Multi-cavity omni-directional movement flexible bionic knuckle, preparation method of multi-cavity omni-directional movement flexible bionic knuckle and robot

Abstract

The invention discloses a multi-cavity omni-directional movement flexible bionic knuckle, a preparation method thereof and a robot, the flexible bionic knuckle comprises a flexible knuckle body, a plurality of isolation plates in an annular array are arranged in the flexible knuckle body, the plurality of isolation plates are separated to form a plurality of deformation driving cavities adjacent in sequence, and the deformation driving cavities are connected with the flexible knuckle body. The flexible knuckle body is provided with a zigzag reciprocating deformation groove corresponding to each deformation driving cavity; and the sealing ends are connected to the two ends of the flexible knuckle body in a sealed mode, at least one sealing end is provided with ventilation openings corresponding to the deformation driving cavities, the ventilation openings are used for being connected with ventilation pipes, and the ventilation pipes inject driving gas into the deformation driving cavities or exhaust gas from the deformation driving cavities through the ventilation openings. By configuring different air pressures in the deformation driving cavities, various complex bending motions can be realized, and the dependence on a complex mechanical transmission mechanism is reduced.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, and in particular to a multi-cavity omnidirectional flexible biomimetic phalanx, its preparation method, and a robot thereof. Background Technology

[0002] In the fields of flexible robots and rehabilitation training for patients in the later stages of stroke, some robot products already exist, such as rigid robots and rope robots. However, existing robot products have the following defects and shortcomings: 1. Traditional Rigid Robots: Rigid robot technology has undergone considerable development and is quite mature. Therefore, most robots today still consist of rigid actuators such as motors and rigid components like gears and linkages. However, the high Young's modulus and density of traditional rigid materials are not conducive to the flexibility and lightweighting of robots, especially in the rehabilitation field. When wearing exoskeletons, it's necessary to reduce the additional burden on the patient's hands. Furthermore, rigid materials are often subject to greater impact, making it difficult to ensure the safety of human-robot interaction.

[0003] 2. Rope-driven hand robots: Rope-driven systems overcome some of the shortcomings of traditional rigid robots, but they often require support from an object to function. For example, rope-driven rehabilitation robots provide support through the patient's hand, while humanoid robots rely on rigid components for support. Although this improves the flexibility of hand movements, it inevitably introduces the drawbacks of rigid robots. Furthermore, rope-driven robots lack adaptability to different patient hand sizes in the rehabilitation field, making customization for various hand sizes difficult.

[0004] 3. Manufacturing complexity: Existing robot manufacturing technologies are often limited to traditional rigid part processing, such as turning, milling, planing, and grinding. These processing methods are not only time-consuming and labor-intensive, but also difficult to process parts with complex shapes.

[0005] In summary, traditional rigid robots often suffer from problems such as heavy weight and high impact resistance, limiting their application in humanoid robots and exoskeletons. While rope-based robots can improve robot flexibility to some extent, they often require coordination with supporting components. In terms of manufacturing, traditional methods struggle to produce complex-shaped parts and involve cumbersome, time-consuming, and labor-intensive processes. Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, the present invention aims to provide a multi-cavity omnidirectional flexible bionic phalanx, its preparation method and robot, which has the advantages of simple processing, flexible control and safety.

[0007] The objective of this invention is achieved through the following technical solution: According to a first aspect of the present disclosure, a multi-cavity omnidirectional flexible bionic phalanx is provided, comprising: A flexible knuckle body, wherein the flexible knuckle body has a plurality of isolation plates arranged in a ring array, one edge of each isolation plate being located at the center of the flexible knuckle body and the other side being connected to the inner wall of the flexible knuckle body to form a plurality of sequentially adjacent deformation driving cavities, and the flexible knuckle body having a reciprocating deformation groove in a U-shape corresponding to each of the deformation driving cavities; and, The sealing end is connected to both ends of the flexible knuckle body. At least one of the sealing ends is provided with a vent for connecting to a vent pipe corresponding to each deformation driving cavity. The vent pipe injects driving gas into the deformation driving cavity or extracts gas from the deformation driving cavity through the vent.

[0008] To achieve the above technical solution, during use, the vent pipe is connected to the air supply equipment. Depending on the direction of bending, air is injected and evacuated from the deformation drive chamber through the air supply pipe, thereby changing the air pressure of each deformation drive chamber accordingly. Due to the setting of the deformation groove, the flexible finger body bends towards the area with lower air pressure. Thus, by configuring different air pressures in each deformation drive chamber, a variety of complex bending movements can be achieved, reducing the dependence on complex mechanical transmission mechanisms, simplifying the processing method, and making the configuration of the flexible finger body safer and smoother.

[0009] In some exemplary embodiments, the flexible knuckle body has a partition post in the middle, which is used to fix the isolation plate.

[0010] The above technical solution is implemented so that the various isolation plates can be fixed and integrated into a whole.

[0011] In some exemplary embodiments, the deformation groove includes a first groove located outside the deformation driving cavity and a second groove located inside the deformation driving cavity.

[0012] To achieve the above technical solution, the configuration of the first and second slots allows the flexible knuckle to bend freely in different directions.

[0013] In some exemplary embodiments, the sealing end is provided with a sealing protrusion corresponding to each deformation driving cavity, and an insertion groove adapted to the isolation plate and a central insertion port adapted to the partition column are provided between adjacent sealing protrusions.

[0014] To achieve the above technical solution, the sealing protrusions facilitate sealing at both ends of each deformation driving cavity.

[0015] In some exemplary embodiments, the flexible knuckle body is integrally formed by 3D printing or injection molding.

[0016] According to a second aspect of the present disclosure, a method for preparing a multi-cavity omnidirectional flexible bionic phalanx as described in the first aspect is provided, comprising: A flexible injection molding material is injected into a molded mold after the mold is closed. The molded mold includes a matching outer mold and an inner mold. The inner mold is loaded inside the outer mold and forms a molding cavity between the inner mold and the outer mold that matches the flexible finger body. The inner mold is made of a soluble sacrificial material. After the flexible injection molding material has solidified and formed, it is demolded to obtain an intermediate processed body containing an inner mold; The intermediate processed body is placed in a solvent and left to stand for a predetermined time until the inner mold dissolves and detaches, thus obtaining a flexible finger body. The prefabricated sealing end is sealed and connected to both ends of the flexible phalanx body, and the vent pipe is sealed and connected to obtain a flexible bionic phalanx.

[0017] The above technical solution involves injection molding of flexible phalanges using molding dies. The process is simple, easy to replicate in batches, and can quickly and cost-effectively manufacture flexible bionic phalanges with consistent performance. This is particularly suitable for the large-scale production and application of flexible robots.

[0018] In some exemplary embodiments, the outer mold includes a first upper mold and a first lower mold that cooperate with each other, the forming cavity is formed between the first upper mold and the first lower mold, and the inner walls of the first upper mold and the first lower mold are provided with a plurality of first forming ribs for forming the first groove. The outer mold has an injection port on one side for injecting flexible injection molding material, and is closed on the other side.

[0019] In some exemplary embodiments, the inner mold includes a second upper mold and a second lower mold, the second upper mold and the second lower mold being spaced apart to form a first forming groove for forming a partition plate. The second upper mold and the second lower mold each include: a plurality of sub-molds and fixing blocks located at both ends of the sub-molds for connecting each sub-mold. Both sides of the first upper mold and the first lower mold are provided with locking slots for engaging with the fixing blocks. Each sub-mold is spaced apart to form a second forming groove for forming a partition plate, and the sub-mold is adapted to the deformation driving cavity. The inner side of the sub-mold is provided with a central forming groove for forming a partition column, and the outer side of the sub-mold is provided with a plurality of second forming ribs for forming the second groove.

[0020] According to a third aspect of the present disclosure, a flexible bionic module is provided, comprising: at least two multi-cavity omnidirectional flexible bionic phalanges as described in the first aspect, wherein each multi-cavity omnidirectional flexible bionic phalange is arranged linearly in sequence, the sealing ends between adjacent flexible phalange bodies are integrally formed, and each multi-cavity omnidirectional flexible bionic phalange has a ventilator for independent ventilation.

[0021] Implementing the above technical solutions facilitates the construction of complex robot systems with different functions and application scenarios, improving scalability and adaptability.

[0022] According to a fourth aspect of the present disclosure, a flexible bionic robot is provided, comprising: The substrate; and, A plurality of flexible bionic modules as described in the third aspect, or a plurality of multi-cavity omnidirectional flexible bionic phalanges as described in the first aspect, wherein the plurality of such flexible bionic modules or multi-cavity omnidirectional flexible bionic phalanges are arranged in parallel on the carrier substrate in a predetermined direction.

[0023] In summary, compared with the prior art, the present invention has the following beneficial effects: This invention provides a multi-cavity omnidirectional flexible bionic phalanx, its fabrication method, and a robot. The flexible bionic phalanx includes: a flexible phalanx body with multiple annularly arrayed isolation plates. One edge of each isolation plate is located at the center of the flexible phalanx body, and the other edge is connected to the inner wall of the flexible phalanx body to form multiple sequentially adjacent deformation driving cavities. The flexible phalanx body has a reciprocating deformation groove corresponding to each deformation driving cavity. It also includes sealing ends sealed to both ends of the flexible phalanx body. At least one of the sealing ends has a vent for connecting to a vent pipe corresponding to each deformation driving cavity. The vent pipe injects driving gas into the deformation driving cavity or extracts gas from the deformation driving cavity through the vent pipe. In use, the vent pipe is connected to the air supply equipment. Air is injected and evacuated into the deformation drive chamber through the air supply pipe according to the required bending direction, thereby changing the air pressure of each deformation drive chamber accordingly. Due to the setting of the deformation groove, the flexible finger body bends towards the area with lower air pressure. Thus, by configuring different air pressures in each deformation drive chamber, the process can be made simpler, and the configuration of the flexible finger body is also safer and smoother. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a multi-cavity omnidirectional flexible bionic phalanx in an embodiment of the present invention.

[0025] Figure 2 This is an explosion diagram of a multi-cavity omnidirectional flexible bionic phalanx in an embodiment of the present invention.

[0026] Figure 3 This is a cross-sectional view of a multi-cavity omnidirectional flexible bionic finger joint in an embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the molding die in an embodiment of the present invention.

[0028] Figure 5 This is a cross-sectional view of the molding die in an embodiment of the present invention.

[0029] Figure 6 This is an exploded view of the molding die in an embodiment of the present invention.

[0030] Figure 7 This is a schematic diagram of the inner mold in an embodiment of the present invention.

[0031] Figure 8 This is a schematic diagram of the structure of the intermediate processing body in an embodiment of the present invention.

[0032] Figure 9 This is a schematic diagram of the structure of the flexible bionic module in an embodiment of the present invention.

[0033] Figure 10 This is an exploded view of the flexible bionic module in an embodiment of the present invention.

[0034] Figure 11 This is a schematic diagram of the structure of the flexible bionic robot in an embodiment of the present invention.

[0035] Figure 12 This is a schematic diagram of another embodiment of the flexible bionic robot in this invention.

[0036] The numbers and letters in the diagram represent the names of the corresponding components: 10. Flexible knuckle body; 11. Isolation plate; 12. Separating column; 13. Deformation driving cavity; 14. First slot; 15. Second slot; 20. Sealing end; 21. Vent; 22. Vent pipe; 23. Sealing protrusion; 24. Insertion groove; 25. Center insertion port; 30. Outer mold; 31. First upper mold; 32. First lower mold; 33. First forming rib; 34. Injection port; 35. Mounting slot; 40. Inner mold; 41. Second upper mold; 42. Second lower mold; 43. First forming groove; 44. Sub-mold; 45. Fixing block; 46. Second forming groove; 47. Center forming groove; 48. Second forming rib; 50. Intermediate processing body; 60. Supporting substrate. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] like Figures 1 to 3 As shown, the first aspect of the present invention provides a multi-cavity omnidirectional flexible bionic phalanx, comprising: a flexible phalanx body 10, wherein the flexible phalanx body 10 is provided with a plurality of isolation plates 11 arranged in a ring array, one side edge of the isolation plates 11 being located at the center of the flexible phalanx body 10 and the other side being connected to the inner wall of the flexible phalanx body 10 to form a plurality of sequentially adjacent deformation driving cavities 13, and the flexible phalanx body 10 is provided with deformation grooves in a loop shape corresponding to each deformation driving cavity 13; and a sealing end 20 sealed to both ends of the flexible phalanx body 10, wherein at least one sealing end 20 is provided with a vent 21 for connecting to a vent pipe 22 corresponding to each deformation driving cavity 13, and the vent pipe 22 injects driving gas into the deformation driving cavity 13 or extracts gas from the deformation driving cavity 13 through the vent 21.

[0039] Specifically, 3-8 partition plates 11 can be set as needed. In this embodiment, 4 partition plates 11 are set. The 4 partition plates intersect to form a cross shape, thereby dividing and forming 4 sets of deformation driving cavities 13 within the flexible joint body 10. A partition column 12 is provided in the middle of the flexible joint body 10. The partition column 12 is used to fix and connect the partition plates 11 so as to fix each partition plate 11 into a whole.

[0040] The deformation groove includes a first groove 14 located outside the deformation driving cavity 13 and a second groove 15 located inside the deformation driving cavity 13. The first groove 14 and the second groove 15 are arranged alternately inside and outside the flexible phalanx 10. The configuration of the first groove 14 and the second groove 15 enables the flexible phalanx 10 to bend freely in different directions.

[0041] The flexible knuckle body 10 is integrally formed by 3D printing or injection molding. Preferably, in this embodiment, the flexible knuckle body 10 is integrally formed by injection molding. The injection molding raw material is flexible elastic material such as silicone. It can be understood that the flexible knuckle body 10, the partition plate 11, and the partition column 12 are all integrally formed during injection molding.

[0042] The sealing end 20 can be pre-molded by injection molding, and the material is usually the same as that of the flexible joint body 10. The sealing end 20 is provided with sealing protrusions 23 corresponding to each deformation driving cavity 13. Between adjacent sealing protrusions 23, there are insertion grooves 24 adapted to the isolation plate 11 and central insertion ports 25 adapted to the separation column 12. It can be understood that when the sealing end 20 is installed on the flexible joint body 10, the isolation plate 11 is inserted into the insertion groove 24 and the separation column is inserted into the central insertion port 25. The sealing protrusions 23 facilitate the sealing of both ends of each deformation driving cavity 13. After the sealing protrusions 23 are installed on the flexible joint body 10, they can be sealed by means of bonding or other methods. Of course, in some embodiments, the sealing end 20 can also be directly formed at both ends of the flexible joint body 10.

[0043] In use, the vent pipe 22 is connected to the air supply equipment. Air is injected and evacuated from the deformation drive cavity 13 through the air supply pipe according to the required bending direction, thereby changing the air pressure of each deformation drive cavity 13 accordingly. Due to the setting of the deformation groove, the flexible finger body 10 bends towards the place with lower air pressure. Thus, by configuring different air pressures in each deformation drive cavity 13, a variety of complex bending movements can be achieved, reducing the dependence on complex mechanical transmission mechanisms, making the processing method simpler, and the configuration of the flexible finger body 10 is also safer and smoother.

[0044] Since the entire main structure of the multi-cavity omnidirectional flexible bionic phalanx is made of flexible elastic material, it is soft, lightweight and passively compliant. When interacting with the human body or fragile objects, it will not cause injury or damage even if there is an accidental collision. It fundamentally overcomes the inherent defects of traditional rigid robots, such as poor flexibility and low safety, and greatly expands its application prospects in sensitive fields such as service robots and medical rehabilitation.

[0045] A second aspect of this invention provides a method for preparing a multi-cavity omnidirectional flexible bionic phalanx as described in the first aspect, such as... Figures 4 to 8 ,include: S100. Inject flexible injection molding material into the mold after the mold is closed. The mold includes a matching outer mold 30 and an inner mold 40. The inner mold 40 is loaded inside the outer mold 30 and forms a molding cavity between the inner mold 30 and the outer mold 30 that matches the flexible finger body 10. The inner mold 40 is made of a soluble sacrificial material.

[0046] Specifically, the molding die is typically mounted on an injection molding machine for injection molding. The flexible injection molding material can be silicone. The outer mold 30 includes a first upper mold 31 and a first lower mold 32 that cooperate with each other. The molding cavity is formed between the first upper mold 31 and the first lower mold 32. The inner walls of the first upper mold 31 and the first lower mold 32 are provided with a plurality of first molding ribs 33 for molding the first groove 14. The outer mold 30 has an injection port 34 for injecting the flexible injection molding material on one side and is closed on the other side. It can be understood that the outer mold 30 can be made of metal or PLA (polylactic acid).

[0047] The inner mold 40 includes a second upper mold 41 and a second lower mold 42. The second upper mold 41 and the second lower mold 42 are spaced apart to form a first forming groove 43 for forming the partition plate 11. The second upper mold 41 and the second lower mold 42 each include: a plurality of sub-molds 44 and fixing blocks 45 located at both ends of the sub-molds 44 for connecting each sub-mold 44. The first upper mold 31 and the first lower mold 32 are provided with a locking slot 35 on both sides for engaging with the fixing block 45. Each sub-mold 44 is spaced apart to form a second forming groove 46 for forming the partition plate 11. The sub-mold 44 is adapted to the deformation driving cavity 13. The inner side of the sub-mold 44 is provided with a central forming groove 47 for forming the partition column 12. The outer side of the sub-mold 44 is provided with a plurality of second forming ribs 48 for forming the second groove 15.

[0048] In this embodiment, the second upper mold 41 and the second lower mold 42 each include two sub-molds 44. The two sub-molds 44 are connected and fixed together by a fixing block 45 to form an integral unit. The inner mold 40 can also be formed by injection molding or 3D printing. The soluble sacrificial material of the inner mold 40 is preferably PVA (polyvinyl alcohol). When the first upper mold 31 and the second upper mold 41 are embedded in the mounting slot 35 by the fixing block 45, they form a relatively fixed state with the first upper mold 31 and the second upper mold 41 respectively. Thus, when the mold is closed, a molding cavity matching the flexible finger body 10 is formed. The first molding groove 43 formed between the second upper mold 41 and the second lower mold 42 is also used as a channel for injecting flexible injection molding raw materials.

[0049] S200. After the flexible injection molding material has solidified and formed, it is demolded to obtain an intermediate processing body 50 containing an inner mold 40. It can be understood that the exterior of the intermediate processing body 50 is a flexible finger joint 10, while the deformation driving cavity 13 of the flexible finger joint 10 is the inner mold 40.

[0050] S300. The intermediate processing body 50 is placed in a solvent and left to stand for a predetermined time. After the inner mold 40 dissolves and detaches, a flexible finger body 10 is obtained. Due to the setting of the second molding rib 48, the inner mold 40 cannot be directly demolded. Therefore, a soluble sacrificial material is required to prepare the inner mold 40. When the soluble sacrificial material is PVA, water can be used directly as the solvent. Usually, in order to speed up the dissolution rate, the water temperature can be set to 65-75°C. The dissolution time is based on the complete dissolution of the inner mold 40.

[0051] S400. The pre-fabricated sealing end 20 is sealed and connected to both ends of the flexible joint body 10, and the vent pipe 22 is sealed and connected to obtain a flexible bionic joint. The sealing end 20 is pre-formed by injection molding and can be fixed to the flexible joint body 10 by means of bonding or other methods. In some embodiments, the sealing end 20 can also be directly injection molded on both ends of the flexible joint body 10.

[0052] The flexible phalanx 10 is injection molded using a molding die. The process is simple, easy to replicate in batches, and can quickly and cost-effectively manufacture flexible bionic phalanxes with consistent performance. It is particularly suitable for the large-scale production and application of flexible robots.

[0053] A third aspect of the present invention provides a flexible biomimetic module, such as... Figure 9 and Figure 10 As shown, it includes: at least two multi-cavity omnidirectional flexible bionic phalanges as in the first aspect, each multi-cavity omnidirectional flexible bionic phalanges being arranged linearly in sequence, the sealing end 20 between adjacent flexible phalange bodies 10 being integrally formed, and each multi-cavity omnidirectional flexible bionic phalange having a ventilation tube 22 for independent ventilation.

[0054] In this embodiment, taking the setting of two multi-cavity omnidirectional flexible bionic phalanges as an example, the sealing end 20 located between the two sets of multi-cavity omnidirectional flexible bionic phalanges is integrally formed. Both sides of the sealing end 20 are provided with sealing protrusions 23, so that it can simultaneously achieve a sealed connection with the flexible phalange bodies 10 on both sides. At the same time, an auxiliary port is provided on the sealing end 20 on the other side. The auxiliary port is offset from the vent 21. The vent pipe 22 connected to the sealing end 20 located in the middle passes through the flexible phalange body 10 and then exits through the auxiliary port. The vent pipe 22, the vent 21 and the auxiliary port are all sealed and connected by means of bonding or other methods.

[0055] This invention enables the rapid construction of complex robot systems with different functions and application scenarios using a method similar to building blocks, thereby improving scalability and adaptability. For example, it can construct bionic octopus tentacles, snake-like robots, or multi-fingered dexterous hands.

[0056] According to a fourth aspect of the present disclosure, a flexible bionic robot is provided, comprising: a support substrate 60; and a plurality of flexible bionic modules as in the third aspect, or a plurality of multi-cavity omnidirectional flexible bionic phalanges as in the first aspect, wherein the plurality of flexible bionic modules or multi-cavity omnidirectional flexible bionic phalanges are arranged in parallel on the support substrate 60 in a predetermined direction.

[0057] like Figure 11 and Figure 12 As shown, Figure 11 This diagram shows the structure of the support plate with the flexible bionic module mounted on it. Figure 12 The diagram shows a structural schematic of a carrier plate equipped with a multi-cavity omnidirectional flexible bionic phalanx. The carrier plate has a loading port adapted to the sealing end 20. The sealing end 20, located on one side, is embedded in this loading port and can be fixed to the carrier plate by means of adhesive bonding or other methods. The arrangement of the flexible bionic module or the multi-cavity omnidirectional flexible bionic phalanx is determined according to the application scenario.

[0058] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These are all equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A multi-lumen omnidirectional motion flexible bionic knuckle, characterized in that, The flexible knuckle body is provided with a plurality of isolation plates in an annular array, one side edge of the isolation plates is located at the center of the flexible knuckle body, and the other side is connected to the inner wall of the flexible knuckle body to form a plurality of sequentially adjacent deformation driving cavities, and the flexible knuckle body is provided with a deformation groove in a meandering reciprocating shape corresponding to each of the deformation driving cavities; and At least one of the sealing end heads is provided with a ventilation port corresponding to each of the deformation driving cavities for connecting with a ventilation pipe, and the ventilation pipe injects driving gas into the deformation driving cavity or removes gas from the deformation driving cavity through the ventilation port. The middle part of the flexible knuckle body is provided with a partition column for fixedly connecting the isolation plates.

2. The multi-lumen omni-directional motion flexible bionic knuckle of claim 1, wherein, The deformation groove comprises a first slot on the outside of the deformation driving cavity and a second slot on the inside of the deformation driving cavity.

3. The multi-lumen omni-directional motion flexible bionic knuckle of claim 1 or 2, wherein, The sealing end head is provided with a sealing protrusion corresponding to each of the deformation driving cavities, and the adjacent sealing protrusions are provided with a plug-in groove matched with the isolation plates and a center plug-in port matched with the partition column.

4. The multi-lumen omni-directional motion flexible bionic knuckle of claim 2, wherein, The flexible knuckle body is integrally formed by 3D printing or injection molding.

5. The multi-lumen omni-directional motion flexible bionic knuckle of claim 1, wherein, The method comprises the following steps:

6. A method of making a multi-lumen omnidirectional motion flexible bionic knuckle as claimed in any one of claims 1 to 5, characterized in that, Injecting flexible injection material into a completed molding mold, wherein the molding mold comprises a matched outer mold and an inner mold, the inner mold is loaded in the outer mold and forms a molding cavity matched with the flexible knuckle body between the outer mold and the inner mold, and the inner mold is made of a soluble sacrificial material; After the flexible injection material is solidified and formed, the mold is removed to obtain an intermediate processing body containing the inner mold; The intermediate processing body is placed in a solvent for a predetermined period of time, and the inner mold is dissolved and separated to obtain a flexible knuckle body; The pre-prepared sealing end head is sealingly connected to both ends of the flexible knuckle body and sealingly connected to the ventilation pipe to obtain a flexible bionic knuckle. The outer mold comprises a first upper mold and a first lower mold matched with each other, the molding cavity is formed between the first upper mold and the first lower mold, and the inner walls of the first upper mold and the first lower mold are each provided with a plurality of first molding ribs for forming a first slot; 7. The method of claim 6, wherein, And one side of the outer mold is provided with an injection port for injecting the flexible injection material, and the other side is closed. The inner mold comprises a second upper mold and a second lower mold, and the second upper mold and the second lower mold are arranged in a spaced manner to form a first molding groove for forming an isolation plate, the second upper mold and the second lower mold each comprise a plurality of sub-molds and fixing clamps located at both ends of the sub-molds for connecting the sub-molds, the two sides of the first upper mold and the first lower mold are each provided with a clamping groove for clamping with the fixing clamps, the sub-molds are arranged in a spaced manner to form a second molding groove for forming an isolation plate, and the sub-molds are matched with the deformation driving cavities, the inner side of the sub-mold is provided with a center molding groove for forming a partition column, and the outer side of the sub-mold is provided with a plurality of second molding ribs for forming a second slot.

8. The method of claim 7, wherein, The method comprises the following steps:

9. A flexible bionic module, characterized in that, ​ At least two multi-lumen omnidirectional motion flexible bionic knuckles as claimed in any one of claims 1 to 5, each of said multi-lumen omnidirectional motion flexible bionic knuckles being linearly arranged in sequence, the sealing heads between adjacent said flexible knuckle bodies being integrally formed, and each of said multi-lumen omnidirectional motion flexible bionic knuckles having a venting tube for independent ventilation.

10. A flexible biomimetic robot, characterized by, Comprise: a bearing substrate; and, a plurality of flexible bionic modules as claimed in claim 9, or a plurality of multi-lumen omnidirectional motion flexible bionic knuckles as claimed in any one of claims 1 to 5, said plurality of flexible bionic modules or multi-lumen omnidirectional motion flexible bionic knuckles being parallelly arranged in a predetermined direction on said bearing substrate.

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