Soft silica gel pneumatic driver and preparation method thereof

Abstract

The invention provides a soft silica gel pneumatic driver and a preparation method thereof, and the method comprises the steps: employing a white resin material to prepare silica gel molds with different sizes, pouring a liquid silica gel material into the silica gel molds with different sizes, taking out the silica gel with different thicknesses after the silica gel is solidified, and carrying out the adhesion and merging, thereby obtaining the soft silica gel pneumatic driver. A gas guide hole is inserted into the bottom of the soft silica gel pneumatic driver, gas is inflated, and silica gel expands and deforms through inflation. The silica gel integrally extends and is bent towards the wall thickness side, and the bending degree is large. And the bending deformation degree can be controlled through the amount of the introduced gas and the internal air pressure. According to the soft silica gel pneumatic driver, the shape, bending, stretching or bulging of the soft silica gel pneumatic driver after expansion can be controlled by inputting gas quantity and adopting molds with different thicknesses. The soft silica gel pneumatic driver provided by the invention is made of a flexible deformable material, and the soft silica gel can be driven to generate bending deformation by utilizing the air pressure change in the air cavity. The device is simple and safe in preparation, controllable in bending deformation degree and capable of driving a paper folding mechanism and other air-driven soft robots to complete a deformation function in a special environment, and has certain supporting performance.

Description

[0001] The present invention relates to the technical field of flexible materials, and particularly relates to a soft silicone pneumatic actuator and a preparation method thereof. Background Art

[0002] In recent years, soft actuators have received increasing attention due to their advantages such as infinite degrees of freedom, continuous driving, driving modes and intensities similar to those of organisms, and strong environmental adaptability. These advantages make them more flexible, intelligent, and biocompatible than traditional rigid components, thus attracting the research of many researchers. Currently, soft actuators have been applied in fields such as soft robots, aerospace, and biosensing.

[0003] Based on different working principles, existing flexible actuators include pneumatic actuators, shape memory alloy actuators, electroactive polymer actuators, liquid-gas phase change flexible actuators, etc. Among them, pneumatic actuators have the advantages of large deformation and light weight, but still have problems such as complex structure, inconvenient manufacturing, and easy damage and leakage. Most existing pneumatic soft actuators often have a relatively complex design, which increases the manufacturing cost and may also reduce the reliability and durability of the actuator. At the same time, the requirements for the control system are also greatly improved, and more air sources and pipeline inputs are often required for control. Therefore, the demand for soft actuators with a more simplified driving method has increased. Summary of the Invention

[0004] The present invention provides a preparation method of a soft silicone pneumatic actuator, and its purpose is to provide a pneumatic soft actuator with controllable large deformation.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] According to the present invention, a soft silicone pneumatic actuator and a preparation method thereof include the following steps:

[0007] Step 1, model silicone molds of different sizes, and print silicone molds of different sizes using white resin material;

[0008] Step 2, clean and polish the printed silicone molds, and pour liquid silicone with a Dragon skin 20 and a Shore hardness of 30A into molds with different wall thicknesses;

[0009] Step 3, demold the liquid silicone of different sizes after curing, bond the silicone of different sizes, and finally drive the silicone material using an air pump.

[0010] In the said Step 1, the protruding parts of the silicone molds of different sizes are all rectangular, and the difference in the sizes of the silicone molds lies in the height of the enclosing walls.

[0011] In step 2, the Dragon skin 20 is divided into group A and group B. The two groups of materials are mixed and stirred evenly in a volume ratio of 1:1. To avoid bubbles, the stirring rod is kept close to the edge of the container during stirring.

[0012] In step three, the liquid silicone curing time is 4 hours, the room temperature is about 25°, and the different heights of the walls formed by different silicone molds result in different thicknesses of the silicone after demolding. After the silicones of different thicknesses solidify, the edges are bonded by liquid silicone of the same material.

[0013] The present invention has the following advantages:

[0014] The soft silicone pneumatic actuator of the present invention is a multi-cavity pneumatic actuator that uses an inflatable and deformable silicone material. The preparation method is simple and quick, and the production cost is low. By using silicone molds of different sizes and inputting different amounts of gas and pressure, the shape after expansion can be controlled to bend, elongate, or bulge. Deformation occurs through inflation, and the degree of curvature after deformation can reach 180°. The deformation is controllable, the internal pressure is low, and it has a certain supporting force. It can drive air-driven soft robots such as tubular origami mechanisms to complete deformation functions in special environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0016] Figure 1 is a flow chart of a method for preparing a soft silicone pneumatic actuator according to one embodiment of the present invention;

[0017] Figure 2 This is a three-dimensional diagram of a mold used to produce a half-layer of silicone rubber with a wall of 4 mm according to one embodiment of the present invention;

[0018] Figure 3 This is a three-dimensional diagram of a mold used to produce a half-layer of silicone rubber with a wall of 3 mm according to one embodiment of the present invention;

[0019] Figure 4 This is a state diagram of a liquid silicone casting mold for manufacturing a soft silicone pneumatic actuator according to one embodiment of the present invention;

[0020] Figure 5 This is a diagram showing the state of half layers of silicone with different wall thicknesses after bonding together to make a soft silicone pneumatic actuator according to one embodiment of the present invention;

[0021] Figure 6 This is a diagram of the elongated and bent state of the soft silicone pneumatic actuator after inflation and deformation according to one embodiment of the present invention;

[0022] Figure 7This is a physical diagram of a soft silicone pneumatic actuator in an elongated and bent state after inflation and deformation according to one embodiment of the present invention;

[0023] Figure 8 is a diagram of a state in which a soft silicone pneumatic actuator is connected to a tubular origami mechanism and is not inflated according to one embodiment of the present invention;

[0024] Fig. 9 3. This is a diagram illustrating the elongated and bent state of a soft silicone pneumatic actuator connected to a tubular origami mechanism after inflation and deformation according to one embodiment of the present invention.

[0025] Fig.10 This is a physical diagram of the elongated and bent state of a soft silicone pneumatic actuator connected to a tubular origami mechanism after inflation and deformation according to one embodiment of the present invention.

[0026] Figure Number

[0027] 1-Liquid silicone, 2-Mold with higher wall height, 3-Mold with lower wall height, 4-Inflatable tube, 5-Soft silicone pneumatic actuator, 6-Tubular origami mechanism, 7-PET connecting plate. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0029] The following describes a method for preparing a soft silicone pneumatic actuator according to a specific embodiment of the present invention with reference to the accompanying drawings.

[0030] According to a flow chart of a method for preparing a soft silicone pneumatic actuator according to an embodiment of the present invention, the preparation method includes the following steps: Figure 1 shown.

[0031] Step 1: Model silicone molds of different sizes and 3D print them using white resin material;

[0032] Step 2: Clean and polish the printed silicone mold, and use Dragon skin 20, 30A Shore hardness liquid silicone to cast molds of different wall thicknesses;

[0033] Step three: demold the liquid silicones of different sizes after curing, bond the silicones of different sizes together, and finally use an air pump to drive the silicone material.

[0034] According to an embodiment of the present invention, a three-dimensional diagram of a mold used for half-layer silicone with different wall heights is used. Molds of different sizes are constructed using 3D modeling software. The wall heights are 4mm and 3mm respectively. The mold entities are 3D printed using white resin material, as shown in FIG. Figure 2 、 3 shown.

[0035] According to an embodiment of the present invention, a state diagram of the liquid silicone casting mold for making a soft silicone pneumatic actuator is shown. After the white resin material mold is made, the printed silicone mold is cleaned and polished. Then the liquid silicone Dragon skin 20 (1) is divided into group A and group B, and the two groups of materials are mixed and stirred evenly at a volume ratio of 1:1 and injected into the prepared molds (2, 3). To avoid the generation of bubbles, the stirring rod is stirred against the container wall when the liquid silicone is stirred. The curing time of the liquid silicone is 4 hours, and the room temperature is about 25°. Figure 4 As shown;

[0036] After the silicone is completely solidified, remove the half layers of silicone of different sizes from the mold. Figure 5 As shown;

[0037] According to an embodiment of the present invention, a state diagram of half layers of silicone with different wall thicknesses after bonding for making a soft silicone pneumatic actuator, the different heights of the walls surrounded by different silicone molds result in different thicknesses of the silicone after demolding. After demolding, the two half layers of silicone with different thicknesses leave a rectangular cavity in the middle for overall bonding, with the same bonding area, and the same liquid silicone material is used for bonding.

[0038] The formed soft silicone pneumatic actuator (5) includes an air outlet and is connected to the trachea (4). The soft silicone pneumatic actuator is composed of an elastomer, an air guide hole and an inner cavity. The elastomer is made of silicone as a raw material, and the cavity formed by the elastic matrix is the inner cavity of the pneumatic actuator. The cross-sectional shape of the inner cavity is designed to be rectangular. The motion characteristic of the multi-cavity pneumatic actuator is to use the air pressure change in the inner cavity to drive the elastic matrix to deform. The soft silicone pneumatic actuator includes ten rectangular inner cavities, and the dimensions of the rectangular inner cavity are 9 mm in length, 3 mm in width and 6 mm in height. The distance between each rectangular cavity is 3 mm.

[0039] According to an embodiment of the present invention, the soft silicone pneumatic actuator is deformed by inflation and elongation. By injecting gas into the air holes of the soft silicone pneumatic actuator, the inner cavity of the pneumatic actuator expands and deforms under the action of gas pressure. The inner wall of the inner cavity is subjected to the action of gas pressure to generate torque. The internal stress of the silicone at the top and bottom of the inner cavity generates torque. The soft silicone pneumatic actuator is subjected to elongation and bending deformation under the action of gas pressure. Figure 6 shown.

[0040] Physical diagram of the elongated and bent state of a soft silicone pneumatic actuator after inflation and deformation according to an embodiment of the present invention. By injecting gas into the air holes of the soft silicone pneumatic actuator, bulges appear in the inner cavity, and the overall pneumatic actuator undergoes elongation and bending deformation, with the bending degree reaching 180°. During the deformation process, the internal pressure first increases and then decreases and tends to be stable. The maximum internal pressure is 79 kPa, and the pressure when it tends to be stable is 34 kPa. The degree of deformation can be controlled by controlling the input gas volume and the internal air pressure. It is also possible to control the shape of the inflated soft silicone pneumatic actuator, such as bending, elongation, or bulging, by using molds with different wall heights to make silicone, as Figure 7 shown;

[0041] State diagram of a soft silicone pneumatic actuator according to an embodiment of the present invention when not inflated and connected to a tubular origami mechanism (6). The soft silicone and the origami mechanism are connected by adding light materials such as PET boards (7), as Figure 8 shown.

[0042] State diagram of the elongated and bent state of a soft silicone pneumatic actuator after inflation and deformation when connected to a tubular origami mechanism according to an embodiment of the present invention. When air at a certain air pressure is filled through the air pipe, the torque generated by the pneumatic actuator can drive the tubular origami structure to achieve axial contraction and bending motion. While the overall origami structure deforms, it becomes more compact and lightweight, as Fig. 9 shown.

[0043] Physical diagram of the elongated and bent state of a soft silicone pneumatic actuator after inflation and deformation when connected to a tubular origami mechanism according to an embodiment of the present invention. The top of the silicone pneumatic actuator is adhered to the PET partition with AB glue, and the origami and the PET partition are adhered with double-sided tape, as Fig.10 shown. The maximum bending degree of the silicone air-driven origami can reach 52°, and the deformation result is related to the supporting force of the silicone air drive and the overall weight of the origami structure.

[0044] Working principle of the present invention

[0045] A soft silicone pneumatic actuator and its preparation method. The soft silicone pneumatic actuator is composed of an elastomer, air guide holes, and an inner cavity. Among them, the elastomer is made of silicone as the raw material, and the cavity formed by the elastic matrix is the inner cavity of the pneumatic actuator. The cross-sectional shape of the inner cavity is designed as a rectangle. Silicone is made using molds 3D printed with white resin materials of different sizes, and the overall deformation of the silicone is controlled by the gas volume and pressure input through the air pipe connected to the air guide holes.

[0046] The motion characteristics of the multi-chamber pneumatic actuator are that the air pressure change in the chamber drives the elastic matrix to produce elongation and bending deformation. The bending degree after inflation and expansion can reach 180°. The internal pressure is small and it has a certain supporting property, which can drive light objects to bend and deform. The shape after inflation can be controlled by the amount of input gas and by using silicone pneumatic actuators made of molds with different thicknesses, such as bending, elongation or bulging. By adding light materials such as PET boards to connect the soft silicone and the origami mechanism, pneumatic soft robots such as tubular origami mechanisms can be driven to complete deformation functions in special environments. In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, in this specification, without conflict, those skilled in the art can combine the different embodiments or examples described and the features of different embodiments or examples.

[0047] Although several embodiments of the present invention are shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A soft silicone pneumatic actuator and its preparation method, characterized in that, The preparation method includes the following steps: Step 1: Perform 3D modeling on silicone molds of different sizes, and use white resin material to 3D print silicone molds of different sizes; Step 2: Clean and polish the printed silicone molds, and use Dragon skin 20, a liquid silicone with a Shore hardness of 30A, to pour molds with different wall thicknesses respectively; Step 3: Demold after the liquid silicone of different sizes cures, bond the silicone of different sizes, and finally drive the silicone material using an air pump.

2. The soft silicone pneumatic actuator and its preparation method according to claim 1, characterized in that, In the said Step 1, the protruding parts of the silicone molds of different sizes are all rectangular, and the difference in the sizes of the silicone molds lies in the height of the enclosing walls.

3. The soft silicone pneumatic actuator and its preparation method according to claim 1, characterized in that, In the said Step 2, Dragon skin 20 is divided into Group A and Group B, and the volumes of the two groups of materials are mixed and stirred evenly at a ratio of 1:

1. To avoid air bubbles, the stirring rod is attached to the edge of the container during stirring.

4. The soft silicone pneumatic actuator and its preparation method according to claim 1, characterized in that, In the said Step 3, the curing time of the liquid silicone is 4 hours, and the room temperature is about 25°. The different heights of the enclosing walls of different silicone molds result in different thicknesses of the demolded silicone. The edges of the silicone with different thickness dimensions are bonded with liquid silicone of the same material after solidification.

5. The soft silicone pneumatic actuator and its preparation method according to claim 1, characterized in that, The prepared soft silicone pneumatic actuator is a multi-chamber pneumatic actuator, and its expanded shape, bending, elongation or bulging are controlled by using silicone molds of different sizes and different input gas volumes and pressures.

6. The soft silicone pneumatic actuator and its preparation method according to claim 1, characterized in that, The prepared soft silicone pneumatic actuator can be bent and deformed by inflating and expanding, and the bending angle can reach 180°.

7. The soft silicone pneumatic actuator and its preparation method according to claim 1, characterized in that, The prepared soft silicone pneumatic actuator has a certain supporting force and can drive pneumatic soft robots such as tubular origami mechanisms to complete deformation functions in special environments.

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