting constraint layer in the silicon glue pouring; The specific steps are that an appropriate amount of release agent is sprayed into the mold group used in the third stage, 2mm depth of silicon glue is poured, the cut carbon fiber cloth is placed above, an appropriate amount of silicon glue is poured to cover the surface, then the main body of the soft driver is embedded above to keep the inner side contact surface stable and attached, and the final soft driver product is obtained after the cooling curing forming is carried out in the waiting period.

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