Soft mechanical gripper device based on 3D printing

Abstract

The invention discloses a soft mechanical gripper device based on 3D printing, the soft mechanical gripper device comprises a demolding supporting platform, a lifting plate, a printing supporting frame and a reciprocating arm, in the using process of the soft mechanical gripper device, when an inflation unit is inflated and expanded, a convex contact block is pushed to move outwards, the convex contact block completely jacks up a convex contact area on the surface of a first flexible rubber sleeve, and the first flexible rubber sleeve is driven to rotate; and after the multiple sets of convex contact areas are jacked up, the surface of the first flexible rubber sleeve can be completely tensioned, so that the surface of the first flexible rubber sleeve is flat in the 3D printing process, an inner cavity of the printed soft mechanical claw is uniform and smooth, and in the process of circularly and alternately blowing cold and hot air, the air inflation unit is intermittently driven to circularly inflate and exhaust, so that the air inflation efficiency is improved. And the convex contact block vibrates in a reciprocating mode, the second flexible rubber sleeve makes contact with the first flexible rubber sleeve, the convex contact block conducts vibration, when the first flexible rubber sleeve and the second flexible rubber sleeve vibrate, thermal expansion and cold contraction are matched, and the inner wall demolding effect of the soft mechanical claw is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing soft mechanical claws, and in particular to a soft mechanical claw device based on 3D printing. Background Art

[0002] 3D printing is a type of rapid prototyping technology, also known as additive manufacturing. It is a technology that uses digital model files as the basis, uses powdered metal or plastic and other bondable materials to construct objects by printing layer by layer. 3D printing is usually achieved using digital technology material printers. It is often used to make models in the fields of mold manufacturing, industrial design, etc., and then gradually used for the direct manufacturing of some products. There are already parts printed using this technology. This technology has applications in jewelry, footwear, industrial design, architecture, engineering and construction (AEC), automobiles, aerospace, dental and medical industries, education, geographic information systems, civil engineering, firearms and other fields.

[0003] Of course, to make a soft robotic claw through 3D printing, you need to select flexible materials for printing. Usually, 3D printing equipment is used to print and make it based on the robotic claw mold. After printing, the mold is removed from the finished soft robotic claw.

[0004] In the prior art, a soft mechanical finger and mechanical claw device based on 3D printing is disclosed in the publication number "CN113696221B". The structure of the soft mechanical claw is designed, and it is made by 3D printing using new materials. During the printing process, a support mold made of TPU material is used to support the upper material. After the printing is completed, the mold is dissolved by DMF solution so that the mold can be easily removed. The soft mechanical finger manufactured by this method is integrally formed. Compared with the method of step-by-step printing and then bonding, the mechanical finger cavity obtained by this method has higher sealing performance. The problems of material selection and cavity support for the mechanical claw in the prior art are solved. By using this mechanical finger in combination with a connecting base with different numbers of through holes, the number of fingers in the mechanical claw can be flexibly set, which is suitable for different application scenarios and enhances the versatility of the mechanical claw.

[0005] However, the existing technology still has major deficiencies, such as:

[0006] In the above-mentioned device and the prior art, DMF solution is used to dissolve the mold, but DMF is an organic solvent with very high activity and is relatively corrosive. It can corrode materials such as metals, rubber and plastics. When the DMF solution is used to eliminate the mold, although the DMF solution after the mold is dissolved can be removed by cleaning, the DMF solution will directly contact the air cavity inside the soft mechanical claw after the mold is melted. The DMF solution will corrode the inner wall of the soft mechanical claw, thereby causing the air tightness of the soft mechanical claw to decrease, making it impossible to perform high-pressure gas injection into the soft mechanical claw, resulting in a decrease in the service life of the soft mechanical claw. Summary of the invention

[0007] The purpose of the present invention is to provide a soft mechanical claw device based on 3D printing to solve the problems raised in the above background technology.

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a 3D printing-based soft mechanical claw device, comprising a demoulding support platform, a lifting plate, a printing support frame and a reciprocating arm, wherein the lifting plate is arranged on one side of the demoulding support platform, the printing support frame is arranged on one side of the lifting plate, and the reciprocating arm is arranged in a plurality of groups, and the plurality of groups of the reciprocating arms are symmetrically arranged on both sides of the demoulding support platform;

[0009] A flexible covering unit, which is arranged on one side of the printing support frame and is used to provide flexible covering support during surface 3D printing, so that the soft mechanical claw is printed and covered on the surface of the flexible covering unit, thereby allowing the mold and the soft mechanical claw to fully fit and contact each other;

[0010] A physical demoulding unit is arranged on the surface of the demoulding support platform, and is used to demould the soft mechanical claw from the mold after 3D printing is completed.

[0011] Preferably, the flexible covering unit includes a hard rubber plate, which is installed on the side of the printing support frame close to the surface of the demolding support platform, and a first flexible rubber sleeve is provided on the side of the printing support frame away from the hard rubber plate, the other end of the first flexible rubber sleeve is sealed with one end of the hard rubber plate, and second flexible rubber sleeves are sealed on both sides of the first flexible rubber sleeve and the hard rubber plate, and one end of the second flexible rubber sleeve is sealed with the printing support frame, a mold body is installed on the surface of the hard rubber plate, a convex contact block is movably installed on the surface of the mold body, a mounting groove is provided in the mold body, an inflation unit is installed in the mounting groove, the inflation unit is in movably contact with the convex contact block, and the convex contact block is in close contact with the first flexible rubber sleeve.

[0012] Preferably, the physical demoulding unit includes an air supply unit, which is installed at the bottom of the demoulding support platform, a flexible duct is installed on one side of the air supply unit, a heating bellows is installed at the bottom of the reciprocating arm, the heating bellows is connected to the flexible duct, one side of the heating bellows is connected to the air supply duct, a movable arm is provided at the top of the reciprocating arm, a jet box is installed on one side of the movable arm, the jet box is connected to the air supply duct, and spray holes are provided at intervals on the surface of the jet box.

[0013] Preferably, fixed blocks are installed on both sides of the reciprocating arm, fixed columns are installed on both sides of the movable arm, one end of the fixed column is fixed to one side of the fixed block, a torsion spring is sleeved on the surface of the fixed column, two ends of the torsion spring are respectively fixed to one side of the movable arm and one side of the fixed block, a holder is provided at the bottom of the movable arm, a guide arm is hingedly installed on the top of the demoulding support platform, a movable plate is rotatably installed at one end of the guide arm, a movable column is movably installed inside the holder, one side of the movable plate is fixed to one end of the movable column, and a through groove is provided on one side of the reciprocating arm.

[0014] Preferably, the movable plates are symmetrically installed in two groups, and the two groups of movable plates are respectively fixed to two ends of the movable column.

[0015] Preferably, the reciprocating arms are arranged in three groups, a limiting rod is installed inside one group of the reciprocating arms, a linkage arm is installed between the three groups of the reciprocating arms, a limiting hole is provided on the surface of the demoulding support platform close to the limiting rod, the limiting rod is snugly inserted into the limiting hole, a groove is provided at the bottom of the demoulding support platform, a direct-drive guide rail is installed inside the groove, and the movable end of the direct-drive guide rail is fixed to one side of a group of the reciprocating arms close to the limiting rod.

[0016] Preferably, an air guide groove is provided on the top of the demoulding support platform, a guide plate is provided in the air guide groove, the guide plates are symmetrically installed in two groups, a storage groove is opened on one side of the demoulding support platform, the storage groove is symmetrically opened in two groups, a linear cylinder is installed in the storage groove, the lifting plate is installed on the output end of the linear cylinder, and an air vent is provided at the bottom of the air guide groove.

[0017] Preferably, a fixed seat is installed on one side of the lifting plate, a stepper motor is installed on one side of the fixed seat, a transmission column is rotatably installed in the fixed seat, one end of the transmission column is fixed to the output end of the stepper motor, a fixed arm is fixedly sleeved on one end of the transmission column, and one side of the fixed arm is fixed to one side of the printing support frame.

[0018] Preferably, a support base is installed at the bottom of the demoulding support platform.

[0019] Preferably, convex contact areas are arranged at intervals on the surface of the second flexible rubber sleeve, and the convex contact areas are arranged in a plurality of groups.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. Before 3D printing, first drive the stepper motor, and the stepper motor drives the transmission column to drive the fixed arm to rotate. The fixed arm will reset the printing support frame from the demoulding state to the printing state. After the reset is completed, the hard rubber plate on one side of the printing support frame will be perpendicular to the demoulding support platform, and then inflate through the inflation unit. When the inflation unit is inflated, it will push the convex contact block outward, so that the convex contact block will completely lift the convex contact area on the surface of the first flexible rubber sleeve. When multiple groups of convex contact areas are lifted, the surface of the first flexible rubber sleeve will be completely tightened, which makes the surface of the first flexible rubber sleeve flat during 3D printing, and the inner cavity of the soft mechanical claw after printing is even and smooth, avoiding excessive wrinkles in the inner cavity, and ensuring the printing effect of the inner cavity of the soft mechanical claw;

[0022] 2. When the external 3D printing device finishes printing along the surfaces of the first flexible rubber sleeve and the second flexible rubber sleeve, the stepper motor is driven again, and the stepper motor is reset to reset the printing support frame from the printing state to the demoulding state. After the reset is completed, the hard rubber plate on one side of the printing support frame will be parallel to the demoulding support platform. When the hard rubber plate is reset in place, the air supply unit is started to supply air, and a part of the gas will enter the air guide groove through the air vents, and the input gas will be guided to the bottom of the hard rubber plate through the guide plate, thereby cooling the soft mechanical claw area set in the hard rubber plate area. When the hard rubber plate and the soft mechanical claw are cooled, they separate from each other, and the cooling gas continues to move along the hard rubber plate, and the cooling gas contacts the first flexible rubber sleeve and the second flexible rubber sleeve. At the same time, the first flexible rubber sleeve and the second flexible rubber sleeve are also sprayed with hot gas from both sides of the demoulding support platform, so that the soft mechanical claw set on the surface of the first flexible rubber sleeve and the second flexible rubber sleeve is blown by the circulation of hot and cold gas, so that the first flexible rubber sleeve and the second flexible rubber sleeve are cyclically expanded and contracted, so as to better separate from the inner cavity of the soft mechanical claw, and ensure the demoulding effect of the soft mechanical claw;

[0023] 3. During the process of alternately blowing the hot and cold gases, the inflation unit is intermittently driven to perform cyclic inflation and exhaust, and the convex contact block vibrates back and forth, so that the first flexible rubber sleeve in direct contact with the convex contact block vibrates, and the second flexible rubber sleeve is in contact with the first flexible rubber sleeve and vibrates due to conduction. When the first flexible rubber sleeve and the second flexible rubber sleeve vibrate, they will expand and contract with heat and cold, further improving the demoulding effect of the inner wall of the soft mechanical claw;

[0024] 4. During the demoulding process, the direct-drive guide rail installed inside the driving groove, the moving end of the direct-drive guide rail will drive a group of reciprocating arms connected to it to move back and forth, and the remaining reciprocating arms will follow the group of reciprocating arms through the linkage arm. When the reciprocating arm moves close to the soft mechanical claw, the reciprocating arm will drive the movable arm to move, and the movable arm will push the guide arm to lift up through the movable column in the bottom holder. When the guide arm is lifted, it will push the movable arm to lift up, so that the jet box connected to the movable arm is slowly lifted upward, so that the hot gas ejected from the jet box moves upward along the outside of the second flexible rubber sleeve and is ejected, thereby further increasing the circulating spraying range of the hot gas to the outside of the soft mechanical claw, ensuring that the soft mechanical claw is effectively sprayed with alternating hot and cold gases, and further ensuring the demoulding effect of the first flexible rubber sleeve and the second flexible rubber sleeve inside the soft mechanical claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an overall schematic diagram of the device of the present invention;

[0026] Figure 2 It is a schematic diagram of the guide plate and the air vents in the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the printing support frame in the present invention;

[0028] Figure 4 It is a schematic diagram of the structure of the mold body in the present invention;

[0029] Figure 5 It is a partial schematic diagram of the air supply unit in the present invention;

[0030] Figure 6 It is a schematic diagram of the reciprocating arm part of the present invention;

[0031] Figure 7 It is a schematic diagram of the guide arm and the card seat part in the present invention;

[0032] Figure 8 It is a schematic diagram of the structure of the fixing seat part in the present invention.

[0033] In the figure: 1. demoulding support platform; 11. storage groove; 12. linear cylinder; 13. fixed seat; 131. transmission column; 132. fixed arm; 133. stepper motor; 14. air guide groove; 141. guide plate; 142. air vent; 15. limit hole; 16. support base; 17. groove; 18. direct drive guide rail; 2. lifting plate; 3. printing support frame; 31. hard rubber plate; 32. first flexible rubber sleeve; 321. convex contact area; 33. second flexible rubber sleeve ; 4. Reciprocating arm; 41. Linkage arm; 42. Heating bellows; 421. Air supply duct; 43. Movable arm; 431. Torsion spring; 432. Fixed column; 44. Fixed block; 45. Jet box; 451. Spray hole; 46. Guide arm; 461. Movable plate; 47. Holder; 471. Movable column; 48. Through groove; 5. Mold body; 51. Convex contact block; 52. Mounting groove; 53. Inflatable unit; 6. Air supply unit; 61. Flexible duct; 7. Limit rod. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1-8 , the present invention provides a technical solution:

[0036] Embodiment 1: A soft mechanical claw device based on 3D printing: comprising a demoulding support platform 1, a lifting plate 2, a printing support frame 3 and a reciprocating arm 4, wherein the lifting plate 2 is arranged on one side of the demoulding support platform 1, the printing support frame 3 is arranged on one side of the lifting plate 2, and the reciprocating arm 4 is arranged in a plurality of groups, and the plurality of groups of reciprocating arms 4 are symmetrically arranged on both sides of the demoulding support platform 1;

[0037] A fixed seat 13 is installed on one side of the lifting plate 2, and a stepper motor 133 is installed on one side of the fixed seat 13. A transmission column 131 is rotatably installed in the fixed seat 13, and one end of the transmission column 131 is fixed to the output end of the stepper motor 133. A fixed arm 132 is fixedly sleeved on one end of the transmission column 131, and one side of the fixed arm 132 is fixed to one side of the printing support frame 3.

[0038] A support base 16 is installed at the bottom of the demoulding support platform 1 .

[0039] An air guide groove 14 is arranged on the top of the demoulding support platform 1, and a guide plate 141 is arranged in the air guide groove 14, and the guide plates 141 are symmetrically installed in two groups. A storage groove 11 is opened on one side of the demoulding support platform 1, and the storage groove 11 is symmetrically opened in two groups. A linear cylinder 12 is installed in the storage groove 11, and the lifting plate 2 is installed on the output end of the linear cylinder 12. An air vent 142 is arranged at the bottom of the air guide groove 14.

[0040] In this embodiment, the guide plate 141 can be installed in the air guide groove 14 by adding an external electric rotating structure without paying creative technology by those skilled in the art, so that the guide plate 141 continuously swings when the gas is ejected to guide the gas outward. Before 3D printing, the stepper motor 133 is first driven, and the stepper motor 133 drives the transmission column 131 to drive the fixed arm 132 to rotate. The fixed arm 132 will reset the printing support frame 3 from the demolding state to the printing state. After the reset is completed, the hard rubber on one side of the printing support frame 3 The plate 31 will be perpendicular to the demoulding support platform 1, and then inflated by the inflation unit 53. When the inflation unit 53 is inflated, it will push the convex contact block 51 to move outward, allowing the convex contact block 51 to completely lift up the convex contact area 321 on the surface of the first flexible rubber sleeve 32. When multiple groups of convex contact areas 321 are lifted up, the surface of the first flexible rubber sleeve 32 will be completely tightened, which makes the surface of the first flexible rubber sleeve 32 smooth during the 3D printing process, and the inner cavity of the soft mechanical claw after printing is uniform and smooth, avoiding excessive wrinkles in the inner cavity, and ensuring the printing effect of the inner cavity of the soft mechanical claw.

[0041] A flexible covering unit is arranged on one side of the printing support frame 3, and is used to provide flexible covering support during surface 3D printing, so that the soft mechanical claw is printed and covered on the surface of the flexible covering unit, so that the mold and the soft mechanical claw are fully fitted and contacted;

[0042] The flexible covering unit includes a hard rubber plate 31, which is installed on the side of the printing support frame 3 close to the surface of the demoulding support platform 1, and a first flexible rubber sleeve 32 is provided on the side of the printing support frame 3 away from the hard rubber plate 31, and the other end of the first flexible rubber sleeve 32 is sealed with one end of the hard rubber plate 31, and a second flexible rubber sleeve 33 is sealed on both sides of the first flexible rubber sleeve 32 and the hard rubber plate 31, and one end of the second flexible rubber sleeve 33 is sealed with the printing support frame 3;

[0043] The surface of the second flexible rubber sleeve 33 is provided with convex contact areas 321 at intervals, and the convex contact areas 321 are arranged in a plurality of groups at intervals;

[0044] In this embodiment, the first flexible rubber sleeve 32, the second flexible rubber sleeve 33 and the hard rubber plate 31 are sealed together, so that a sealing area is formed inside the first flexible rubber sleeve 32, the second flexible rubber sleeve 33 and the hard rubber plate 31;

[0045] When the external 3D printing device finishes printing along the surface of the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33, the stepper motor 133 is driven again, and the stepper motor 133 is reset to reset the printing support frame 3 from the printing state to the demoulding state. After the reset is completed, the hard rubber plate 31 on one side of the printing support frame 3 will be parallel to the demoulding support platform 1. When the hard rubber plate 31 is reset in place, the air supply unit 6 is started to supply air, and a part of the gas will enter the air guide groove 14 through the air vent 142, and the input gas will be guided to the bottom of the hard rubber plate 31 through the guide plate 141, so as to perform air supply on the soft mechanical claw area set in the hard rubber plate 31 area. The hard rubber plate 31 and the soft mechanical claw are separated from each other after being cooled, and the cooling gas will continue to move along the hard rubber plate 31, and the cooling gas will contact the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33. At the same time, the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33 will also be blown by the hot gas from both sides of the demoulding support platform 1, so that the soft mechanical claw sleeved on the surface of the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33 is blown by the circulation of hot and cold gas, so that the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33 can perform cyclic thermal expansion and contraction, so as to better separate from the inner cavity of the soft mechanical claw, thereby ensuring the demoulding effect of the soft mechanical claw.

[0046] The physical demoulding unit is arranged on the surface of the demoulding support platform 1, and is used to demould the soft mechanical claw from the mold after the 3D printing is completed.

[0047] The physical demoulding unit includes an air supply unit 6, which is installed at the bottom of the demoulding support platform 1. A flexible duct 61 is installed on one side of the air supply unit 6. A heating bellows 42 is installed at the bottom of the reciprocating arm 4. The heating bellows 42 is connected to the flexible duct 61. One side of the heating bellows 42 is connected to an air supply duct 421. A movable arm 43 is provided at the top of the reciprocating arm 4. A jet box 45 is installed on one side of the movable arm 43. The jet box 45 is connected to the air supply duct 421. Spray holes 451 are spaced apart on the surface of the jet box 45.

[0048] Fixed blocks 44 are installed on both sides of the reciprocating arm 4, fixed columns 432 are installed on both sides of the movable arm 43, one end of the fixed column 432 is fixed to one side of the fixed block 44, a torsion spring 431 is sleeved on the surface of the fixed column 432, and both ends of the torsion spring 431 are respectively fixed to one side of the movable arm 43 and one side of the fixed block 44, a holder 47 is provided at the bottom of the movable arm 43, a guide arm 46 is hingedly installed on the top of the demoulding support platform 1, a movable plate 461 is rotatably installed at one end of the guide arm 46, a movable column 471 is movably installed inside the holder 47, one side of the movable plate 461 is fixed to one end of the movable column 471, and a through groove 48 is provided on one side of the reciprocating arm 4.

[0049] The movable plates 461 are symmetrically installed in two groups, and the two groups of movable plates 461 are respectively fixed to the two ends of the movable column 471.

[0050] The reciprocating arms 4 are arranged to be spaced apart into three groups, a limiting rod 7 is installed inside one group of the reciprocating arms 4, a linkage arm 41 is installed between the three groups of reciprocating arms 4, a limiting hole 15 is provided on the surface of the demoulding support platform 1 close to the limiting rod 7, the limiting rod 7 is snugly inserted into the limiting hole 15, a groove 17 is provided at the bottom of the demoulding support platform 1, a direct-drive guide rail 18 is installed inside the groove 17, and a movable end of the direct-drive guide rail 18 is fixed to one side of a group of reciprocating arms 4 close to the limiting rod 7.

[0051] In this embodiment, during the demolding process, the direct-drive guide rail 18 installed inside the driving groove 17, the moving end of the direct-drive guide rail 18 will drive a group of reciprocating arms 4 connected thereto to move back and forth, and the remaining reciprocating arms 4 will follow the movement of the group of reciprocating arms 4 through the linkage arm 41. When the reciprocating arm 4 moves toward the soft mechanical claw, the reciprocating arm 4 will drive the movable arm 43 to move, and the movable arm 43 will push the guide arm 46 to be lifted through the movable column 471 in the bottom holder 47. When the guide arm 46 is lifted, it will push the movable arm 43 to be lifted, so that the jet box 45 connected to the movable arm 43 is slowly lifted upward, so that the hot gas ejected from the jet box 45 moves upward along the outside of the second flexible rubber sleeve 33 and is ejected, thereby further increasing the circulating spraying range of the hot gas to the outside of the soft mechanical claw, ensuring that the soft mechanical claw is effectively sprayed with alternating hot and cold gases, and further ensuring the demolding effect of the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33 inside the soft mechanical claw.

[0052] Embodiment 2:

[0053] This embodiment is based on the first embodiment. In this embodiment, although a convex contact area 321 is reserved on the surface of the first flexible rubber sleeve 32, as the surface printing material continues to increase, the printing material will press the convex contact area 321 downward. If a hard support is provided at the bottom of the convex contact area 321, the convex contact area 321 will block the demolding effect of the soft mechanical claw during the demolding process. Therefore, in this embodiment, a mold body 5 and a convex contact block 51 are provided. The convex contact block 51 will be pushed outward after the inflation unit 53 is inflated. When printing is completed, the inflation unit 53 deflates the convex contact block 51 to retract it, which makes the convex contact block 51 separate from the first flexible rubber sleeve 32. At the same time, in the demolding step, the first flexible rubber sleeve 32 will be continuously vibrated by the convex contact block 51, thereby further promoting the demolding effect.

[0054] A mold body 5 is installed on the surface of the hard rubber plate 31, and a convex contact block 51 is movably installed on the surface of the mold body 5. A mounting groove 52 is provided in the mold body 5, and an inflatable unit 53 is installed in the mounting groove 52. The inflatable unit 53 is in movably contact with the convex contact block 51, and the convex contact block 51 is in close contact with the first flexible rubber sleeve 32;

[0055] In this embodiment, the inflation unit 53 and the air supply unit 6 are both well known to those skilled in the art, wherein the air supply unit 6 may be composed of an air supply pump and an air storage bin, and the inflation unit 53 may be composed of an inflation pump and an expansion air bag;

[0056] During the alternating blowing of hot and cold gases, the inflation unit 53 is intermittently driven to perform cyclic inflation and exhaust, and the convex contact block 51 vibrates back and forth, causing the first flexible rubber sleeve 32 in direct contact with the convex contact block 51 to vibrate, and the second flexible rubber sleeve 33 is in contact with the first flexible rubber sleeve 32 and vibrates due to conduction. When the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33 vibrate, they will cooperate with thermal expansion and contraction, further improving the demoulding effect of the inner wall of the soft mechanical claw.

[0057] Working principle: During the use of the device, before 3D printing, the stepper motor 133 is first driven, and the stepper motor 133 drives the transmission column 131 to drive the fixed arm 132 to rotate. The fixed arm 132 will reset the printing support frame 3 from the demoulding state to the printing state. After the reset is completed, the hard rubber plate 31 located on one side of the printing support frame 3 will be perpendicular to the demoulding support platform 1, and then inflated by the inflation unit 53. When the inflation unit 53 is inflated, it will push the convex contact block 51 to move outward, so that the convex contact block 51 completely lifts the convex contact area 321 on the surface of the first flexible rubber sleeve 32. When multiple groups of convex contact areas 321 are lifted, the surface of the first flexible rubber sleeve 32 will be completely tightened, which makes the surface of the first flexible rubber sleeve 32 flat during 3D printing, and the inner cavity of the printed soft mechanical claw is even and smooth, avoiding excessive wrinkles in the inner cavity, and ensuring the printing effect of the inner cavity of the soft mechanical claw;

[0058] When the external 3D printing device finishes printing along the surface of the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33, the stepper motor 133 is driven again, and the stepper motor 133 is reset to reset the printing support frame 3 from the printing state to the demoulding state. After the reset is completed, the hard rubber plate 31 on one side of the printing support frame 3 will be parallel to the demoulding support platform 1. When the hard rubber plate 31 is reset in place, the air supply unit 6 is started to supply air, and a part of the gas will enter the air guide groove 14 through the air vent 142, and the input gas will be guided to the bottom of the hard rubber plate 31 through the guide plate 141, so as to perform air supply on the soft mechanical claw area set in the hard rubber plate 31 area. The hard rubber plate 31 and the soft mechanical claw are cooled and separated from each other. At the same time, the cooling gas will continue to move along the hard rubber plate 31, and the cooling gas will contact the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33. At the same time, the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33 will also be sprayed with hot gas from both sides of the demoulding support platform 1, so that the soft mechanical claw set on the surface of the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33 is blown by the circulation of hot and cold gas, so that the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33 are cyclically expanded and contracted, so as to better separate from the inner cavity of the soft mechanical claw, and ensure the demoulding effect of the soft mechanical claw;

[0059] During the demoulding process, the direct-drive guide rail 18 installed inside the driving groove 17, the moving end of the direct-drive guide rail 18 will drive a group of reciprocating arms 4 connected thereto to move back and forth, and the remaining reciprocating arms 4 will follow the group of reciprocating arms 4 through the linkage arm 41. When the reciprocating arm 4 moves toward the soft mechanical claw, the reciprocating arm 4 will drive the movable arm 43 to move, and the movable arm 43 will push the guide arm 46 to lift up through the movable column 471 in the bottom holder 47. When the guide arm 46 is lifted, it will push the movable arm 43 to lift up, so that the jet box 45 connected to the movable arm 43 is slowly lifted upward, so that the hot gas ejected from the jet box 45 moves upward along the outside of the second flexible rubber sleeve 33 and is ejected, thereby further increasing the circulating spraying range of the hot gas to the outside of the soft mechanical claw, ensuring that the soft mechanical claw is effectively sprayed with hot and cold gases alternately, and further ensuring the demoulding effect of the first flexible rubber sleeve 32 and the second flexible rubber sleeve 33 inside the soft mechanical claw;

[0060] During the alternating blowing of hot and cold gases, the inflation unit 53 is intermittently driven to perform cyclic inflation and exhaust, and the convex contact block 51 vibrates back and forth, causing the first flexible rubber sleeve 32 in direct contact with the convex contact block 51 to vibrate, and the second flexible rubber sleeve 33 is in contact with the first flexible rubber sleeve 32 and vibrates due to conduction. The convex contact block 51 will be pushed outward after the inflation unit 53 is inflated. When printing is completed, the inflation unit 53 deflates the convex contact block 51 to retract, which causes the convex contact block 51 to detach from the first flexible rubber sleeve 32. At the same time, in the demolding step, the first flexible rubber sleeve 32 will be subjected to continuous vibration from the convex contact block 51, thereby further promoting the demolding effect, and at the same time, it will cooperate with thermal expansion and contraction to further improve the demolding effect of the inner wall of the soft mechanical claw.

[0061] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A soft mechanical claw device based on 3D printing, characterized in that: The invention comprises a demoulding support platform (1), a lifting plate (2), a printing support frame (3) and a reciprocating arm (4), wherein the lifting plate (2) is arranged on one side of the demoulding support platform (1), the printing support frame (3) is arranged on one side of the lifting plate (2), and the reciprocating arm (4) is arranged in a plurality of groups, and the plurality of groups of reciprocating arms (4) are symmetrically arranged on both sides of the demoulding support platform (1); A flexible covering unit, the flexible covering unit being arranged on one side of the printing support frame (3) and being used to provide flexible covering support during surface 3D printing, so that the soft mechanical claw is printed and covered on the surface of the flexible covering unit, thereby allowing the mold and the soft mechanical claw to fully fit in contact; A physical demoulding unit is arranged on the surface of the demoulding support platform (1) and is used to demould the soft mechanical claw from the mold after 3D printing is completed.

2. The 3D printing-based soft mechanical claw device according to claim 1, characterized in that: The flexible covering unit comprises a hard rubber plate (31), the hard rubber plate (31) being mounted on a side of the printing support frame (3) close to the surface of the demoulding support platform (1), a first flexible rubber sleeve (32) being arranged on a side of the printing support frame (3) away from the hard rubber plate (31), the other end of the first flexible rubber sleeve (32) being sealedly connected to one end of the hard rubber plate (31), and a second flexible rubber sleeve (32) being sealedly arranged on both sides of the first flexible rubber sleeve (32) and the hard rubber plate (31). 3), one end of the second flexible rubber sleeve (33) is sealed and connected to the printing support frame (3), a mold body (5) is installed on the surface of the hard rubber plate (31), a convex contact block (51) is movably installed on the surface of the mold body (5), a mounting groove (52) is provided in the mold body (5), an inflation unit (53) is installed in the mounting groove (52), the inflation unit (53) is in movably contact with the convex contact block (51), and the convex contact block (51) is in close contact with the first flexible rubber sleeve (32).

3. The 3D printing-based soft mechanical claw device according to claim 2, characterized in that: The physical demoulding unit comprises an air supply unit (6), the air supply unit (6) is installed at the bottom of the demoulding support platform (1), a flexible conduit (61) is installed on one side of the air supply unit (6), a heating bellows (42) is installed at the bottom of the reciprocating arm (4), the heating bellows (42) is connected to the flexible conduit (61), one side of the heating bellows (42) is connected to an air supply conduit (421), a movable arm (43) is arranged at the top of the reciprocating arm (4), a jet box (45) is installed on one side of the movable arm (43), the jet box (45) is connected to the air supply conduit (421), and spray holes (451) are arranged at intervals on the surface of the jet box (45).

4. The 3D printing-based soft mechanical claw device according to claim 3, characterized in that: Fixed blocks (44) are installed on both sides of the reciprocating arm (4), and fixed columns (432) are installed on both sides of the movable arm (43). One end of the fixed column (432) is fixed to one side of the fixed block (44). A torsion spring (431) is sleeved on the surface of the fixed column (432). Two ends of the torsion spring (431) are respectively fixed to one side of the movable arm (43) and one side of the fixed block (44). A holder (47) is provided at the bottom of the movable arm (43). A guide arm (46) is hingedly installed on the top of the demoulding support platform (1). A movable plate (461) is rotatably installed at one end of the guide arm (46). A movable column (471) is movably installed inside the holder (47). One side of the movable plate (461) is fixed to one end of the movable column (471). A through groove (48) is provided on one side of the reciprocating arm (4).

5. The 3D printing-based soft mechanical claw device according to claim 4, characterized in that: The movable plates (461) are symmetrically installed in two groups, and the two groups of movable plates (461) are respectively fixed to the two ends of the movable column (471).

6. The 3D printing-based soft mechanical claw device according to claim 1, characterized in that: The reciprocating arms (4) are arranged to be spaced apart into three groups, a limiting rod (7) is installed inside one group of the reciprocating arms (4), a linkage arm (41) is installed between the three groups of the reciprocating arms (4), a limiting hole (15) is provided on the surface of the demoulding support platform (1) close to the limiting rod (7), the limiting rod (7) is snugly inserted into the limiting hole (15), a groove (17) is provided at the bottom of the demoulding support platform (1), a direct-drive guide rail (18) is installed inside the groove (17), and a movable end of the direct-drive guide rail (18) is fixed to one side of a group of the reciprocating arms (4) close to the limiting rod (7).

7. The 3D printing-based soft mechanical claw device according to claim 5, characterized in that: The demoulding support platform (1) is provided with an air guide groove (14) on the top, and a guide plate (141) is provided in the air guide groove (14), and the guide plates (141) are symmetrically installed in two groups. A storage groove (11) is provided on one side of the demoulding support platform (1), and the storage groove (11) is symmetrically provided in two groups. A linear cylinder (12) is installed in the storage groove (11), and the lifting plate (2) is installed on the output end of the linear cylinder (12). The bottom of the air guide groove (14) is provided with an air vent (142).

8. The 3D printing-based soft mechanical claw device according to claim 6, characterized in that: A fixing seat (13) is installed on one side of the lifting plate (2), a stepping motor (133) is installed on one side of the fixing seat (13), a transmission column (131) is rotatably installed in the fixing seat (13), one end of the transmission column (131) is fixed to the output end of the stepping motor (133), one end of the transmission column (131) is fixedly sleeved with a fixing arm (132), and one side of the fixing arm (132) is fixed to one side of the printing support frame (3).

9. The 3D printing-based soft mechanical claw device according to claim 7, characterized in that: A support base (16) is installed at the bottom of the demoulding support platform (1).

10. The 3D printing-based soft mechanical claw device according to claim 7, characterized in that: The surface of the second flexible rubber sleeve (33) is provided with convex contact areas (321) at intervals, and the convex contact areas (321) are arranged in a plurality of groups at intervals.

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