CN105619379B - A kind of software imitation human finger and preparation method thereof - Google Patents
A kind of software imitation human finger and preparation method thereof Download PDFInfo
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- CN105619379B CN105619379B CN201610095373.0A CN201610095373A CN105619379B CN 105619379 B CN105619379 B CN 105619379B CN 201610095373 A CN201610095373 A CN 201610095373A CN 105619379 B CN105619379 B CN 105619379B
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- finger
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- clockwise
- human finger
- imitation human
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/1418—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles the inserts being deformed or preformed, e.g. by the injection pressure
- B29C45/14221—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles the inserts being deformed or preformed, e.g. by the injection pressure by tools, e.g. cutting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/14819—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles the inserts being completely encapsulated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/14—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles
- B29C45/1418—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles the inserts being deformed or preformed, e.g. by the injection pressure
- B29C2045/14237—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles the inserts being deformed or preformed, e.g. by the injection pressure the inserts being deformed or preformed outside the mould or mould cavity
- B29C2045/14245—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor incorporating preformed parts or layers, e.g. injection moulding around inserts or for coating articles the inserts being deformed or preformed, e.g. by the injection pressure the inserts being deformed or preformed outside the mould or mould cavity using deforming or preforming means outside the mould cavity
Abstract
The invention discloses a kind of software imitation human finger and preparation method thereof, one end of the software imitation human finger is finger tips (5A), and the other end is Fingers root (5B)；Airflow duct (2) is arranged on Fingers root (5B)；Bonding strain limiting layer (30) winds form fiber envelope (4) along coiling counterclockwise afterwards on the bottom panel of hollow base body (3), then injection molding skin outer layer (1).The middle part of the hollow base body (3) is air bag (3A), software imitation human finger is reached deformation by the gas or liquid that are filled with certain pressure in air bag (3A).The software imitation human finger material Young's model that the present invention is designed is 250kPa, close to the hardness of human body skin.Single software imitation human finger maximum deflection displacement is up to 100mm, and power output is up to 4N.
Description
Technical field
The present invention relates to a kind of imitation human finger structure, more particularly, refer to that a kind of software with structure pre-programmed is imitated
Finger.
Background technology
Imitation human finger, as effective expansion of human limb's activity, is one of important topic of robot research field.Phase
For simple universal end effector, imitation human finger is highly similar to true man's finger shape size, and can complete flexible, essence
Accurate action.By the development of decades, imitation human finger has been that integrated electromechanics, sensing, material, intelligence and driving etc. are multi-disciplinary
System.At present, traditional imitation human finger is general is realized similar to people by complicated articulated structure and exquisite drive system
Manual dexterity is acted.However, the design difficulty of this bionic finger is big, R＆D cycle length, manufacturing cost are expensive, it is necessary to complicated
Sensing control and accurate parts come safety action reliability of operation and security.Meanwhile, traditional imitation human finger is more by base
Connected and composed in the rigid motion pair of hard material (metal, plastics etc.), with the difference of actual human hand's texture limit its with it is outer
The interactive experience of boundary's environment.
In nature, many organisms can but complete complicated efficient action with simple flexible soft structure, such as
Octopus tentacle, worm etc..Organism structure forms complete integration nerve-machinery with central nervous system common evolutionary
Control system.Wherein soft tissue structure is most important for organism, is conducive to adapting to constantly complex environment：It is biological
In body and environmental interaction contact process, soft body structure tissue and environmental objects contact area ambassador its fitted with environment it is closer.
Meanwhile, the large-scale change of soft tissue, energy absorption characteristics reduce the action effect of external force.Environmental objects suffered by organism it is anti-
Active force can be distributed in very wide range the surface of soft tissue structure, can so reduce power impact and improve security.
The content of the invention
The present invention devises a kind of software imitation human finger, and the finger has the difference of essence with conventional rigid imitation human finger.
Software imitation human finger all using flexible material be made Rotating fields (described Rotating fields be both be from the inside to the outside hollow base body layer,
Fiber envelope and skin outer layer, and the bottom panel of software imitation human finger be from the inside to the outside hollow base body layer, strain limitation bottom,
Fiber envelope and skin outer layer), and unconventional rigid plastics or metal.Software imitation human finger of the present invention applies hollow base
The closed cavity (i.e. air bag 3A) in body (3) centre can be by limiting bottom (30) to fiber envelope (4) and strain
Layout and material set to realize the flexure operation of different curvature and curve, i.e., realize deficient drive in the way of structure " pre-programmed "
Dynamic compliant motion, so as to reduce software imitation human finger structure complexity.Meanwhile, software imitation human finger uses the control of passive type
Strategy, in terms of cost, volume, system complexity, has aobvious relative to traditional bionic finger using active control mode
The advantage of work.Because flexible material matrix produces the impedance of very little to pressure, software imitation human finger can absorb foreign impacts
Power, and the geomery of interactive object can be better adapted to.Meanwhile, the application of flexible soft material can make apery hand
Refer to the profile and texture for being more nearly real finger.The manufacture of software imitation human finger is quick to make it be also suitable for height with low cost
Endanger industry operation occasion and future bio-robot it is customizing.Meanwhile, the anthropomorphic characteristic of the height of software bionic finger with
And inherent security, it can be greatly improved and interact energy with external environment object (such as people, animal, breakable object)
Power.
In the present invention, when being pressed into gas or liquid, the closed cavity (i.e. air bag 3A) in hollow base body (3) centre
Expanded in the axial direction with radial line direction as far as possible just as balloon.When small plus the coefficient of expansion vertically in closed cavity
During fiber envelope (4), the radial direction deformation of closed cavity is limited, and can only be expanded in the axial direction, is no longer to have no purpose
Extension, and be the same as the stretching motion of closed cavity.When the additional last layer coefficient of expansion in closed cavity side it is small should
When becoming limitation bottom (30), the expansion deformation of the axis direction of the corresponding side of closed cavity is limited.So, close empty
During chamber pressure rise internally, the expansion deformation degree of axis both sides is had differences, and software bionic finger will be made integrally to produce
Bending motion.
A kind of software imitation human finger of the present invention, it is characterised in that：The software imitation human finger includes hollow base body
(3), strain limiting layer (30), fiber envelope (4), skin outer layer (1) and airflow duct (2).The software imitation human finger
One end is finger tips (5A), and the other end is Fingers root (5B).Airflow duct (2) is arranged on Fingers root (5B).It is hollow
Bonding strain limiting layer (30) winds form fiber envelope (4) along coiling counterclockwise afterwards on the bottom panel of matrix (3).Matrix
(3) it is fiber envelope (4) between skin outer layer (1).The fiber envelope (4) is by coiling clockwise (4A) and inverse time
Pin coiling (4B) is symmetrically wrapped in what is constituted on matrix (3).It is wrapped in clockwise between coiling (4A) and anti-clockwise windings (4B)
Joining a little on the dorsal surfaces of fingers plate (3B) of matrix (3), referred to as upper intersection point (4C)；Coiling (4A) clockwise and anti-clockwise windings
Joining a little on the finger bottom panel (3D) of matrix (3) is wrapped between (4B), intersection point (4D) is referred to as descended.Coiling (4A) clockwise
Winding angle between anti-clockwise windings (4B) is designated as between α, i.e. α=5~15 degree, two neighboring coiling (4A) clockwise
Interval is designated as d, i.e. d=5~20mm.
The advantage of software bionic finger of the present invention is：
1. the software bionic finger that the present invention is designed uses gas or liquid to be filled with hollow base body (3) center for pressure medium
In the air bag (3A) at position, limited by straining fiber envelope (4) made from limitation bottom (30) and flexible tensile material
The bending motion of finger.The action mechanism of software bionic finger is the high-elastic continuous closed cavity that will be made up of polymer elastomeric materials
Collect and be limited in certain shape, constitute super redundancy structure space, obtain the unlimited free degree and continuous modification ability.
2. the closed cavity (i.e. air bag (3A)) of software bionic finger of the present invention design can by fiber envelope with
The layout and material of strain limitation bottom set to realize the flexure operation of different curvature and curve, referred to as structure " pre-programmed " side
Formula.The present invention realizes drive lacking compliant motion with structure " pre-programmed ", so that it is complicated to reduce software imitation human finger
Degree.Meanwhile, software imitation human finger uses the control strategy of passive type, in terms of cost, volume, system complexity, relative to
There is significant advantage using traditional bionic finger of active control mode.
3. hollow base body is made using 3D printing technique, and skin outer layer is made using injection molding process, so as to get
Software bionic finger of the present invention the impedance of very little is produced to pressure due to flexible material matrix, software imitation human finger can be inhaled
Foreign impacts power is received, and the geomery of interactive object can be better adapted to.Meanwhile, the application of flexible soft material, energy
Imitation human finger is enough set to be more nearly the profile and texture of real finger.
4. the material Young's model for the software imitation human finger that the present invention is designed is 250kPa, single software finger maximum deflection
Displacement is up to 100mm, and power output is up to 4N, close to the hardness of human body skin.
Brief description of the drawings
Fig. 1 is the external structure for the software imitation human finger that the present invention is designed.
Figure 1A is the external entity figure for the software imitation human finger that the present invention is designed.
Figure 1B is the A-A profiles for the software imitation human finger that the present invention is designed.
Fig. 1 C are the exploded views for the software imitation human finger that the present invention is designed.
Fig. 1 D are the coiling schematic diagrames of the fiber envelope for the software imitation human finger that the present invention is designed.
Fig. 2A is the front view that the matrix of software imitation human finger that the present invention is designed is combined with fiber envelope.
Fig. 2 B are the rearviews that the matrix of software imitation human finger that the present invention is designed is combined with fiber envelope.
Fig. 2 C are the top views that the matrix of software imitation human finger that the present invention is designed is combined with fiber envelope.
Fig. 2 D are the upward views that the matrix of software imitation human finger that the present invention is designed is combined with fiber envelope.
Fig. 3 is the die structure dwg for making the software imitation human finger that the present invention is designed.
| 1. skin outer layer | 1A.A through holes | 2. airflow duct |
| 3. matrix | 3A. air bags | 3B. finger top panels |
| 3C. finger left panels | 3D. finger lower panels | 3E. finger right panels |
| 30. strain limiting layer | 4. fiber envelope | 4A. coilings clockwise |
| 4B. anti-clockwise windings | The upper intersection points of 4C. | Intersection point under 4D. |
| 5A. finger tips | 5B, Fingers root | |
| 6A. molds | Mould under 6B. | 6C. material feeding parts |
| 6C1. material hole | 6D. end pieces |
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
It is shown in Figure 3, a kind of software imitation human finger with structure pre-programmed is made using multistep molding process planning,
Include the following steps：
Step one, hollow base body is made；
Hollow base body 3 is obtained using 3D printing rapid shaping；
In the present invention, the selected materials of hollow base body 3 are the high performance platinum cured silicone that smooth-on companies produce
Rubber, model Dragon skin20 or Dragon skin10, there is good intensity and elasticity, can be stretched to former big
Small several times can rebound without being torn and pull back the form before stretching and indeformable.
In the present invention, the thickness of hollow base body 3 is designated as h3, i.e. h3=1.5~5mm.
Step 2, makes mold 6A；
Mold 6A is obtained using 3D printing rapid shaping；
In the present invention, mold selected materials are PLA (PLA) material, meet rapid shaping requirement.
Step 3, makes lower mould 6B；
Lower mould 6B is obtained using 3D printing rapid shaping；
In the present invention, lower mould selected materials are PLA (PLA) material, meet rapid shaping requirement.
Step 4, left-handed dextrorotation symmetrically winds making fiber envelope；
The bonding strain limiting layer 30 on the bottom panel of hollow base body made from step one 3, then using clockwise and inverse
Hour hands symmetrically wind the Kev bracing wire of flexible tension, obtain fiber envelope on hollow base body 3 and strain limiting layer 30, are referred to as pre-
Formed body.The fiber envelope of Kev guy winding formation constitutes fiber envelope 4.
Referring to shown in Fig. 2 D, the winding angle between coiling 4A and anti-clockwise windings 4B clockwise is designated as α (i.e. α=5~15
Degree), the interval between two neighboring coiling 4A clockwise is designated as d (i.e. d=5~20mm), or it is two neighboring it is counterclockwise around
Interval between line 4B is designated as d (i.e. d=5~20mm).Coiling 4A clockwise and anti-clockwise windings 4B from a diameter of 0.5~
The Kev bracing wire of 1.5mm flexible tension.
Software imitation human finger is made in step 5, injection molding；
Preform made from step 4 is arranged in upper/lower die made from step 2 and step 3, through material feeding part 6C
Material hole 6C1 by platinum cured silicone rubber inject；The mould from after normal temperature cure, obtains software imitation human finger.
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 1 C, a kind of software apery hand with structure pre-programmed that the present invention is designed
Refer to, the software imitation human finger includes hollow base body 3, strain limiting layer 30, fiber envelope 4, the gentle conductance of skin outer layer 1
Pipe 2.
One end of the software imitation human finger is finger tips 5A, and the other end is Fingers root 5B.Airflow duct 2 is arranged on
On the Fingers root 5B.
Wound on the bottom panel of hollow base body 3 after bonding strain limiting layer 30 and form fiber envelope along coiling counterclockwise
4.So that being fiber envelope 4 between hollow base body 3, strain limiting layer 30 and skin outer layer 1.
Referring to shown in Figure 1A, in order to describe a kind of software apery hand with structure pre-programmed that the present invention is designed in detail
Refer to, its pattern is to carry out certain illustrated with the forefinger profile of the right hand of people, according to difference the need for, side that can be according to the present invention
Method makes and obtains remaining finger pattern.The length of software imitation human finger is designated as b (i.e. b=25 (h1+h3)~50 (h1+h3)).
Skin outer layer 1 is made with hollow base body 3 from identical material, and the high performance platinum of such as smooth-on companies production is solidified with
Machine silicon rubber, model Dragon skin20 or Dragon skin10, has good intensity and elasticity, can be stretched to
The several times of life size can rebound without being torn and pull back the form before stretching and indeformable.The thickness of skin outer layer 1 is designated as h1,
That is h1=1.5~5mm.The thickness of hollow base body 3 is designated as h3, i.e. h3=1.5~5mm.Because the thickness for straining limiting layer 30 is
0.5~1mm, when calculating clinodactyly, can be ignored.
Referring to shown in Figure 1B, matrix 3 is that hollow structure, the i.e. middle part of matrix 3 are air bag 3A (or sealing cavity), air bag
3A is used for the gas that there is constant pressure, and gas enters through airflow duct 2.Referring to shown in Fig. 2A, Fig. 2 B, Fig. 2 C, Fig. 2 D,
The top of matrix 3 is dorsal surfaces of fingers plate 3B, and the bottom of matrix 3 is finger bottom panel 3D, and the side of matrix 3 is finger left panel
3C, the opposite side of matrix 3 is finger right panel 3E.Strain limiting layer 30 is bonded on finger bottom panel 3D, strains limiting layer 30
Thickness be 0.5~1mm, strain limiting layer 30 select glass fibre.In the present invention, the selected materials of matrix 3 are smooth-on
The high performance platinum cured silicone rubber of company's production, model Dragon skin20 or Dragon skin10 have
Good intensity and elasticity, can be stretched to the several times of life size without being torn, and can rebound pull back the form before stretching without
Deformation.
Referring to shown in Fig. 1 C, Fig. 2A, Fig. 2 B, Fig. 2 C, Fig. 2 D, fiber envelope 4 is by coiling 4A clockwise and counterclockwise
Coiling 4B is symmetrically wrapped in what is constituted on matrix 3.The finger of matrix 3 is wrapped between coiling 4A and anti-clockwise windings 4B clockwise
Joining a little on backplate 3B, referred to as upper intersection point 4C；The hand of matrix 3 is wrapped between coiling 4A and anti-clockwise windings 4B clockwise
Refer to joining a little on bottom panel 3D, referred to as descend intersection point 4D.Referring to shown in Fig. 2 D, between coiling 4A and anti-clockwise windings 4B clockwise
The interval that is designated as between α (i.e. α=5~15 degree), two neighboring coiling 4A clockwise of winding angle be designated as d (i.e. d=5~
20mm), or the interval between two neighboring anti-clockwise windings 4B is designated as d (i.e. d=5~20mm).Coiling 4A clockwise with
Kev bracing wires of the anti-clockwise windings 4B from a diameter of 0.5~1.5mm flexible tension.
The deformation condition of software bionic finger：
In the present invention, the action mechanism of software bionic finger：The high-elastic continuous closing that will be made up of polymer elastomeric materials
Cavity, which is collected, is limited in certain shape, constitutes super redundancy structure space, i.e. air bag 3A obtains the unlimited free degree and continuous change
Shape ability.When being pressed into gas or liquid, air bag 3A expands with radial line direction in the axial direction as far as possible just as balloon.When
When air bag 3A adds the small fiber envelope of the coefficient of expansion vertically, air bag 3A radial direction deformation is limited, and can only be along axle
Line direction expands, and being no longer that milli is random extends the stretching motion for being equal to air bag 3A.When in air bag 3A side affixs one
When the small strain of the layer coefficient of expansion limits bottom (finger bottom panel 3D), the expansion shape of the axis direction of air bag 3A corresponding side
Change is limited.So, during air bag 3A pressure rises internally, the expansion deformation degree of axis both sides has differences, will
It is set integrally to produce bending motion.Thus, air bag 3A can pass through the layout and material to fiber envelope and strain limitation bottom
Material is set to realize the flexure operation of different curvature and curve, i.e., drive lacking flexibility fortune is realized in the way of structure " pre-programmed "
It is dynamic, so as to reduce structure complexity.Meanwhile, software imitation human finger uses the control strategy of passive type, in cost, volume, is
In terms of complexity of uniting, there is significant advantage relative to using traditional bionic finger of active control mode.Due to flexibility
Material matrix produces the impedance of very little to pressure, and software imitation human finger can absorb foreign impacts power, and can preferably fit
Answer the geomery of interactive object.Meanwhile, the application of flexible soft material can make imitation human finger be more nearly real finger
Profile and texture, substantially improve its interactive experience with external environment.
In the present invention, in order to realize the deformation of software bionic finger, the gas being filled with the air bag 3A of hollow base body 3
Or the pressure of liquid is 20~200kPa, the length b of finger be thickness h 1+h3 25~50 times (i.e. b=25 (h1+h3)~
50(h1+h3))。
Embodiment 1
Devise right hand forefinger as shown in Figure 1A, a length of b=112mm of right hand forefinger, the thickness of right hand forefinger is 4mm
Between (i.e. h1+h3=4mm, matrix wall thickness 2mm, skin glue-line wall thickness 2mm), α=6 degree, two neighboring coiling 4A clockwise
It is spaced d=5mm.
The right Fingers root 5B of software apery is arranged on a support, and the axis in finger length direction and six axle powers are sensed
The Y-axis of device (Mini 40F/T sensor, ATI, USA) is parallel, and finger tips 5A is located at directly over force snesor origin.
Pressure sensor (ISE40-C6-22L-M, SMC, Japan) can be measured with showing in finger matrix core closed cavity in real time
Pressure.The force data that finger acts on force snesor will be by computer data board (PCI-6284, National
Instruments, USA) collection, and processing record is carried out by the LabVIEW upper computer softwares program worked out.Applying different perseverances
Power performance test is carried out under the conditions of constant-pressure (60KPa, 120KPa, 180KPa), and meets bionical right fingers deformed.
The design of real human body forefinger is relied on by referring to the software apery right hand made from embodiment 1, using gas as pressure
The feasibility of its bending motion mechanism is demonstrated under power media, and by testing bending motion performance and power performance to finger
With controlling the relation of gas pressure to be probed into.Experimental result finds that software finger material Young's model is 250kPa, approaches
The hardness of human body skin.Single software finger maximum deflection displacement is up to 100mm, and power output is up to 4N.
The software imitation human finger that the present invention is designed, the structural character based on organism soft tissue, action mechanism and fortune
The research of dynamic performance, designs a kind of novel pneumatic software imitation human finger.Relative to conventional rigid imitation human finger, the imitation human finger
Possess the apparent size and texture for being similar to true man's finger, simple in construction, manufacture is quick, with low cost, impact while also having
Buffering, interaction safety and the easy advantage of control.These advantages have benefited from whole finger all using flexible material and knot
Structure, rather than traditional rigid plastics and metal.The manufacture of software imitation human finger it is quick and it is with low cost make it suitable for it is high-risk
The operation occasion of industry and following bio-robot it is private customizing.Meanwhile, the inherent safety of software bionic finger
Property, greatly improve its interactive experience with external environment object (such as people, animal, breakable object).
Claims (7)
1. a kind of software imitation human finger, includes hollow base body (3), skin outer layer (1) and airflow duct (2)；The software is imitated
One end of finger is finger tips (5A), and the other end is Fingers root (5B)；Airflow duct (2) is arranged on Fingers root (5B)
On；It is characterized in that：Also include strain limiting layer (30) and fiber envelope (4)；It is bonded on the bottom panel of hollow base body (3)
Limiting layer (30) is strained to wind afterwards along coiling formation fiber envelope (4) counterclockwise；Between matrix (3) and skin outer layer (1)
It is fiber envelope (4)；Fiber envelope (4) is symmetrically to be wrapped in matrix by coiling clockwise (4A) and anti-clockwise windings (4B)
(3) constituted on；It is wrapped in clockwise between coiling (4A) and anti-clockwise windings (4B) on the dorsal surfaces of fingers plate (3B) of matrix (3)
Join a little, referred to as upper intersection point (4C)；The finger of matrix (3) is wrapped between coiling (4A) and anti-clockwise windings (4B) clockwise
Joining a little on bottom panel (3D), referred to as descends intersection point (4D)；Winding between coiling (4A) and anti-clockwise windings (4B) clockwise
The interval that angle is designated as between α, i.e. α=5~15 degree, two neighboring coiling (4A) clockwise is designated as d, i.e. d=5~20mm.
2. software imitation human finger according to claim 1, it is characterised in that：The thickness of skin outer layer (1) is designated as h1, i.e. h1
=1.5~5mm, the thickness of hollow base body (3) is designated as h3, i.e. h3=1.5~5mm, the thickness of strain limiting layer (30) for 0.5~
1mm, the length of software imitation human finger is designated as b, i.e. b=25 (h1+h3)~50 (h1+h3).
3. software imitation human finger according to claim 1, it is characterised in that：Coiling (4A) clockwise and anti-clockwise windings
The Kev bracing wire of (4B) from a diameter of 0.5~1.5mm flexible tension.
4. software imitation human finger according to claim 1, it is characterised in that：Skin outer layer (1) and hollow base body (3) are selected
Material is platinum cured silicone rubber.
5. software imitation human finger according to claim 1, it is characterised in that：Software finger young modulus of material is
250kPa, close to the hardness of human body skin；Single software finger maximum deflection displacement is 100mm, and power output is 4N.
6. a kind of method of the software imitation human finger prepared described in claim 1, it is characterised in that include the following steps：
Step one, hollow base body is made；
Hollow base body (3) is obtained using 3D printing rapid shaping；
Step 2, makes mold (6A)；
Mold (6A) is obtained using 3D printing rapid shaping；
Step 3, makes lower mould (6B)；
Lower mould (6B) is obtained using 3D printing rapid shaping；
Step 4, left-handed dextrorotation symmetrically winds making fiber envelope；
The bonding strain limiting layer (30) on the bottom panel of hollow base body made from step one (3), then using clockwise and inverse
Hour hands symmetrically wind the Kev bracing wire of flexible tension, obtain fiber envelope on hollow base body (3), referred to as preform；
The winding angle between coiling (4A) and anti-clockwise windings (4B) is designated as α, i.e. α=5~15 degree clockwise, two neighboring suitable
Interval between hour hands coiling (4A) or anti-clockwise windings (4B) is designated as d, i.e. d=5~20mm；
Software imitation human finger is made in step 5, injection molding；
Preform made from step 4 is arranged in upper/lower die made from step 2 and step 3, through material feeding part (6C)
Material hole (6C1) injects platinum cured silicone rubber；The mould from after normal temperature cure, obtains software imitation human finger.
7. the software imitation human finger that method according to claim 6 makes, it is characterised in that：Software finger material Young mould
Measure as 250kPa, close to the hardness of human body skin；Single software finger maximum deflection displacement is 100mm, and power output is 4N.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610095373.0A CN105619379B (en) | 2016-02-21 | 2016-02-21 | A kind of software imitation human finger and preparation method thereof |
Applications Claiming Priority (1)
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| CN105965533B (en) * | 2016-06-17 | 2023-07-25 | 重庆科技学院 | Combined pneumatic flexible finger |
| CN107139207B (en) * | 2017-05-25 | 2020-02-11 | 东北大学 | Pneumatic soft finger, soft finger control system and control method |
| CN107234621B (en) * | 2017-06-16 | 2024-02-13 | 广东工业大学 | Pneumatic soft robot imitating inchworm climbing |
| CN107696048B (en) * | 2017-10-31 | 2019-12-20 | 华中科技大学 | Rigid-flexible coupling mechanical finger with force position sensing function and sensing method thereof |
| CN110216822B (en) * | 2017-12-21 | 2021-04-06 | 天津大学 | Preparation method of air pressure driven soft-soft hybrid bionic manipulator mold |
| CN108044640A (en) * | 2017-12-21 | 2018-05-18 | 天津大学 | A kind of air pressure drives soft soft mixing bionic mechanical hand |
| CN108556234B (en) * | 2018-05-11 | 2019-06-04 | 清华大学 | A kind of mold and method manufacturing soft robot |
| CN108555947A (en) * | 2018-06-26 | 2018-09-21 | 南京林业大学 | A kind of software manipulator of stiffness variable |
| CN109015724A (en) * | 2018-07-17 | 2018-12-18 | 上海交通大学 | Pneumatic software handgrip |
| CN109807924A (en) * | 2019-04-09 | 2019-05-28 | 南京林业大学 | A kind of self-adapting changeable rigidity software hand is grabbed |
| CN110091348A (en) * | 2019-05-28 | 2019-08-06 | 南京林业大学 | A kind of dynamic software gripper of apery luck |
| CN110394794A (en) * | 2019-06-27 | 2019-11-01 | 西安工业大学 | A kind of software driving device |
| CN111397494A (en) * | 2020-03-09 | 2020-07-10 | 五邑大学 | Soft finger convenient to measure |
| CN111300459B (en) * | 2020-03-13 | 2022-10-25 | 哈尔滨工业大学 | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof |
| CN111267137B (en) * | 2020-03-23 | 2021-07-20 | 北京软体机器人科技有限公司 | Novel flexible finger and preparation method thereof |
| CN115648233A (en) * | 2022-09-09 | 2023-01-31 | 广东海洋大学 | Grab net manipulator |
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| JP2653181B2 (en) * | 1989-08-31 | 1997-09-10 | 富士電機株式会社 | Gripping device |
| JPH09123080A (en) * | 1995-10-30 | 1997-05-13 | Kubota Corp | Robot hand |
| DE102005061265A1 (en) * | 2005-12-20 | 2007-06-21 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Prosthesis for replacement of finger, comprises recesses for accommodation of soft material |
| CN101850551B (en) * | 2010-05-29 | 2011-07-20 | 北华大学 | Disomic artificial muscle |
| CN104260104A (en) * | 2014-09-12 | 2015-01-07 | 深圳市创冠智能网络技术有限公司 | Flexible robot inflatable finger |
| CN104890004A (en) * | 2015-06-09 | 2015-09-09 | 杭州南江机器人股份有限公司 | Robot bionic finger |
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