CN100546776C - A kind of multiple degrees of freedom soft human-imitated finger - Google Patents
A kind of multiple degrees of freedom soft human-imitated finger Download PDFInfo
- Publication number
- CN100546776C CN100546776C CNB2007101560886A CN200710156088A CN100546776C CN 100546776 C CN100546776 C CN 100546776C CN B2007101560886 A CNB2007101560886 A CN B2007101560886A CN 200710156088 A CN200710156088 A CN 200710156088A CN 100546776 C CN100546776 C CN 100546776C
- Authority
- CN
- China
- Prior art keywords
- work chamber
- preposition
- rigid body
- pipe
- crude rubber
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The present invention relates to a kind of multiple degrees of freedom soft human-imitated finger, comprise rigid body, preposition crude rubber pipe and be contained in constraint steel wire in the side pipe wall of preposition crude rubber pipe, preposition crude rubber pipe two ends are tightly connected with rigid body respectively, preposition crude rubber pipe and rigid body have a plurality of and are staggered successively, and the seal cavity that each preposition crude rubber pipe and rigid body are constituted is first work chamber; Terminal rigid body is connected with end cap by a plurality of thin rubber tubes, on terminal rigid body and the end cap end face joint is installed, and thin rubber tube terminal is connected with joint sealing respectively, and the seal cavity that thin rubber tube and joint are constituted is second work chamber; Described first, second work chamber communicates with a breather pipe respectively; Also be connected with a rearmounted crude rubber pipe that is centered around the overall peripheral of thin rubber tube between terminal rigid body and the end cap, space between rearmounted crude rubber pipe and the thin rubber tube is the 3rd work chamber, has on the end cap to have the through hole that the 3rd work chamber is communicated with atmosphere.
Description
(1) technical field
The invention belongs to finger prosthesis, relate in particular to multiple degrees of freedom soft human-imitated finger, be applicable to the design of multi-finger dexterous hand of robot based on pneumatics.
(2) background technology
The design of robot delicate is main contents, the especially design of multiple degrees of freedom the human-imitated finger difficult point and the key technology of robot delicate design especially in the robot design.Before the present invention makes, pure frame for movement is all adopted in traditional Dextrous Hand design, utilize motor or hydraulic-driven, adopt mechanical part as actuating station, its major defect is to need auxiliary bodies such as motor, transmission device, profile is huge, complex structure, submissive poor performance can not initiatively adapt to the profile of target, cause damage to grasping target easily, influence implementation result.
The proposition Pneumatic flexible finger prosthesis is also arranged, provide a kind of multivariant flexible finger prosthesis for 200510049167.8 Chinese invention patent, form by rubber tube, the spiral metal wire that is nested in the rubber tube wall and end cap etc. as application number.Three thin rubber tubes of this finger tips evenly distribute between end cap and rigid body, produce pressure differential by the difference of controlling three gas pressure values in the thin rubber tube respectively and realize that it is to the different directions bending, but because the material jewelry, expensive clothing and other valuables of thin rubber tube, after bending to certain angle, very easily produce bending, reduce the effective exercise stroke of this finger prosthesis reality.
(3) summary of the invention
Pneumatic flexible finger prosthesis motion process instability in the prior art, effective travel are short in order to overcome, the deficiency of action underaction, the invention provides that a kind of motion effective travel is long, motion process is stable, flexible movements, can finish the multiple degrees of freedom soft human-imitated finger of compound movement more.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of multiple degrees of freedom soft human-imitated finger, comprise rigid body, preposition crude rubber pipe and be installed in constraint steel wire in the side pipe wall of described preposition crude rubber pipe, described preposition crude rubber pipe two ends are tightly connected with described rigid body respectively, described preposition crude rubber pipe and rigid body have a plurality of and are staggered successively, and the seal cavity that each preposition crude rubber pipe and rigid body are constituted constitutes first work chamber; Terminal rigid body is connected with an end cap by a plurality of thin rubber tubes, on the rigid body end face of described end first joint is installed, second joint is installed on the end face of described end cap, described thin rubber tube terminal is connected with second joint sealing with first joint respectively, and the seal cavity that thin rubber tube and first, second joint are constituted constitutes second work chamber; Described first, second work chamber communicates with a breather pipe respectively, the breather pipe of described first work chamber passes described end cap and each rigid body successively and links to each other with separately first work chamber, and the breather pipe of described second work chamber passes described end cap and second joint successively and links to each other with separately second work chamber; Also be connected with a rearmounted crude rubber pipe between the rigid body of described end and the described end cap, described rearmounted crude rubber circumference of cannon bone is around the periphery of the integral body of described a plurality of thin rubber tubes, space between described rearmounted crude rubber pipe and the described thin rubber tube constitutes the 3rd work chamber, has on the described end cap to have the through hole that the 3rd work chamber is communicated with atmosphere.
Further, described thin rubber tube has three and be symmetrically distributed around the axle center of described end cap.
Further again, also be nested with thin spiral metal wire in the tube wall of described preposition crude rubber pipe and described rearmounted crude rubber pipe, each circle of the thin spiral metal wire in described constraint steel wire and the preposition crude rubber tube wall twines; Be nested with spiral metal wire in the tube wall of described thin rubber tube.
Further, described preposition crude rubber pipe has two.
Technical conceive of the present invention is: by breather pipe Compressed Gas is fed in each first work chamber and second work chamber, the elastic tube wall of preposition crude rubber pipe and thin rubber tube meeting axial elongation when air pressure increases, because preposition crude rubber pipe is nested with the speed of side elongation of constraint steel wire and amplitude all less than the side that the constraint steel wire is not set, one lateral bending song of preposition crude rubber Guan Huixiang constraint steel wire can be controlled the angle of bend of two preposition crude rubber pipes by controlling air pressure size in first work chamber; Feed gas pressure difference in three thin rubber tubes by control, make the elongation of three thin rubber tubes produce difference, can realize the rearmounted crude rubber Guan Xiangyi lateral bending song of three thin rubber tubes and its periphery, can control it by the atmospheric pressure value measures of dispersion difference of controlling three thin rubber tubes and rotate to crooked realization of different directions.
The beneficial effect of multiple degrees of freedom soft human-imitated finger of the present invention mainly shows: a crude rubber pipe is set up in the periphery in the integral body of a plurality of thin rubber tubes, make that motion process stability is better, in rotation process, be difficult for bending and distortion, the effective travel of finger motion is long, can finish complicated more action.
(4) description of drawings
Fig. 1 is the cross-sectional view at the rearmounted crude rubber pipe place of embodiment one and embodiment two.
Fig. 2 is that the B-B of Fig. 1 is to cutaway view.
(5) specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is further described
Embodiment one
With reference to accompanying drawing, present embodiment is the five degree of freedom soft human-imitated finger, comprise three rigid bodies 1, three crude rubber pipes and an end cap 8, crude rubber pipe and rigid body 1 are staggered successively, if the diagram left end is the finger head, the diagram right-hand member is the finger bottom, two crude rubber near the finger head are preposition crude rubber pipe 2, crude rubber pipe near the finger bottom is rearmounted crude rubber pipe 15, the end of rearmounted crude rubber pipe 15 connects end cap 8, all adopts seccotine to be tightly connected between the two ends of described crude rubber pipe and rigid body 1 and the end cap 8.Constraint steel wire 9 also is installed in the one side pipe wall of two preposition crude rubber pipes 2, and retrains the same side that steel wire 9 is positioned at two preposition crude rubber pipes 2, and be fixed on the rigid body by screw.The seal cavity that two preposition crude rubber pipes 2 and rigid body 1 are constituted constitutes first work chamber 4.Three first joints 10 that are symmetrically distributed around the end cap axle center are installed on the described end cap 8, be equipped with on the terminal rigid body end face with the two ends of 11, three thin rubber tubes 6 of three second joints of described first joint 10 corresponding settings and be tightly connected by seccotine with separately first, second joint respectively.The seal cavity that thin rubber tube 6 and first, second joint are constituted constitutes 5, three thin rubber tubes 6 of second work chamber and constitutes the 3rd work chamber 12 with the non-tight space that rearmounted crude rubber pipe 15 is constituted.
Each first work chamber 4 and each second work chamber 5 all have a breather pipe 13 to communicate with it, the method to set up of breather pipe 13 is: the breather pipe that leads to first work chamber 4 passes each rigid body to first work chamber 4 that arrives respectively separately successively from end cap 8 beginnings, the breather pipe that leads to second work chamber 5 passes end cap 8 and second joint 11 successively and is connected with second work chamber 5 separately respectively, the 3rd work chamber 12 is non-complete confined space, and the 3rd work chamber inner space is connected with atmosphere by the through hole on the end cap 8 14.Therefore, offer six holes on the end cap, wherein five holes are passed through for five breather pipes 13 respectively, and the another one hole then is a through hole 14.From the rigid body of end, need to offer two, one hole on each rigid body 1 successively and pass through for breather pipe 13, do not need to offer through hole on the rigid body 1 of head.
Operation principle of the present invention is: by breather pipe 13 Compressed Gas is fed in each first work chamber 4 and second work chamber 5, when the air pressure in first work chamber 4 increases, the elastic tube wall of two preposition crude rubber pipes 2 will axial elongation, owing to be nested with the speed of side elongation of constraint steel wire 9 and amplitude all less than the side that constraint steel wire 9 is not set, this just makes that preposition crude rubber pipe 2 can be to a lateral bending song of constraint steel wire 9, can control the angle of bend of two preposition crude rubber pipes 2 by controlling air pressure size in first work chamber 4.In like manner, when feeding Compressed Gas in second work chamber 5, the elastic tube wall of thin rubber tube 6 will axial elongation.Feed gas pressure difference in three thin rubber tubes 6 by making, can make the elongation of three thin rubber tubes 6 produce difference, the rearmounted crude rubber pipe 15 that just can realize three thin rubber tubes 6 and its periphery can be controlled it by the atmospheric pressure value measures of dispersion difference of controlling three thin rubber tubes 6 respectively and rotate to crooked realization of different directions to a lateral bending song.
In the finger motion process, the bending motion of two preposition crude rubber pipes 2 of finger head is the nearly articulations digitorum manus of simulating human thumb head and the motion of metacarpophalangeal joints, the bending that the rearmounted crude rubber pipe 15 of finger bottom and the acting in conjunction of three thin rubber tubes 6 form and the motion of rotating the articulatio carpometacarpicus communis of simulating human thumb root respectively.The motion of the articulatio carpometacarpicus communis of finger bottom is mainly produced by the elongation difference of three thin rubber tubes 6, and the rearmounted crude rubber pipe 15 that is positioned at three thin rubber tube 6 peripheries is to play a supporting role.If articulatio carpometacarpicus communis place, finger bottom only has three thin rubber tubes 6 to constitute, structure as patent 200510049167.8, then after whole finger bent to a certain degree, three thin rubber tubes 6 can produce bending because of the weight of two rigid bodies 1 that can't support to point head and two preposition crude rubber pipes 2.Set up a rearmounted crude rubber pipe 15 three thin rubber tube 6 peripheries, and these rearmounted crude rubber pipe 15 inner spaces communicate with extraneous space, make its air pressure inside keep constant, therefore this rearmounted crude rubber pipe 15 can the bending along with any bending of three thin rubber tubes 6, and rearmounted crude rubber pipe 15 is embedded to be with thin spiral metal wire, thin rubber tube 6 has bigger rigidity, can prevent effectively that three thin rubber tubes 6 from bending after a side bends to certain angle.
Embodiment two
With reference to Fig. 1, the difference of present embodiment and embodiment one is also to be nested with spiral metal wire 3 in the tube wall of three crude rubber pipes, and each circle of the spiral metal wire 3 in described constraint steel wire 9 and preposition crude rubber pipe 2 tube walls twines.When first work chamber feeds gas, described spiral metal wire 3 can limit being radially expanded of crude rubber tube wall, avoids the radial deformation of pointing.Also be nested with little thin spiral metal wire 7 in the tube wall of described three thin rubber tubes 6, make thin rubber tube 6 have certain rigid, avoid restive because thin rubber tube 6 is too soft.
Embodiment three
Present embodiment is the four-degree-of-freedom soft human-imitated finger, and the difference of present embodiment and embodiment one is: present embodiment comprises two rigid bodies, two crude rubber pipes, and wherein the preposition crude rubber near the finger head has only one; So first work chamber also has only one, the breather pipe that is connected with first work chamber has only one; Offer 5 holes on the end cap, wherein the hole that links to each other with the breather pipe of preposition crude rubber pipe has only one.Other parts and the embodiment one of present embodiment are identical.
Embodiment four
Present embodiment is the six degree of freedom soft human-imitated finger, and the difference of present embodiment and embodiment one is: present embodiment comprises four rigid bodies, four crude rubber pipes, and wherein the preposition crude rubber near the finger head has three; So first work chamber has three, the breather pipe that is connected with first work chamber has three; Offer 7 holes on the end cap, wherein the Kong Yousan that links to each other with the breather pipe of preposition crude rubber pipe.Other parts and the embodiment one of present embodiment are identical.
Claims (4)
1, a kind of multiple degrees of freedom soft human-imitated finger, comprise rigid body, preposition crude rubber pipe and be installed in constraint steel wire in the side pipe wall of described preposition crude rubber pipe, described preposition crude rubber pipe two ends are tightly connected with described rigid body respectively, described preposition crude rubber pipe and rigid body have a plurality of and are staggered successively, and the seal cavity that each preposition crude rubber pipe and rigid body are constituted constitutes first work chamber; Terminal rigid body is connected with an end cap by a plurality of thin rubber tubes, on the rigid body end face of described end first joint is installed, second joint is installed on the end face of described end cap, described thin rubber tube terminal is connected with second joint sealing with first joint respectively, and the seal cavity that thin rubber tube and first, second joint are constituted constitutes second work chamber; Described first, second work chamber communicates with a breather pipe respectively, the breather pipe of described first work chamber passes described end cap and each rigid body successively and links to each other with separately first work chamber, and the breather pipe of described second work chamber passes described end cap and second joint successively and links to each other with separately second work chamber; It is characterized in that: also be connected with a rearmounted crude rubber pipe between the rigid body of described end and the described end cap, described rearmounted crude rubber circumference of cannon bone is around the periphery of the integral body of described a plurality of thin rubber tubes, space between described rearmounted crude rubber pipe and the described thin rubber tube constitutes the 3rd work chamber, has on the described end cap to have the through hole that the 3rd work chamber is communicated with atmosphere.
2, multiple degrees of freedom soft human-imitated finger as claimed in claim 1 is characterized in that: described thin rubber tube has three and be symmetrically distributed around the axle center of described end cap.
3, multiple degrees of freedom soft human-imitated finger as claimed in claim 1 or 2, it is characterized in that: also be nested with thin spiral metal wire in the tube wall of described preposition crude rubber pipe and described rearmounted crude rubber pipe, each circle of the thin spiral metal wire in described constraint steel wire and the preposition crude rubber tube wall twines; Be nested with spiral metal wire in the tube wall of described thin rubber tube.
4, multiple degrees of freedom soft human-imitated finger as claimed in claim 3 is characterized in that: described preposition crude rubber pipe has two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101560886A CN100546776C (en) | 2007-10-12 | 2007-10-12 | A kind of multiple degrees of freedom soft human-imitated finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101560886A CN100546776C (en) | 2007-10-12 | 2007-10-12 | A kind of multiple degrees of freedom soft human-imitated finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101134317A CN101134317A (en) | 2008-03-05 |
| CN100546776C true CN100546776C (en) | 2009-10-07 |
Family
ID=39158742
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007101560886A Expired - Fee Related CN100546776C (en) | 2007-10-12 | 2007-10-12 | A kind of multiple degrees of freedom soft human-imitated finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100546776C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108767B (en) * | 2015-09-30 | 2017-03-22 | 杭州南江机器人股份有限公司 | Bionic finger of flexible robot |
| CN105965533B (en) * | 2016-06-17 | 2023-07-25 | 重庆科技学院 | Combined pneumatic flexible finger |
| CN107030727B (en) * | 2017-05-17 | 2019-05-31 | 浙江工业大学 | A kind of two finger grip device of software of microchannel |
| CN108466276A (en) * | 2018-01-22 | 2018-08-31 | 江苏大学 | A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material |
| CN108673534B (en) * | 2018-04-20 | 2020-11-03 | 江苏大学 | Software manipulator for realizing intelligent sorting by using artificial synapse network system |
| CN113084845B (en) * | 2021-03-24 | 2022-09-09 | 北京航空航天大学 | Pneumatic finger |
| CN115655532A (en) * | 2022-10-08 | 2023-01-31 | 天津大学 | Pneumatic soft finger and hardness identification system based on same |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1562583A (en) * | 2004-03-31 | 2005-01-12 | 浙江工业大学 | Pneumatic flexible bend joint |
| CN1618580A (en) * | 2004-10-23 | 2005-05-25 | 江南大学 | Plate spring skeleton hydrulic pneumatic flexible bending joint |
| CN1663752A (en) * | 2005-03-02 | 2005-09-07 | 浙江工业大学 | Pneumatic flexible finger prosthesis |
| CN2764573Y (en) * | 2005-01-26 | 2006-03-15 | 浙江理工大学 | Pneumatic manipulator of robot |
| CN2774718Y (en) * | 2005-03-02 | 2006-04-26 | 浙江工业大学 | Pneumatic flexible artificial finger |
| CN1799789A (en) * | 2006-01-10 | 2006-07-12 | 江南大学 | Bending joint driven by linear expansion artificial muscle |
| CN201086292Y (en) * | 2007-10-12 | 2008-07-16 | 浙江工业大学 | Multiple degrees of freedom soft human-imitated finger |
-
2007
- 2007-10-12 CN CNB2007101560886A patent/CN100546776C/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1562583A (en) * | 2004-03-31 | 2005-01-12 | 浙江工业大学 | Pneumatic flexible bend joint |
| CN1618580A (en) * | 2004-10-23 | 2005-05-25 | 江南大学 | Plate spring skeleton hydrulic pneumatic flexible bending joint |
| CN2764573Y (en) * | 2005-01-26 | 2006-03-15 | 浙江理工大学 | Pneumatic manipulator of robot |
| CN1663752A (en) * | 2005-03-02 | 2005-09-07 | 浙江工业大学 | Pneumatic flexible finger prosthesis |
| CN2774718Y (en) * | 2005-03-02 | 2006-04-26 | 浙江工业大学 | Pneumatic flexible artificial finger |
| CN1799789A (en) * | 2006-01-10 | 2006-07-12 | 江南大学 | Bending joint driven by linear expansion artificial muscle |
| CN201086292Y (en) * | 2007-10-12 | 2008-07-16 | 浙江工业大学 | Multiple degrees of freedom soft human-imitated finger |
Non-Patent Citations (2)
| Title |
|---|
| 机器人多指灵巧手及其驱动系统研究的现状. 张立彬等.农业工程学报，第20卷第3期. 2004 * |
| 气动关节人工手的研究. 张立彬等.农业工程学报，第19卷第1期. 2003 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101134317A (en) | 2008-03-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100546776C (en) | A kind of multiple degrees of freedom soft human-imitated finger | |
| CN207953859U (en) | A kind of variation rigidity flexible mechanical arm | |
| CN101402200B (en) | Multi-finger dexterous hand of robot based on pneumatic flexible driver | |
| CN109648550A (en) | A kind of the software mechanical arm module and its control method of stiffness variable | |
| CN105666484B (en) | Two-tube suit type Pneumatic artificial muscle | |
| CN104608140B (en) | A kind of pneumatic softness finger | |
| CN201283575Y (en) | Multi-finger dexterous hand of robot based on pneumatic flexible driver | |
| CN108555883A (en) | A kind of bionical trunk software mechanical arm | |
| WO2020063277A1 (en) | Chain-plate type flexible finger | |
| CN201295928Y (en) | Side-sway joint based on flexible pneumatic actuator | |
| CN100348385C (en) | Pneumatic flexible finger prosthesis | |
| CN113104576B (en) | Soft pneumatic claw | |
| CN201086292Y (en) | Multiple degrees of freedom soft human-imitated finger | |
| CN211841990U (en) | Space garbage capturing soft robot | |
| CN106695854A (en) | Pneumatic redundancy self-sensing multi-degree-of-freedom flexible nimble finger | |
| CN101402201B (en) | Side-sway joint based on pneumatic flexible driver | |
| CN209022098U (en) | A kind of pneumatic software gripper of articulated type endoskeleton | |
| CN108673471B (en) | Wearable flexible auxiliary operation arm | |
| CN110116422A (en) | A kind of double drive multimode software end attachment device | |
| CN108555944B (en) | Soft tentacle for grabbing object by telescopic ring stretching | |
| Guanjun et al. | Pneumatic bio-soft robot module: Structure, elongation and experiment | |
| CN110877344A (en) | Multi-degree-of-freedom pneumatic flexible manipulator | |
| CN111267138A (en) | Variable rigidity soft body tongs based on elasticity bobble | |
| CN216682227U (en) | Pneumatic bionic flexible manipulator | |
| CN2774719Y (en) | Pneumatic flexible artificial finger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091007 Termination date: 20121012 |