Soft actuator preparation mold

Abstract

The soft actuator preparation mold comprises a shell and a core body, the shell is of a columnar structure, a containing groove is formed in the shell, and a first limiting groove and a second limiting groove are formed in the two ends of the shell respectively; the shell comprises a first shell and a second shell which are detachably connected; the core body comprises a main body, a first limiting part and a second limiting part; the main body comprises a flat part, a plurality of convex parts are arranged on the first surface of the flat part, and the convex parts are arranged at intervals in the length direction of the flat part; the main body is installed in the containing groove, the outer surface of the main body and the inner wall face of the containing groove are arranged in a spaced mode to jointly define an injection cavity, the first limiting part and the second limiting part are installed in the first limiting groove and the second limiting groove respectively, and an injection hole communicated with the injection cavity and used for injecting filling materials is formed in the first limiting part. The soft actuator manufacturing mold is relatively simple in structure and convenient to assemble, and the manufactured and formed soft actuator is high in yield and good in consistency.

Description

TECHNICAL FIELD

[0001] The utility model relates to soft body actuator preparation technical field especially relates to a soft body actuator preparation mould. BACKGROUND

[0002] Soft body actuator such as pneumatic soft body actuator is often used in medical field, for example, can be used in rehabilitation auxiliary treatment, can be bound on the finger or palm of patient (for example, hemiplegic patient) to assist rehabilitation treatment.

[0003] Soft body actuator adopts soft material, and part of the outer surface of soft body actuator needs to form similar wrinkle structure, so that deformation occurs to realize bending function, therefore a suitable device is urgently needed to prepare. UTILITY MODEL CONTENT

[0004] The utility model solves the technical problem to provide a soft body actuator preparation mould.

[0005] The utility model adopts the technical scheme in the technical solutions that the utility model solves its technical problems: a soft body actuator preparation mould is constructed, including shell and core, the shell is columnar structure, is equipped with containing groove in the shell, the length direction both ends of the shell are equipped with first limit slot and second limit slot respectively, the first limit slot with second limit slot all with containing groove intercommunication arrangement;The shell includes detachable connection's first shell body and second shell body;

[0006] The core includes main part, first limit part and second limit part, and the first limit part and the second limit part are connected with the length direction both ends of the main part respectively;The main part includes flat part, the flat part has opposite first surface and second surface, the first surface of the flat part is equipped with a plurality of convex parts, and a plurality of convex parts are interval arranged along the length direction of the flat part;The main part is installed in the containing groove, and the outer surface of the main part and the inner wall surface of the containing groove are interval arranged to define an injection cavity, and the first limit part and the second limit part are installed in the first limit slot and the second limit slot respectively, and the first limit part is equipped with injection hole for filling material injection in communication with the injection cavity.

[0007] In some embodiments, the shape of the containing groove is the same as or similar to the shape of the main part.

[0008] In some embodiments, the convex part is at least one of trapezoidal columnar structure, rectangular columnar structure, parallelogram columnar structure or triangular columnar structure.

[0009] In some embodiments, the side of the first shell body towards the second shell body is provided with a convex edge, and the convex edge is continuously arranged along the length direction of the first shell body.

[0010] The second shell is provided with a groove on one side facing the first shell, and the groove is continuously arranged along the length direction of the second shell.

[0011] When the first shell and the second shell are assembled to form the outer shell, the convex edge and the groove are combined together.

[0012] In some embodiments, the first limiting part is in interference fit with the first limiting groove, and the second limiting part is in interference fit with the second limiting groove.

[0013] In some embodiments, the core further comprises a third limiting part connected to one end of the first limiting part away from the main body, the cross-sectional size of the third limiting part is greater than that of the first limiting groove, and the injection hole penetrates through the first limiting part and the third limiting part.

[0014] In some embodiments, the third limiting part is provided with a ring-shaped part on the side away from the first limiting part, and the ring-shaped part is arranged around the outer circle of the injection hole.

[0015] In some embodiments, the number of the injection holes is two, one of the injection holes is communicated with the first surface of the flat part, and the other injection hole is communicated with the second surface of the flat part.

[0016] In some embodiments, the core further comprises a fourth limiting part connected to one end of the second limiting part away from the main body, and the cross-sectional size of the fourth limiting part is greater than that of the second limiting groove.

[0017] In some embodiments, the first shell is provided with a plurality of first connecting holes, the second shell is provided with a plurality of second connecting holes arranged opposite to the first connecting holes, and the soft actuator preparation mold further comprises a connecting piece for connecting the first connecting holes and the second connecting holes.

[0018] The soft actuator preparation mold has the following beneficial effects: the structure of the soft actuator preparation mold is relatively simple, the assembly is convenient, the yield of the manufactured soft actuator is high, and the consistency is good. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the present application, the following will further illustrate the present application in combination with the drawings and embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor. In the drawings:

[0020] Figure 1is a structural schematic view of a soft actuator preparation mold in some embodiments of the utility model;

[0021] Figure 2 is a structural schematic view of a soft actuator preparation mold in some embodiments of the utility model;

[0022] Figure 3 is an exploded view of a soft actuator preparation mold in some embodiments of the utility model;

[0023] Figure 4 is an exploded view of a soft actuator preparation mold in some embodiments of the utility model;

[0024] Figure 5 is a sectional view of a soft actuator preparation mold in some embodiments of the utility model;

[0025] Figure 6 is a sectional view of a soft actuator preparation mold in some embodiments of the utility model;

[0026] Figure 7 is a structural schematic view of a core in some embodiments of the utility model;

[0027] Figure 8 is a structural schematic view of a soft actuator preparation mold in some other embodiments of the utility model;

[0028] Figure 9 is a structural schematic view of a soft actuator preparation mold in some other embodiments of the utility model;

[0029] Figure 10 is an exploded view of a soft actuator preparation mold in some other embodiments of the utility model;

[0030] Figure 11 is an exploded view of a soft actuator preparation mold in some other embodiments of the utility model;

[0031] Figure 12 is a sectional view of a soft actuator preparation mold in some other embodiments of the utility model. DETAILED DESCRIPTION

[0032] In order to have a clearer understanding of the technical features, objectives and effects of the present application, the specific embodiments of the present application will be described in detail with reference to the drawings. In the following description, it should be understood that the directions or positional relationships indicated by "front", "back", "upper", "lower", "left", "right", "vertical", "horizontal", "vertical", "horizontal", "top", "bottom", "inner", "outer", "head", "tail" and the like are based on the directions or positional relationships shown in the drawings, constructed and operated in a particular direction, and are only for the convenience of describing the present technical solution, and do not indicate that the indicated device or element must have a particular direction, therefore, it cannot be understood as a limitation of the present application.

[0033] It should be further pointed out that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing", "setting" and the like should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. When an element is referred to as "on" or "below" another element, the element can be "directly" or "indirectly" above the other element, or there can be one or more intermediate elements. The terms "first", "second", "third" and the like are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features, therefore, the features with "first", "second", "third" and the like can be explicitly or implicitly included one or more features. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0034] In the following description, specific details are presented to facilitate a thorough understanding of the present application, but the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits and methods are omitted to avoid unnecessary details that hinder the description of the present application.

[0035] Referring to Figures 1 to 7 The present application shows a soft actuator preparation mold, which can be used for producing soft actuators, including but not limited to pneumatic soft actuators.

[0036] In some embodiments, the soft actuator preparation mold comprises a shell 10 and a core 20, the shell 10 is in a columnar structure, the shell 10 can be generally in a square columnar structure as a whole, the shell 10 is provided with a containing groove 10a inside, and the shell 10 is provided with a first limiting groove 10b and a second limiting groove 10c at two ends in the length direction respectively, and the first limiting groove 10b and the second limiting groove 10c are both provided in communication with the containing groove 10a; the shell 10 comprises a first shell 11 and a second shell 12 which are detachably connected.

[0037] The core 20 comprises a main body 21, a first limiting part 22 and a second limiting part 23, the first limiting part 22 and the second limiting part 23 are respectively connected with two ends in the length direction of the main body 21; the main body 21 comprises a flat part 211, which can be generally in a rectangular plate structure or a rectangular sheet structure, the flat part 211 has opposite first and second surfaces, the first surface of the flat part 211 is provided with a plurality of convex parts 212, and the plurality of convex parts 212 are arranged at intervals along the length direction of the flat part 211; the main body 21 is installed in the containing groove 10a, and the outer surface of the main body 21 and the inner wall surface of the containing groove 10a are arranged at intervals to jointly define an injection cavity A (as shown in Figure 5 and Figure 6 The first limiting part 22 and the second limiting part 23 are respectively installed in the first limiting groove 10b and the second limiting groove 10c, the first limiting part 22 is provided with an injection hole 20a in communication with the injection cavity A for filling material injection, and the filling material includes but is not limited to liquid silicone material.

[0038] When the soft actuator preparation is needed, the first shell 11 and the second shell 12 are assembled together, the main body 21 is installed in the containing groove 10a, the first limiting part 22 and the first limiting groove 10b can be assembled together by interference fit, the second limiting part 23 and the second limiting groove 10c can be assembled together by interference fit, so that the main body 21 can maintain the shape and is not easy to deform, then after the filling material such as liquid silicone is injected from the injection hole 20a, the filling material is solidified and formed, the first shell 11 and the second shell 12 are disassembled, and the core 20 and the formed soft actuator are separated, the soft actuator preparation mold structure is relatively simple, the assembly is convenient, the yield of the soft actuator formed by manufacturing is high, the consistency is good, and it can be applied to large-scale production or small-scale production, such as enterprise production, and small-scale production can be used for scientific research production or medical institution production.

[0039] In some embodiments, the shape of the containing groove 10a is the same as or similar to the shape of the main body 21.

[0040] In some embodiments, the convex portion 212 is at least one of a trapezoidal column structure, a rectangular column structure, a parallelogram column structure or a triangular column structure, and at least part of the accommodating groove 10a can also be at least one of a trapezoidal column structure, a rectangular column structure, a parallelogram column structure or a triangular column structure. As shown in Figure 3 and Figure 4 the convex portion 212 is a trapezoidal column structure, part of the accommodating groove 10a is also a trapezoidal column structure, and the size of the accommodating groove 10a is larger than the size of the convex portion 212, so that when the convex portion 212 is accommodated in the accommodating groove 10a, a gap can be left between them. As shown in Figures 10 to 12 in other embodiments, the convex portion 212 is a parallelogram column structure, part of the accommodating groove 10a is also a parallelogram column structure, and the size of the accommodating groove 10a is larger than the size of the convex portion 212, so that when the convex portion 212 is accommodated in the accommodating groove 10a, a gap can be left between them. The first housing 11 and the second housing 12 of the present application can be made according to Figure 3 and Figure 4 or according to Figure 10 and Figure 11 , which are not specifically limited here.

[0041] In some embodiments, as shown in Figure 3 and Figure 4 the first housing 11 is provided with a convex edge 111 on the side facing the second housing 12, and the convex edge 111 is continuously arranged along the length direction of the first housing 11; the second housing 12 is provided with a concave groove 121 on the side facing the first housing 11, and the concave groove 121 is continuously arranged along the length direction of the second housing 12. The convex edge 111 and the concave groove 121 can be formed on the side of the accommodating groove 10a.

[0042] When the first housing 11 and the second housing 12 are assembled to form the shell 10, the convex edge 111 and the concave groove 121 are combined with each other, and the convex edge 111 and the concave groove 121 can cooperate with each other to play a positioning role and improve a certain sealing effect.

[0043] In some embodiments, the first limiting part 22 is in interference fit with the first limiting slot 10b, and the second limiting part 23 is in interference fit with the second limiting slot 10c. For example, the first limiting slot 10b can be a cuboid structure or a square structure, and the first limiting part 22 can also be a cuboid structure or a square structure, and the size of the first limiting part 22 is slightly larger than the size of the first limiting slot 10b, so that the two can be in interference fit together. Similarly, for example, the second limiting slot 10c can be a cuboid structure or a square structure, and the second limiting part 23 can also be a cuboid structure or a square structure, and the size of the second limiting part 23 is slightly larger than the size of the second limiting slot 10c, so that the two can be in interference fit together.

[0044] Further, in some embodiments, the first end of the first shell 11 in the length direction is provided with a first sub-limiting slot, and the first end of the second shell 12 in the length direction is provided with a second sub-limiting slot, and when the first shell 11 and the second shell 12 are combined together, the first sub-limiting slot and the second sub-limiting slot jointly form the first limiting slot 10b.

[0045] The second end of the first shell 11 in the length direction is provided with a third sub-limiting slot, and the second end of the second shell 12 in the length direction is provided with a fourth sub-limiting slot, and when the first shell 11 and the second shell 12 are combined together, the third sub-limiting slot and the fourth sub-limiting slot jointly form the second limiting slot 10c.

[0046] Referring to Figures 1 to 12 In some embodiments, the core 20 further comprises a third limiting part 24 connected to one end of the first limiting part 22 away from the main body 21, the cross-sectional size of the third limiting part 24 is greater than the cross-sectional size of the first limiting slot 10b, and the injection hole 20a penetrates through the first limiting part 22 and the third limiting part 24. Wherein, the first limiting part 22 and the first limiting slot 10b are combined with each other, and then the third limiting part 24 is located outside the shell 10, and plays an auxiliary limiting role.

[0047] Referring to Figures 1 to 12 In some embodiments, the side of the third limiting part 24 away from the first limiting part 22 is provided with a ring-shaped part 25, and the ring-shaped part 25 is arranged around the outer circle of the injection hole 20a. The ring-shaped part 25 is generally a square groove structure, which can be used as a filling material pouring groove, and the filling material is injected into the injection cavity A through the ring-shaped part 25 and the injection hole 20a. Alternatively, the ring-shaped part 25 can be an interface structure connected with the injection pipeline, which is not limited here.

[0048] As Figure 5 , Figure 7 , Figure 8 , Figure 10 , Figure 12As shown, in some embodiments, the number of injection holes 20a is two, one of which is in communication with the first surface of the flat portion 211, and the other of which is in communication with the second surface of the flat portion 211. Specifically, one of the injection holes 20a is in communication with the space of the first surface of the flat portion 211, and the other of the injection holes 20a is in communication with the space of the second surface of the flat portion 211, which can improve the injection efficiency.

[0049] For example Figures 1 to 12 As shown, in some embodiments, the core 20 further comprises a fourth limiting portion 26 connected to one end of the second limiting portion 23 away from the main body 21, and the cross-sectional size of the fourth limiting portion 26 is greater than that of the second limiting groove 10c, so that the fourth limiting portion 26 is located outside the shell 10 and plays an auxiliary limiting role.

[0050] For example Figures 1 to 12 As shown, in some embodiments, the first shell 11 and the second shell 12 can be substantially cuboid structures, the first shell 11 is provided with a plurality of first connecting holes 112, and the second shell 12 is provided with second connecting holes 122 arranged opposite to the first connecting holes 112. The soft actuator preparation mold further comprises a connecting piece for connecting the first connecting holes 112 and the second connecting holes 122, which includes but is not limited to connecting bolts, connecting screws, etc. Of course, the first shell 11 and the second shell 12 can also be fixed by clamping members, or the first shell 11 and the second shell 12 can be connected and fixed by a buckle, which is not limited here.

[0051] In some embodiments, the shell 10 can be made of hard insulating materials, such as phenolic plastic, polyurethane plastic, epoxy plastic, unsaturated polyester plastic, furan plastic, silicone resin, propylene-based resin, and modified resin thereof for the main body. Alternatively, the shell 10 can be made of metal materials, such as stainless steel or aluminum alloy, which is not limited here.

[0052] In some embodiments, the core 20 can be made of soft material to facilitate demolding. For example, the core 20 can be made of silica gel resin with a hardness of 30A, and the soft actuator made of silica gel resin with a hardness of 50A. Of course, the selection of the core 20 and the filling material can be selected according to actual needs, which is not limited here.

[0053] The application also discloses a soft actuator prepared by the soft actuator preparation mold. Due to the existence of the first limiting part 22 and the second limiting part 23, the prepared soft actuator has a first through hole and a second through hole at two ends in the length direction, and the first through hole and the second through hole can be sealed and fixed by a first sealing piece and a second sealing piece (such as a silica gel sealing plug). The first sealing piece can be provided with an air inlet hole, the air inlet hole can be connected with a control valve and a gas pressure device through a pipeline, and the soft actuator can be controlled to contract and stretch by inflating or deflating the inner cavity of the soft actuator. The pipeline, the control valve and the gas pressure device can be selected from prior art, and are not limited here.

[0054] Further, the soft actuator can be sewn on a glove, and the glove can be worn by a patient, which is not limited here.

[0055] It can be understood that the above embodiments only express the preferred embodiments of the application, the description is more specific and detailed, but it cannot be understood as the limitation of the patent scope of the application; it should be pointed out that for ordinary skilled in the art, the above technical features can be freely combined without departing from the concept of the application, and some deformations and improvements can be made, which belong to the protection scope of the application; therefore, any equivalent transformation and modification within the scope of the claims of the application should belong to the scope of the claims of the application.

Claims

1. A soft body actuator production mold characterized by, The application relates to a core body (20) and a shell (10), wherein the shell (10) is in a columnar structure, the shell (10) is internally provided with a containing groove (10a), the length direction of the shell (10) is respectively provided with a first limiting groove (10b) and a second limiting groove (10c), and the first limiting groove (10b) and the second limiting groove (10c) are both in communication with the containing groove (10a); the shell (10) comprises a first shell (11) and a second shell (12) which are detachably connected. The core body (20) comprises a main body (21), a first limiting part (22) and a second limiting part (23), the first limiting part (22) and the second limiting part (23) are respectively connected with the length direction of the main body (21), the main body (21) comprises a flat part (211), the flat part (211) has opposite first and second surfaces, the first surface of the flat part (211) is provided with a plurality of convex parts (212), and the plurality of convex parts (212) are spaced apart along the length direction of the flat part (211); the main body (21) is installed in the containing groove (10a), the outer surface of the main body (21) and the inner wall surface of the containing groove (10a) are spaced apart to jointly define an injection cavity (A), the first limiting part (22) and the second limiting part (23) are respectively installed in the first limiting groove (10b) and the second limiting groove (10c), and the first limiting part (22) is provided with an injection hole (20a) in communication with the injection cavity (A) and used for filling materials.

2. The soft actuator fabrication mold of claim 1, wherein, The shape of the containing groove (10a) is the same as or similar to the shape of the main body (21).

3. The soft actuator fabrication mold of claim 1, wherein, The convex part (212) is at least one of a trapezoidal columnar structure, a rectangular columnar structure, a parallelogram columnar structure or a triangular columnar structure.

4. The soft actuator fabrication mold of claim 1, wherein, The side of the first shell (11) facing the second shell (12) is provided with a convex edge (111), and the convex edge (111) is continuously arranged along the length direction of the first shell (11). The side of the second shell (12) facing the first shell (11) is provided with a concave groove (121), and the concave groove (121) is continuously arranged along the length direction of the second shell (12). When the first shell (11) and the second shell (12) are assembled to form the shell (10), the convex edge (111) and the concave groove (121) are combined together.

5. The soft actuator fabrication mold of claim 1, wherein, The first limiting part (22) is in interference fit with the first limiting groove (10b), and the second limiting part (23) is in interference fit with the second limiting groove (10c).

6. The soft actuator fabrication mold of claim 1, wherein, The core body (20) further comprises a third limiting part (24) connected with one end of the first limiting part (22) away from the main body (21), the cross-sectional dimension of the third limiting part (24) is greater than that of the first limiting groove (10b), and the injection hole (20a) penetrates through the first limiting part (22) and the third limiting part (24).

7. The soft actuator fabrication mold of claim 6, wherein, The third limiting part (24) is provided with a ring-shaped part (25) on the side away from the first limiting part (22), and the ring-shaped part (25) surrounds the outer ring of the injection hole (20a).

8. The soft actuator preparation mold according to any one of claims 1 to 7, wherein The number of the injection holes (20a) is two, one of the injection holes (20a) is communicated with the first surface of the flat part (211), and the other injection hole (20a) is communicated with the second surface of the flat part (211).

9. The soft actuator fabrication mold of claim 1, wherein, The core (20) further comprises a fourth limiting part (26) connected to the end of the second limiting part (23) away from the main body (21), and the cross-sectional size of the fourth limiting part (26) is greater than the cross-sectional size of the second limiting groove (10c).

10. The soft actuator fabrication mold of claim 1, wherein, The first shell (11) is provided with a plurality of first connecting holes (112), and the second shell (12) is provided with second connecting holes (122) arranged opposite to the first connecting holes (112), and the soft actuator preparation mold further comprises a connecting piece for connecting the first connecting holes (112) and the second connecting holes (122).

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