A latex bionic joint capsule for robots and prostheses and a method for manufacturing the same

Abstract

The present application relates to the technical field of robots and artificial limbs, and particularly relates to a latex bionic joint capsule for robots and artificial limbs and a preparation method thereof. The latex bionic joint capsule is an integrally formed elastic capsule body prepared by impregnation molding and long-time baking and curing of natural latex, and a hollow covering cavity matched with the outer contour of two side structural members of a metatarsophalangeal joint is formed inside. The elastic covering connection is realized by using the elastic deformation capacity of natural latex and the interference fit with the two side structural members with an interference amount of 1% to 5%. An aluminum alloy solid mold with corresponding outer contour and a size of 1.1 times the target product is used in the preparation, the latex solution formula, impregnation parameters and 70-90 DEG C baking and curing for 4-8 hours are controlled, and the wall thickness can be adjusted by the impregnation times. The present application has good elasticity, adhesion and anti-falling capacity, the process is simple, the molding consistency is good, and the present application can be adapted to the front end flexible joint structure of the foot of robots and artificial limbs with different load levels.

Description

Technical Field

[0001] This invention relates to the field of robotics and prosthetics, specifically to a latex bionic joint capsule for robots and prostheses and its preparation method. Background Technology

[0002] In the process of walking, jogging, climbing stairs, and adapting to complex terrain, robots and prostheses place high demands on the flexibility, stability, and impact resistance of the forefoot structure. As an important joint unit in the robot's foot and the prosthesis's forefoot, the metatarsophalangeal joint's structure and connection method directly affect the forefoot's propulsion ability, ground contact cushioning, and gait stability.

[0003] Existing robot and prosthetic metatarsophalangeal joints mostly use rigid hinges, springs, rubber blocks, or ordinary elastic coverings for connection and limitation. Although these can meet certain motion requirements, they still have many shortcomings:

[0004] Existing structures tend to have rigid connections, making it difficult to balance flexible coverage and stable support. Existing elastic connectors often fail to fit perfectly with the outer contours of the structural components on both sides of the joint, easily leading to problems such as loose assembly, localized stress concentration, or detachment during use. Existing flexible connectors have complex manufacturing processes and poor molding consistency, hindering rapid design and mass production. Furthermore, they lack adaptability to different three-dimensional morphologies of metatarsophalangeal joints, making it difficult to quickly adjust the joint capsule shape according to changes in the robot or prosthesis structure. Therefore, in light of the above, there is an urgent need to develop a latex bionic joint capsule for robots and prostheses and its fabrication method to overcome the shortcomings in current practical applications. Summary of the Invention

[0005] The purpose of this invention is to provide a latex bionic joint capsule for robots and prostheses and a method for preparing the same, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A latex bionic joint capsule for robots and prostheses, wherein the latex bionic joint capsule is a one-piece molded elastic capsule made by impregnation and baking curing of natural latex;

[0008] The latex bionic joint capsule has a hollow encapsulated cavity inside, which matches the outer contour of the metatarsophalangeal joint's two side structural components, which include a plantar structural component and a toe structural component.

[0009] The latex bionic joint capsule is fitted onto the outside of the connecting end of the plantar structure and the toe structure, and the inner cavity size of the hollow encapsulated cavity is smaller than the corresponding outer contour size of the plantar structure and the toe structure, so that an interference fit area is formed between the latex bionic joint capsule and the plantar structure and the toe structure after assembly.

[0010] As a further aspect of the present invention: the interference fit of the latex bionic joint capsule after assembly is 1% to 5% of the corresponding mating feature size.

[0011] As a further aspect of the present invention, the hardness of the latex bionic joint capsule is Shore A 25 to 45.

[0012] As a further aspect of the present invention: the wall thickness of the latex bionic joint capsule is adjusted by the number of impregnations to form a covering structure that is adapted to the metatarsophalangeal joints of robots or prostheses with different load levels.

[0013] As a further aspect of the present invention: the latex bionic joint capsule is a seamless, continuous structure.

[0014] A method for preparing a latex bionic joint capsule for robots and prostheses, comprising the following steps:

[0015] S1. Establish a three-dimensional model based on the three-dimensional shape of the structural components on both sides of the metatarsophalangeal joint, and design a solid mold based on the three-dimensional model;

[0016] S2. Process the solid mold so that the outer contour of the solid mold corresponds to the outer surface contour of the structural parts on both sides of the metatarsophalangeal joint, and the overall size of the solid mold is larger than the finished size of the target joint capsule to compensate for the shrinkage of natural latex during impregnation molding and baking curing.

[0017] S3. Immerse the solid mold in natural latex liquid for impregnation, so that the natural latex adheres to the outer surface of the solid mold to form a latex film layer;

[0018] S4. Bake and cure the solid mold with the latex film layer attached to it to form a continuous elastic film of natural latex.

[0019] S5. After baking, demold to obtain the finished latex bionic joint capsule. The latex bionic joint capsule has a hollow encapsulated cavity that matches the outer contour of the structural components on both sides of the metatarsophalangeal joint.

[0020] As a further aspect of the present invention: the solid mold includes a mold toe-side forming part, a mold transition connecting part and a mold plantar-side forming part connected in sequence, and a clamping rod is fixedly connected to the end of the mold plantar-side forming part.

[0021] As a further aspect of the present invention: the solid mold is made of aluminum alloy, and the overall size of the solid mold is 1.1 times the size of the target joint capsule finished product.

[0022] As a further aspect of the present invention: the natural latex liquid is based on 100 parts by weight of dry natural latex, with natural latex as the base.

[0023] It includes 0.2-0.5 parts potassium hydroxide, 0.2-2.0 parts soap stabilizer, 1.0-2.0 parts sulfur, 0.5-1.0 parts accelerator ZDEC, 0.2-0.5 parts accelerator ZMBT, 0.2-2.0 parts zinc oxide, and 1.0-2.0 parts antioxidant.

[0024] As a further aspect of the present invention: in step S4, the baking and curing temperature is 70-90°C, and the baking time is 4-8 hours.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] This invention uses natural latex impregnation molding to form a continuous, one-piece elastic joint capsule structure with good flexibility and elastic recovery ability.

[0027] A solid mold corresponding to the outer surface contour of the structural components on both sides of the metatarsophalangeal joint is used for molding, so that the inner cavity of the joint capsule is highly matched with the target structural component, and an interference fit is formed with the structural component after assembly, thereby improving the covering firmness and connection stability.

[0028] By setting the solid mold size to 1.1 times the target finished product size, the shrinkage of natural latex after molding and curing is effectively compensated, and the molded latex bionic joint capsule cavity forms an interference fit with the target structural component.

[0029] The latex bionic joint capsule is highly elastic and can form an interference fit with the structural components on both sides of the metatarsophalangeal joint after assembly, thereby achieving a firm wrapping of the structural components on both sides, improving connection stability and reducing the risk of detachment.

[0030] The solid mold in this invention can be remodeled and adjusted according to different three-dimensional morphologies of metatarsophalangeal joints, and has good structural adaptability;

[0031] The present invention has a simple process and good molding consistency, making it suitable for application in the flexible joint structure of the front end of the robot and prosthetic foot. By optimizing the natural latex liquid formula, the latex liquid has good fluidity, film-forming properties and vulcanization stability during the impregnation molding process, which is conducive to obtaining latex bionic joint capsules with good dimensional consistency and mechanical properties.

[0032] By reasonably limiting the parameters of wall thickness, interference fit, and hardness, more stable flexible wrapping connection and assembly adaptation can be achieved for the metatarsophalangeal joints of robots and prostheses of different load levels and sizes. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the latex bionic joint capsule assembled with the robot and the metatarsophalangeal joint of the prosthesis in an embodiment of the present invention.

[0034] Figure 2 This is an embodiment of the present invention. Figure 1 A schematic diagram of the cross-sectional structure of section AA.

[0035] Figure 3 This is a schematic diagram of the solid mold in an embodiment of the present invention.

[0036] Figure 4 This is a schematic diagram illustrating the mold design based on the three-dimensional morphology of the metatarsophalangeal joint in an embodiment of the present invention;

[0037] Among them, (a) is a three-dimensional joint model, (b) is the outer contour of the mold, and (c) is a schematic diagram of the mold structure after size compensation.

[0038] Figure 5 This is a schematic diagram of a solid mold being immersed in natural latex liquid during the dip molding process in an embodiment of the present invention.

[0039] Figure 6 This is a schematic diagram of the latex film layer formed after lifting in the dip molding process of this invention.

[0040] Figure 7 This is a schematic diagram of the process of placing the sample in a baking device for baking and curing in the impregnation molding process of this invention.

[0041] Figure 8 This is a schematic diagram of the finished latex bionic joint capsule after baking, curing, and demolding in an embodiment of the present invention.

[0042] Figure 9 This is an embodiment of the present invention. Figure 8 Schematic diagram of the cross-sectional structure of the middle BB section.

[0043] In the diagram: 1-Toe side structure, 2-Toe side structure, 3-Latex bionic joint capsule, 4-Interference fit area, 5-Hollow encapsulated cavity, 6-Tooth-toe joint, 7-Mold toe side forming part, 8-Mold transition connection part, 9-Mold toe side forming part, 10-Solid mold, 11-Clamping rod, 12-Natural latex liquid, 13-Immersion tank, 14-Latex film layer, 15-Baking device. Detailed Implementation

[0044] 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.

[0045] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0046] Please see Figures 1-9 This invention provides a latex bionic joint capsule for robots and prostheses and its preparation method. The capsule is made by impregnating natural latex and baking and curing it for a long time to obtain an integral elastic capsule. Through the hollow covering cavity 5 that matches the outer contour of the structural components on both sides of the metatarsophalangeal joint 6 and the interference fit design, a highly elastic covering connection between the metatarsophalangeal structural component 2 and the toe structural component 1 is achieved, which solves the problems of poor fit, easy detachment and insufficient shape adaptability of the flexible connection structure in the prior art.

[0047] Example 1: Latex bionic joint capsule for robotic metatarsophalangeal joints and its preparation method

[0048] 1.1 Overall Structure of Latex Bionic Joint Capsule

[0049] In this embodiment, the latex bionic joint capsule 3 is a one-piece molded elastic capsule made of natural latex through impregnation molding and long-term baking curing. The latex bionic joint capsule 3 has a hollow encapsulated cavity 5 that matches the outer contour of the structural components on both sides of the robot's metatarsophalangeal joint 6, namely the metatarsal structural component 2 and the toe structural component 1.

[0050] A latex bionic joint capsule 3 is fitted onto the outer side of the connection between the plantar structure 2 and the toe structure 1, providing an elastic wrapping connection between the two. Utilizing the elastic deformation capability of natural latex, an interference fit area 4 is formed between the inner surface of the latex bionic joint capsule 3 and the outer surfaces of the plantar structure 2 and the toe structure 1, enabling the robot's metatarsophalangeal joint 6 to have a flexible connection, stable wrapping, and anti-dislodgement effect during movement.

[0051] In this embodiment, the interference fit is defined as: the difference between the perimeter (or equivalent diameter) of the inner cavity of the latex bionic joint capsule 3 in its free state at each cross-section corresponding to the assembly area of ​​the structural components on both sides of the metatarsophalangeal joint 6, and the perimeter (or equivalent diameter) of the outer contour of the corresponding cross-section of the structural components on both sides of the metatarsophalangeal joint 6. The percentage of this difference to the corresponding perimeter of the outer contour of the structural component is the interference ratio. For circular or near-circular cross-sections, the diameter interference ratio can be used; for non-circular cross-sections, it is recommended to use the perimeter interference ratio or the maximum radial interference (taking the maximum value of the normal interference of the cross-section contour). The interference fit after assembly is 1% to 5% of the corresponding mating feature dimension. This interference fit refers to the perimeter interference ratio, i.e., (perimeter of the joint capsule cavity - perimeter of the structural component outer contour) / perimeter of the structural component outer contour × 100%. This interference fit range can ensure sufficient tightness to prevent the joint capsule from falling off during repeated movements, while avoiding assembly difficulties or local stress concentration due to excessive interference fit.

[0052] The latex bionic joint capsule 3 has a hardness of Shore A25–45. Below Shore A25, the support is insufficient; above Shore A45, flexibility decreases, hindering flexible joint movement. This hardness range balances elastic deformation capacity and structural support, allowing for smooth interference fit and rapid elastic recovery after joint movement, maintaining a stable encapsulation. The wall thickness of the latex bionic joint capsule 3 can be adjusted by controlling the number of impregnation cycles: a single impregnation results in a wall thickness of approximately 0.6 mm, two impregnations result in a total wall thickness of approximately 1.2–1.5 mm, and three impregnations result in a total wall thickness of approximately 1.8–2.0 mm. The appropriate wall thickness can be selected based on the different load levels of the robot's metatarsophalangeal joint 6.

[0053] 1.2 Preparation of tooling structure

[0054] In this embodiment, a solid mold 10 is used for dip molding. The solid mold 10 is made of aluminum alloy, which has good surface stability, dimensional accuracy, and reusability. The solid mold 10 includes a mold toe-side forming part 7, a mold transition connecting part 8, and a mold foot-side forming part 9 connected in sequence. A clamping rod 11 is fixedly connected to the non-forming end of the solid mold 10, that is, the end of the mold foot-side forming part 9, and is used to clamp the solid mold 10 to complete dip molding, baking, demolding and other processes.

[0055] The overall outer contour of the solid mold 10 corresponds to the outer surface contour of the plantar structure 2 and the toe structure 1 in the robot metatarsophalangeal joint 6. The outer contour of the mold transition connection part 8 corresponds to the outer surface contour of the transition area between the plantar structure 2 and the toe structure 1, so as to ensure that the inner cavity of the latex bionic joint capsule 3 after molding is completely fitted with the two side structures.

[0056] Considering that natural latex will shrink during impregnation molding and baking curing, the overall size of the solid mold 10 is designed to be 1.1 times the size of the target joint capsule finished product. This size design can accurately compensate for the curing shrinkage of natural latex and ensure the dimensional accuracy of the finished product; on the other hand, it can make the inner cavity size of the molded latex bionic joint capsule 3 slightly smaller than the outer contour size of the two side structural parts, so as to naturally form an interference fit area 4 after assembly.

[0057] The solid mold 10 can be remodeled and adjusted according to the three-dimensional shape of the metatarsophalangeal joint 6 of different robots, and quickly generate molds that are adapted to different structural sizes and contours, with good structural adaptability.

[0058] 1.3 Natural Latex Liquid Formula

[0059] The natural latex liquid 12 used in this embodiment is based on 100 parts by weight of dry natural latex. Using natural latex liquid as the base, the following components are added: 0.2–0.5 parts potassium hydroxide, 0.2–2.0 parts soap stabilizer, 1.0–2.0 parts sulfur, 0.5–1.0 parts accelerator ZDEC, 0.2–0.5 parts accelerator ZMBT, 0.2–2.0 parts zinc oxide, and 1.0–2.0 parts antioxidant. The soap stabilizer is selected from potassium laurate and / or potassium oleate, and the antioxidant is selected from Wingstay-L.

[0060] The preferred formulation in this embodiment is: 0.2 parts potassium hydroxide, 0.2 parts soap stabilizer, 1.75 parts sulfur, 0.5 parts accelerator ZDEC, 0.25 parts accelerator ZMBT, 0.25 parts zinc oxide, and 1.0 part antioxidant. The natural latex solution is prepared in the following order: using 100 parts of dry natural latex as the base, dilute to a solid content of 40%–60%; add potassium hydroxide to adjust the pH to 10.0–11.0; add soap stabilizer and stir until homogeneous; add zinc oxide, sulfur, accelerator ZDEC, and accelerator ZMBT sequentially, stirring to disperse; add antioxidant; seal and age at 25±3℃ for 12–24 hours, and use after defoaming and stabilization. The natural latex liquid 12 in this formula has excellent stability, fluidity and film-forming properties, and can form a latex film layer 14 with uniform thickness and no defects during the impregnation process; at the same time, it has good vulcanization performance, and after baking and curing, it can obtain a latex bionic joint capsule 3 with excellent elasticity, high mechanical strength and good aging resistance.

[0061] The solid content of natural latex liquid 12 is controlled between 40% and 60%. This solid content range can ensure that the latex liquid forms a continuous and uniform film layer on the mold surface, avoiding the film layer being too thin and lacking strength due to too low solid content, or the film layer being uneven in thickness and rough on the surface due to too high solid content.

[0062] 1.4 Preparation Method and Steps

[0063] The preparation method of the latex bionic joint capsule 3 in this embodiment includes the following steps:

[0064] S1. Establish a three-dimensional model based on the three-dimensional shape of the structural components on both sides of the robot's metatarsophalangeal joint 6, and design a solid mold 10 based on the model, and determine the outline and overall dimensions of the mold toe side forming part 7, the mold transition connection part 8, and the mold metatarsophalangeal forming part 9.

[0065] S2. A solid mold 10 is fabricated using aluminum alloy material, so that the outer contour of the solid mold 10 corresponds to the outer surface contour of the structural parts on both sides of the metatarsophalangeal joint 6. The corresponding outer contour feature dimensions of the solid mold 10 are 1.1 times the corresponding dimensions of the finished target joint capsule.

[0066] S3. Using the clamping rod 11, vertically immerse the solid mold 10 into the immersion tank 13 containing natural latex liquid 12. The immersion time is 5 to 20 minutes, so that the natural latex is evenly attached to the outer surface of the solid mold 10 to form a continuous latex film layer 14. Depending on the required joint capsule wall thickness, this step can be repeated multiple times for immersion.

[0067] S4. Take the solid mold 10 with the latex film layer 14 attached from the immersion tank 13, drain the excess latex liquid on the surface, and place it in the baking device 15 for long-term baking and curing. The baking temperature is controlled at 70-90℃ and the baking time is 4-8 hours, so that the natural latex molecules are fully cross-linked to form a film with a continuous elastic structure.

[0068] S5. After baking, remove the solid mold 10 and allow it to cool naturally to room temperature. Slowly peel off the cured latex film from one end of the solid mold 10 to complete the demolding and obtain the latex bionic joint capsule 3 finished product.

[0069] 1.5 Assembly and Usage Effects

[0070] During assembly, one end of the latex bionic joint capsule 3 is first elastically opened, and then the connecting ends of the plantar structure 2 and the toe structure 1 are sequentially inserted. After adjusting to the preset position, it is released. Relying on the elastic recovery force of natural latex, the inner surface of the latex bionic joint capsule 3 is tightly attached to the outer surface of the two side structures, forming a stable interference fit area 4.

[0071] The latex bionic joint capsule 3 fabricated in this embodiment is a one-piece molded structure with no seams and uniform overall elasticity. It can provide continuous flexible support and cushioning during the flexion and extension movements of the robot's metatarsophalangeal joint 6, effectively absorbing the impact of landing. The interference fit design prevents relative sliding between the joint capsule and the side structural components, avoiding assembly loosening and detachment problems, and significantly improving connection stability. At the same time, the natural latex material has good wear resistance and fatigue resistance, which can meet the requirements of long-term, high-frequency operation of the robot.

[0072] Example 2: Latex biomimetic joint capsule for metatarsophalangeal joints of prostheses and its preparation method

[0073] The only difference between this embodiment and Embodiment 1 is that the application object is the metatarsophalangeal joint of a prosthesis; all other technical solutions are the same as in Embodiment 1.

[0074] In prosthetic applications, the metatarsophalangeal joint 6 is composed of the plantar structure 2 and the toe structure 1 of the forefoot of the prosthesis. A three-dimensional model is established based on the outer contour of the connecting parts on both sides of the metatarsophalangeal joint 6 of the prosthesis, and the latex bionic joint capsule 3 is prepared using the same natural latex liquid 12 formulation, impregnation process, baking curing conditions and demolding method as in Example 1.

[0075] In this embodiment, the outer contour of the solid mold 10 corresponds to the outer surface contour of the connecting parts on both sides of the metatarsophalangeal joint 6 of the prosthesis, and can be adjusted according to different prosthesis sizes, forefoot geometry, and target compliance requirements. By controlling the number of impregnation cycles, the joint capsule wall thickness and coverage tightness suitable for prosthesis products with different load levels can be obtained.

[0076] After assembly, the latex bionic joint capsule 3 and the connecting parts on both sides of the metatarsophalangeal joint 6 of the prosthesis form an interference fit area 4, which can provide flexible connection, cushioning support and excellent fit stability during the bending of the forefoot of the prosthesis. During the gait propulsion phase, the latex bionic joint capsule 3 can deform synchronously with the joint movement, effectively transmitting propulsion force and improving the coordination and naturalness of the gait; at the same time, the interference fit structure can effectively prevent the joint capsule from falling off during complex movements such as walking and climbing stairs, significantly improving the reliability and safety of the prosthesis.

[0077] It should be noted that, in this invention, unless otherwise explicitly specified and limited, the terms "sliding," "rotating," "fixed," and "equipped" should be interpreted broadly. For example, they can refer to welded connections, bolted connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0078] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A latex bionic joint capsule for robots and prostheses, characterized in that, The latex bionic joint capsule (3) is an integrally molded elastic capsule made of natural latex through impregnation molding and baking curing; The latex bionic joint capsule (3) has a hollow encapsulated cavity (5) inside. The hollow encapsulated cavity (5) matches the outer contour of the structural components on both sides of the metatarsophalangeal joint (6). The structural components on both sides include the plantar structural component (2) and the toe structural component (1). The latex bionic joint capsule (3) is sleeved on the outside of the connecting end of the plantar structure (2) and the toe structure (1), and the inner cavity size of the hollow encapsulated cavity (5) is smaller than the corresponding outer contour size of the plantar structure (2) and the toe structure (1), so that the latex bionic joint capsule (3) forms an interference fit area (4) with the plantar structure (2) and the toe structure (1) after assembly. The interference fit of the latex bionic joint capsule (3) after assembly is 1% to 5% of the corresponding mating feature size; The hardness of the latex bionic joint capsule (3) is Shore A25-45; The latex bionic joint capsule (3) is a seamless, continuous structure.

2. The latex bionic joint capsule for robots and prostheses according to claim 1, characterized in that, The wall thickness of the latex bionic joint capsule (3) is adjusted by the number of impregnations to form a covering structure that adapts to different load levels of robots or prosthetic metatarsophalangeal joints (6).

3. A method for preparing a latex biomimetic joint capsule for robots and prostheses, characterized in that, The method for preparing the latex biomimetic joint capsule of claim 1 includes the following steps: S1. Establish a three-dimensional model based on the three-dimensional shape of the structural components on both sides of the metatarsophalangeal joint (6), and design a solid mold (10) based on the three-dimensional model. S2. Process the solid mold (10) so that the outer contour of the solid mold (10) corresponds to the outer surface contour of the structural parts on both sides of the metatarsophalangeal joint (6), and the overall size of the solid mold (10) is larger than the finished size of the target joint capsule, so as to compensate for the shrinkage of natural latex during the impregnation molding and baking curing process. S3. Immerse the solid mold (10) in natural latex liquid (12) to impregnate it, so that the natural latex adheres to the outer surface of the solid mold (10) to form a latex film layer (14). S4. The solid mold (10) with the latex film layer (14) attached is baked and cured to form a continuous elastic film of natural latex. S5. After baking, demold to obtain the latex bionic joint capsule (3) finished product. The latex bionic joint capsule (3) has a hollow encapsulated cavity (5) that matches the outer contour of the structural parts on both sides of the metatarsophalangeal joint (6). The solid mold (10) is made of aluminum alloy, and the overall size of the solid mold (10) is 1.1 times the size of the target joint capsule finished product; The natural latex liquid (12) is based on 100 parts of dry natural latex and uses natural latex as the base. It includes 0.2-0.5 parts potassium hydroxide, 0.2-2.0 parts soap stabilizer, 1.0-2.0 parts sulfur, 0.5-1.0 parts accelerator ZDEC, 0.2-0.5 parts accelerator ZMBT, 0.2-2.0 parts zinc oxide, and 1.0-2.0 parts antioxidant; In step S4, the baking and curing temperature is 70-90°C, and the baking time is 4-8 hours.

4. The method for preparing a latex bionic joint capsule for robots and prostheses according to claim 3, characterized in that, The solid mold (10) includes a mold toe side forming part (7), a mold transition connecting part (8) and a mold plantar side forming part (9) connected in sequence, and a clamping rod (11) is fixedly connected to the end of the mold plantar side forming part (9).

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