A kind of pneumatic actuation multi-finger dexterous hand of robot manufacturing process based on 3D printingTechnical field
The invention belongs to multi-finger dexterous hand of robot manufacturing technology field, and in particular to a kind of pneumatic driving based on 3D printingMulti-finger dexterous hand of robot (Robot Multi-fingered Dexterous Hand) manufacturing process of flowing mode.
Background technology
3D printing is also known as increasing material manufacturing, is to rise simultaneously fast-developing one kind in the past 30 years to be based on successively material addition originalThe advanced manufacturing methods of reason.According to the F42 committees of American Society Testing and Materials (ASTM Committee F42) definition, 3DPrinting includes 7 sub- technologies altogether：Material extrusion (Material Extrusion), material injection (MaterialJetting), adhesive injection (Binder Jetting), container type photopolymerization (Vat Photopolymerization), layerFold and make (Sheet Lamination), powder bed fusion (Powder Bed Fusion), oriented energy deposition (DirectedEnergy Fusion).Wherein, material extrusion, container type photopolymerization and powder bed integration technology are most widely used.EspeciallyMaterial extruded type 3D printing, due to its relatively low equipment cost, the selection of wider material and the preferable advantage such as molding part performance,Obtained a wide range of applications in recent years.
3D printing is a kind of based on mathematical model file, and actual object is constructed by way of successively material stackingTechnology.Material extruded type technology is based on material under flowable state (such as molten state, solution), the lower extrusion of the effect of being stressed, byLayer is accumulated and solidifies (such as glassy transition, crystallization, solvent volatilization), so as to build 3D objects.In material extruded type 3D printingIn a widely used technology be referred to as Deformation In The Fdm Process (fused depositionmodeling) or melting wire rodManufacture (fused filament fabrication), its general principle is：The linearmaterial gear of thermal plastic high polymer is passedThe hot junction for being sent to a high temperature melts macromolecule, and hot junction is moved along part section profile and filling track, while by fusingMaterial is extruded, and material solidifies rapidly, and with the material local fusing of surrounding, this process constantly can be repeated successively, so as to buildThree-dimensional body.Each synusia is to accumulate to form in preceding layer, and preceding layer plays a part of positioning and supported to current layer.With the increase of height, the area and shape of synusia profile can all change, when shape has greatly changed, upper strata wheelExterior feature cannot provide sufficiently positioning and supporting role to current layer, and this just needs the supporting construction for designing some auxiliary, to rearSubsequent layers provide positioning and support, to ensure the smooth realization of forming process.
End effector of robot (End-effector), it is the device that robot is used for directly performing various operations and taskPart.Traditional industrial robot end effector is when performing the operation of crawl target object, mainly by applying larger pressureSo as to produce larger frictional force to realize, object that is crisp, tender or having life entity is not suitable for.Enter one with robot technologyStep development, using human hand as prototype, human hand function and structure are simulated, design is with multi-joint, the multi-freedom robot of more fingersEnd effector, referred to as multi-finger dexterous hand of robot.Multi-finger clever hand mainly takes following three kinds of type of drive：(1) motorType of drive；(2) pneumatic actuation mode；(3) novel intelligent material type of drive, (see reference document 1：Wang Zhiheng, based on FPANovel pneumatic multi-finger dexterous hand of robot research [D] Hangzhou：Zhejiang University, 2011.), the wherein principle of pneumatic actuation modeIt is：Connect the closed air chamber of multi-finger clever hand, form internal positive pressure or negative pressure, inside and outside differential pressure promote object occur respective curved orExtensional deformation, see Fig. 1, the model has a trunk, is distributed a number of branch in the side of trunk；It is sky in each branchChamber, it is interconnected and forms an air chamber, and reserves a pipeline and be in communication with the outside.
Toshiba Corp (Toshiba) has developed Three Degree Of Freedom Pneumatic artificial muscle FMA (FlexibleMicroactuator), (see reference document 2：Suzumori K,Iikura S,TANAKA H.Flexiblemicroactuator for miniature robots[A].Proceedings of IEEE InternationalConference onMicro Electro Mechanical Systems[C].Nara,IEEE Press,1991:204–209.), it is mainly made up of natural rubber pipe, and 3 air chambers of substep in sebific duct, the air pressure of 3 air chambers of adjustment can form differenceBending on direction.Although FMA can accomplish grade product, air chamber, and embedded nylon fiber are distributed in small structure,So that processing technology complex, technical difficulty are high, it is costly.
In United States Patent (USP) US 5568957, a kind of multi-finger clever hand component for imitating human hand shape, its five hands are disclosedThe inner core of finger is connected by closed conduct, and periphery is wrapped in another air chamber.By adjust two air chambers air pressure, complete crawl andRelease movement.But the patent does not refer to the processing technology of component.
In the B2 of United States Patent (USP) US 9464642, the component with specific air chamber is pieced together using two kinds of flexible materials, there is providedAbundant practical application displaying, while the technology employs 3D printing technique manufacture shell, then solidifies silica gel in shellDeng flexible material.But the component disassembly forming of multi-finger clever hand is added the complexity of technique by the patent；And object need to beCuring molding in shell, it is impossible to one-shot forming complex model so that structure design is limited.
Pneumatic driving dynamic formula multi-finger clever hand inner has one or several closing spaces, by connecting different air pressure barsPart, deformed state corresponding to object appearance.Soft elastic material is used as dashing forward the advantages of processing pneumatic driving dynamic formula multi-finger clever hand objectGo out, one side air chamber can abundant deformation, realize crawl or the release movement of multi-finger dexterous hand of robot, on the other hand soft bulletGreatly aspect captures object that is crisp, tender or having life entity for property sense.
Three dimensional design quickly, directly accurately can be converted into mock-up by 3D printing technique, facilitate robotDesign work, be particularly suitable for the development of intelligent robot.The 3D printing of material extruded type, container type photopolymerization 3D printing,Powder bed fusion 3D printing can process soft elastic material, be that printing object mechanical strength is high the advantages of material extruded type, makeWith conveniently, two kinds of materials can be used simultaneously.Fig. 2 shows twin-jet nozzle material extruded type 3D printing equipment, soft elastic materialIt is integrally formed with hard material, both meets elastic deformation, and intensity is provided in specific region, is pneumatic driving dynamic formula multi-finger clever handDesign provide more more options space.
The printing wire rod hardness that common material extruded type 3D printer can use is not less than shore hardness 50D soft bulletProperty wire rod.Improved by being formulated adjustment and equipment, can print wire rod of the shore hardness in 40D or so.Soft elastic material passes through doubleScrew rod and the processing of single screw rod equipment, obtain the homogeneous soft elastic wire of line footpath.Multi-finger clever hand object can be according to the actual requirementsFrom the wire product of different hardness.Three-dimensional Design Software is used to design multi-finger clever hand object, chooses the soft bullet of suitable stiffnessProperty the print parameters such as wire rod and 3D printer, adjustment disposing way, supporting construction, compactedness and print speed, obtain printing matterThe still good object of amount.
However, because material extruded type 3D printer is extruded by the way that wire rod is melted, and from nozzle, then in layersFused materials are accumulated, ultimately form object.In forming process, fused materials are very fast in subregion cooling, or accumulation is unevenIt is even, cause relevant range bonding insufficient, a large amount of holes occur.Although most holes are not seen, the gas of objectClose property is poor, it is difficult to forms enough inside and outside differential pressures.So can 3D printing object be used as pneumatic driving dynamic formula multi-finger clever hand object,The air-tightness of printing object is the key of problem.
The content of the invention
The present invention provides one kind and is based on for the technical problem of 3D printing object poor air-tightness present in background technologyThe quick manufacturing process of the multi-finger dexterous hand of robot of the pneumatic actuation mode of 3D printing.Manufacturing process provided by the invention can be withTechnical problem for 3D printing object poor air-tightness provides good solution.
The technical principle of manufacturing process of the present invention is：Using material extruded type 3D printing technique, two extruder heads are utilizedSoft elastic material and hard material are provided respectively, are finally made the component of air chamber；Then by process of surface treatment, gas is improvedThe sealing property of room, it is allowed to bear certain air pressure so that component can be completed to shrink or relaxed under compressed air-drivenOpen and wait action.
The invention provides a kind of pneumatic actuation multi-finger dexterous hand of robot manufacturing process based on 3D printing technique, and it is wrappedContain but be not limited to following steps：(1) pneumatic driving dynamic formula multi-finger dexterous hand of robot object is obtained using 3D printing technique；(2) it is rightThe 3D printing object carries out liquid surface processing, and the 3D printing object can dissolve or be partially dissolved in liquid, the liquidPhysical efficiency and water dissolve each other.
Preferably, liquid of the present invention is selected from water, methanol, ethanol, normal propyl alcohol, isopropanol, n-amyl alcohol, phenmethylol, fourthAlcohol, tetrahydrofuran, acetone, butanone, MEK, cyclohexanone, dichloromethane, chloroform, methyl acetate, ethyl acetate, butyl acetate,It is one or more in acetic acid, dimethylformamide, dimethyl acetamide.
It is highly preferred that the liquid that liquid surface processing of the present invention uses includes dimethyl acetamide, and dimethylThe mass fraction of acetamide is more than or equal to 50%.
In a preferred embodiment of the present invention, liquid used by liquid surface processing of the present invention, by quality pointNumber meter, is made up of following component and content：Dimethyl acetamide 50%-85%, ethyl acetate 10%-40%, butanone 5%-20%.
In a preferred embodiment of the present invention, the liquid surface processing method that the present invention uses selects liquid applicator, liquidOne kind in body atomization, liquid immersion, solution coating.
In a preferred embodiment of the present invention, 3D printing technique described in step (1) be selected from the 3D printing of material extruded type,One kind in container type photopolymerization 3D printing, powder bed fusion 3D printing, preferred material extruded type 3D printing.Institute in step (1)3D printing object is stated, its constituent material includes soft elastomer material and hard material, and described soft elastic material is selected from styreneAnalog thermoplastic elastomer, polyurethane-type thermoplastic elastomer, polyolefins thermoplastic elastomer, polyamide-type thermoplastic elasticityOne or more in body, polyester-type thermoplastic elastomer；Optimization styrene-butadiene-styrene block copolymer (SBS),Styrene-isoprene-ethylene block copolymer (SIS), styrene-(hydrogenation) butadiene block copolymer (SEBS), thermoplasticProperty vulcanization rubber (TPV), TPUE (TPU), thermoplastic polyester elastomer (TPEE), polyamide-type thermoplasticOne or more in elastomer (TPAE)；More preferably TPUE (TPU)；Described hard material include withLower one or more hard materials：It is PLA, acrylonitrile-butadiene-styrene copolymer ABS, makrolon, polyamide, poly-Caprolactone, polystyrene, carbon fiber, glass, nitrocellulose；It is preferred that in PLA, makrolon, polyamide, polycaprolactoneOne or more.
In a preferred embodiment of the present invention, the surface treatment method soaked using liquid, liquid soak time are less thanEqual to 1 minute.
In a preferred embodiment of the present invention, in addition to step (3)：Object by liquid surface processing is led toWind drying process, between 20-40 DEG C of the environment temperature of ventilation process, the time of ventilation process is between 1-4 hours.
In a preferred embodiment of the present invention, in addition to step (4)：Water process is continued to dried object,The water process used be hot water boil, the one or more in cold water flush, cold water soak；It is preferred that the water process used is cold water leachingBubble, the time of cold water soak is between 1-5 hours.
In a preferred embodiment of the present invention, in addition to step (5)：Processing is dried to the object after water process,Drying temperature is between 40-60 DEG C, and drying time is between 3-10 hours.
The beneficial effects of the invention are as follows：
1) present invention will print object surface by solvent (liquid) and dissolve, in one layer of closely knit protective layer of Surface Creation,Object air-tightness can be effectively improved, eliminates the hole of 3D printing part, improves 3D printing object air-tightness so that 3D printingTechnology can be used for manufacturing pneumatic driving dynamic formula multi-finger dexterous hand of robot, facilitates the design work of robot, can manufactureOne direction, multi-direction or compound complicated machinery people multi-finger clever hand, work particularly suitable for intelligent flexible robot development.
2) usage amount and structure of soft elastic material and hard material are unrestricted in a variety of Dextrous Hand components of the invention,Using 3D printing integrated molding, the manufacturing process of multi-finger clever hand is simplified.
3) present invention increases poor solvent in a liquid, controls the ratio of poor solvent, reduces the speed of liquid dissolving object, makesLiquid immersion process is more controllable, avoids object from too being dissolved in liquid immersion process, causes the deformation of object；It can increase simultaneouslyIncrease volatile poor solvent content, the evaporation rate being favorably improved after liquid immersion treatment, be easy to the later stage to remove solvent.
Brief description of the drawings
Fig. 1 is deformation schematic diagram of the multi-finger clever hand object under the conditions of positive and negative air-pressure, and 1a is multi-finger clever hand objectCross section；1b is the deformation map that object occurs in the case where connecting negative pressure condition；1c is the shape that object occurs in the case where connecting barotropic conditionBecome figure；1d is the modelling sectional drawing of multi-finger clever hand object, and 9a is branch, and 9b is trunk.
Fig. 2 is multi-finger clever hand object shaping schematic view in 3D printing equipment, and 2 and 3 be soft elastic material respectively and hard3D printing wire rod made of material, 10 be can the one-time formed material extruded type 3D printer of two kinds of wire rods, 10a and 10bIt is the corresponding two kinds of printings wire rod of two extrusion nozzles respectively, 11 be the multi-finger clever hand object of 3D printing shaping.
Fig. 3 is multi-finger clever hand object support of pipelines schematic diagram, and four sub-exports are separated by a central outlet.
Fig. 4 is state of the multi-finger clever hand object under different air pressure, and 4a is under normal barometric pressure, and 4b is connection negative pressure shapeState, 4c are connection barotropic state.
Fig. 5 is hard material different distributions schematic diagram in multi-finger clever hand object, and 12a is soft elastic material, and 12b is hardMaterial；Hard material is distributed in branch in 5a figures, and hard material is distributed in trunk in 5b figures.
Fig. 6 is bilateral type multi-finger clever hand object schematic cross-section, and bilateral type object is symmetrical certain in trunk both sidesThe branch of quantity, form two symmetrical air chambers.
Fig. 7 is three side type multi-finger clever hand object space structure figures, and object trunk stretches out branch in three directions, forms threeIndividual air chamber, and there is pipeline to be in communication with the outside respectively, by applying different air pressure, multi-finger clever hand can make the shape in 3 directionsBecome.
Embodiment
The technical scheme in the embodiment of the present invention will be clearly and completely described below, it is clear that described implementationExample is only the part of the embodiment of the present invention, rather than whole embodiments.It is common based on the embodiment in the present invention, this areaAll other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protectsEnclose.
The invention provides a kind of pneumatic actuation multi-finger dexterous hand of robot manufacturing process based on 3D printing technique, and it is wrappedContain but be not limited to following steps：(1) pneumatic driving dynamic formula multi-finger dexterous hand of robot object is obtained using 3D printing technique；(2) it is rightThe 3D printing object carries out liquid surface processing, and the 3D printing object can dissolve or be partially dissolved in liquid, the liquidPhysical efficiency and water dissolve each other.
The present invention will print object surface by solvent (liquid) and dissolve, can in one layer of closely knit protective layer of Surface CreationTo effectively improve object air-tightness.Liquid applicator refers to liquid applicator using instrument in object surface, formation concentrated solution layer, advantageIt is that liquid application degree is controllable, shortcoming is that subregion is difficult to uniformly smear.Liquid atomization refers to be atomized the liquid into atomizerDroplet, droplet are adhered to object surface, and advantage is that application direction is relatively uniform, and shortcoming is that speed is slower, and subregion is difficult to shapeInto concentrated solution conforming layer.Liquid immersion refers to object submergence in a liquid, and advantage is that applying zone is uniform, and speed is fast, and shortcoming isEasily cause surface erosion.Solution coating refers to is configured to concentrated solution by object raw material, and concentrated solution is coated in into object surface with instrument,Advantage is sealing thickness, and shortcoming is to smear difficult, easy adhesion.
The method of preferred liquid immersion of the present invention carries out object surface processing.The applied amount and applying mode of liquid are very heavyWill, a small amount of liquid is difficult to form overall diaphragm, excessive liquid meeting erosion surface, causes object deformation, breakage, adhesion etc.Defect.Although liquid immersion easily causes object surface erosion, inventor is had found by many experiments：It can increase in a liquidPoor solvent, the ratio of poor solvent is controlled, the speed of liquid dissolving object can be reduced, make liquid immersion process more controllable, avoid thingPart is too dissolved in liquid immersion process, causes the deformation of object；The poor solvent content of high volatile can be increased simultaneously, hadHelp improve the evaporation rate after liquid immersion treatment, be easy to the later stage to remove solvent.
Liquid is preferably following one or more used by fluid present invention is surface-treated：Water, methanol, ethanol, positive thirdAlcohol, isopropanol, n-amyl alcohol, phenmethylol, butanol, tetrahydrofuran, acetone, butanone, MEK, cyclohexanone, dichloromethane, chloroform,Methyl acetate, ethyl acetate, butyl acetate, acetic acid, dimethylformamide, dimethyl acetamide.Preferred liquid is butanone, acetic acidEthyl ester, dimethyl acetamide include one or more of which.These liquid fluxs can dissolve each other with water, so water can be effectiveThe liquid residue in object is removed, adoptable means have cold water flush, cold water soak or hot water to boil.And pass through liquidThe object of immersion treatment is, it is necessary to which aeration-drying can just start water treatment procedure for a period of time.Because object surface is just through liquidBody soaks, and there is one layer of concentrated solution on surface.If premature contact liquid water, the solvent in water meeting Rapid Extraction concentrated solution, table is causedThe macromolecule differential settlement of surface layer, form the irreversible defects such as bulge layering.Wherein, the environment temperature 20-40 of ventilation processBetween DEG C, the time of ventilation process is between 1-4 hours；The water process used is that hot water boils, in cold water flush, cold water soakIt is one or more；It is preferred that the water process used is cold water soak, the time of cold water soak is between 1-5 hours.Finally, will pass throughThe object of water process put in an oven dry water removal, drying temperature between 40-60 DEG C, drying time between 3-10 hours,Too high temperature is avoided, prevents object from deforming and shrinking.
Present invention selection PolymakerPolyFlexTMWire rod, PolymakerPolyFlexTMIt is a hardness 55D heatPlastic polyurethane (TPU) wire rod, suitable for most of Table top type 3D printers.Fig. 1 d multi-finger clever hand model is chosen, is usedFig. 2 3D printing technique, optimize print parameters, obtain the fine TPU objects of surface quality.
Good solvent instant can be integrated TPU object surfaces are fast.The good solvent of TPU materials has dimethyl acetamide and twoNMF etc., the poor solvent of TPU materials have acetone, butanone, ethyl acetate and tetrahydrofuran etc..3D printing to acquisitionTPU objects carry out liquid surface processing, it is preferable that liquid is butanone, ethyl acetate, diformazan used by liquid surface processingYl acetamide includes one or more of which.It is highly preferred that because the toxicity of dimethyl acetamide is relatively low, therefore it is elected to be diformazanYl acetamide is the primary solvent of processing TPU objects, i.e., liquid surface processing is preferentially using the liquid for including dimethyl acetamideBody, and preferably the mass fraction of dimethyl acetamide is more than or equal to 50%.Experiment is found：When the mass fraction of dimethyl acetamideDuring below about 50%, cause dissolution velocity extremely slow because good solvent content is less than normal, visually can not normal observation to TPU objects tableFace changes.Although the infinitely increase time can find, there is obvious time waste, while immersion poor solvent for a long time in thisIt can make the thin-wall construction of inner that irreversible change occur, the thin-walled of swelling can not recover former in dissolving agent process is subsequently removedShape, thoroughly destroy the feature of multi-finger clever hand object.
The boiling point of dimethyl acetamide is 166 DEG C, substantially non-volatile under room temperature condition, and the volatilization of ethyl acetate and butanoneSpeed is fast, is advantageous to after liquid immersion treatment, and object surface partial solvent quickly volatilizees and promotes film forming.Therefore in order to effectiveThe rate of dissolution of TPU object surfaces is reduced, is easy to preferably grasp the surface treatment degree of TPU objects, removes the hole of TPU objectsGap, improves TPU object air-tightness, and preferred mass percentage composition is 50%-85% dimethyl acetamide and adds 10%-30%Ethyl acetate and 5%-20% butanone configuration mixed solvent liquid, so as to prevent destroy air-tightness solution cavity, pipelineThe defects of bulge of adhesion and deformation, object surface between thin-walled.
Embodiment 1
As mass fraction, dimethyl acetamide 85%, ethyl acetate 10% and butanone 5% is selected to be configured to mixed solventLiquid, surface liquid immersion treatment, soak time 1 minute are carried out to TPU objects.TPU object surface situations of change：Dissolving compared withIt hurry up, surface it is more slow can to remove dissolving agent process with film forming.
Embodiment 2
As mass fraction, select dimethyl acetamide 70%, ethyl acetate 20% and butanone 10% be configured to mix it is moltenAgent liquid, surface liquid immersion treatment, soak time 55s are carried out to TPU objects.TPU object surface situations of change：Surface changesSpeed is moderate, and manipulation is convenient, and film forming speed is fast, and air-tightness is excellent.
Embodiment 3
As mass fraction, select dimethyl acetamide 60%, ethyl acetate 30% and butanone 10% be configured to mix it is moltenAgent liquid, surface liquid immersion treatment, soak time 55s are carried out to TPU objects.TPU object surface situations of change：Surface treatmentSpeed is slower, and object air-tightness is good.
Embodiment 4
As mass fraction, select dimethyl acetamide 50%, ethyl acetate 30% and butanone 20% be configured to mix it is moltenAgent liquid, surface liquid immersion treatment, soak time 55s are carried out to TPU objects.TPU object surface situations of change：Surface treatmentSpeed is slow, part surface meeting out-of-flatness, and object air-tightness is fine.
Embodiment 5
As mass fraction, select dimethyl acetamide 40%, ethyl acetate 30% and butanone 30% be configured to mix it is moltenAgent liquid, surface liquid immersion treatment is carried out to TPU objects.TPU object surface situations of change：Short time treatment, it can not seal completelyClosed pore gap, object air-tightness are deteriorated；Handled when long, object has deformation.
It is essential to match suitable mixing liquid, while liquid soak time is also very crucial, short time treatment and it is long when pairThe change of TPU object surfaces has a great influence, and processing time is preferably more than 1 minute.When object is immersed in mixing liquid for a long timeWhen, be first subjected to influence is the thin-wall part that inner forms closing pipe line, and the dissolving of mixing liquid and swelling can all make thinIrreversible breaking occurs for wall pieces；Secondly, good solvent meeting scattering and permeating is to inner 5mm depths, in the feelings of sequent surface film formingUnder condition, the solvent for remaining in object depths is difficult to remove during extracting by water immersion and water, finally causes object pollution.
Embodiment 6
PolymakerPolyFlexTMMaterial filming performance is outstanding, has certain mechanical property.By mixed solvent liquidThe object of body immersion treatment, be placed on aerated area 1-4 hours under room temperature environment so that the concentrated solution of object surface fully intoFilm, temperature can be properly increased and be used for accelerating solvent to volatilize, suppress defect and produce, improve treatment effeciency.The material is water-fast and heat-resistingPerformance is outstanding, can be subjected to prolonged cold water or hot water treatment, fully removes the solvent of object surface.Then at 40-60 DEG CBaking oven in dry 3-10 hours.
Use PolymakerPolyFlexTMFile printing Fig. 3 structures, the sub-export of lower end four connects respectively refers to spirit more fourDab hand object, central outlet connection negative pressure or malleation.As shown in figure 4,4a, which is multi-finger clever hand, connects atmospheric pressure state, 4b is moreRefer to Dextrous Hand connection negative pressure state, 4c is that multi-finger clever hand connects barotropic state；It can be seen that multi-finger clever hand object is positive and negativeStretching, extension and grasping movement are made in the case of pressure.The present invention will print object surface by the solvent of embodiment 2 and dissolve, in object tableFace generates one layer of closely knit protective layer, can effectively improve object air-tightness, removes the hole of 3D printing object, improves 3D and beatPrint object air-tightness.
Apply material by PolymakerPolyFlexTMFile printing, it is soft elastic material, avoids producing crawl objectCut or force excessive cause breakage.By control pressure size, the crawl degree of multi-finger clever hand is determined, can be to crisp, tenderApply with the object for having life entity, greatly expand the application field of multi-finger dexterous hand of robot.A variety of dexterities of the present inventionThe usage amount and structure of soft elastic material and hard material are unrestricted in hand component, using 3D printing integrated molding, simplifyThe manufacturing process of multi-finger clever hand.
Embodiment 7
Use PolymakerPolyFlexTMSoft elastic material is done, the hardness of usual soft elastic material is smaller, its solvent (liquidBody) rate of dissolution is faster.PolymakerPolyMaxTMDo hard material, analogy Fig. 5 mode, in multi-finger clever hand objectMiddle addition hard material.PolymakerPolyFlexTMIt is TPU materials, and PolymakerPolyMaxTMIt is PLA (PLA)Material, both adhesive properties are outstanding, can be integrally formed using twin-jet nozzle 3D printing equipment.WhereinPolymakerPolyFlexTMIt is mainly distributed on outside, parcel hard PolymakerPolyMaxTMMaterial, it is ensured that object surfaceIt can be soaked through liquid and reach sealing effectiveness, analogy embodiment 6 is handled to the liquid surface of object.
PolymakerPolyMaxTMMaterial mainly plays two in multi-finger clever hand inner：1) part is improved to saveThe mechanical strength of point, 2) expansion of specification multi-finger clever hand object and shrinkage direction.Such as Fig. 5 a, in point of multi-finger clever hand objectHard material is added in branch, improves the mechanical strength of the branch of multi-finger clever hand, the dynamics of increase crawl object.Or such as Fig. 5 b,The PolyMax structures of different length and width are longitudinally added on the trunk of object, similar finger finger joint can be haveed the function that,So as to optimize the transform node of multi-finger clever hand and angle.
Embodiment 8
As shown in Figure 6 and Figure 7, multi-finger clever hand object structure can be designed as both sides Xing Hesan sides type.Compared to one sideType object, multiple air chambers have 2 outstanding advantages, and one, the deformations of multiple directions, expanded application scope are provided；2nd, apply oppositeAir pressure, the intensity of deformation can be increased, improve the efficiency of crawl release movement.The outstanding advantage of 3D printing is labyrinthPrint difficulty and printing simple structure is basically identical, so greatly facilitating in the multi-finger clever hand thing for manufacturing various structure typesPart.
Using the theme part of PolyFlex printing multi-finger clever hand objects, previously developed using present invention applicantPVA water-soluble support materials help 3D printing shaping；Then, it is put into the aqueous solution of sonic oscillation, 3 hours or so, PVA supportsMaterial dissolution；Processing analogy embodiment 6 subsequently to object, is not repeated.
Multiple air chambers are respectively communicated with different air pressure conditions, and object produces corresponding deformation.Analogy Fig. 3 support of pipelines model,The support of twin flue or three pipelines is designed, multiple objects are combined, form multivariant multi-finger clever hand object.
Embodiments of the invention are the foregoing is only, not thereby limit the scope of patent protection of the present invention, every utilizationThe equivalent structure or equivalent flow conversion that present specification is made, or directly or indirectly it is used in other related technologiesField, it is included within the scope of the present invention.