CN107214696A - It is a kind of to perceive two-chamber multiple degrees of freedom Pneumatic flexible bionic finger certainly - Google Patents
It is a kind of to perceive two-chamber multiple degrees of freedom Pneumatic flexible bionic finger certainly Download PDFInfo
- Publication number
- CN107214696A CN107214696A CN201710551092.6A CN201710551092A CN107214696A CN 107214696 A CN107214696 A CN 107214696A CN 201710551092 A CN201710551092 A CN 201710551092A CN 107214696 A CN107214696 A CN 107214696A
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- Prior art keywords
- flexible
- finger
- pneumatic
- pneumatic cavity
- changing sensor
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- 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.)
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Links
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims abstract description 11
- 208000002925 dental caries Diseases 0.000 claims abstract description 6
- 238000007796 conventional method Methods 0.000 claims abstract description 4
- 229920002379 silicone rubber Polymers 0.000 claims abstract description 4
- 239000004945 silicone rubber Substances 0.000 claims abstract description 4
- 239000000758 substrate Substances 0.000 claims abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract 1
- 238000005452 bending Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- CDBYLPFSWZWCQE-UHFFFAOYSA-L Sodium Carbonate Chemical class [Na+].[Na+].[O-]C([O-])=O CDBYLPFSWZWCQE-UHFFFAOYSA-L 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Abstract
It is a kind of to perceive two-chamber multiple degrees of freedom Pneumatic flexible bionic finger certainly, it includes air-actuated flexible finger matrix, flexible multidimensional changing sensor, right pneumatic cavity and left pneumatic cavity, using conventional method, with flexible silicone rubber, substep cast is integrally formed in a mold, wherein, the top of flexible substrate is the pleated structure that multistage semi-cylindrical is constituted, the bottom surface of air-actuated flexible finger matrix is plane and is provided with groove, and flexible 3 D changing sensor is embedded in the groove of base bottom；The two pneumatic cavitys in left and right are set above air-actuated flexible finger matrix, one end of left and right pneumatic cavity is blind end, and the right pneumatic cavity of its other end sets right intake pipe connection, and left pneumatic cavity sets left intake pipe connection；Flexible multidimensional changing sensor accesses data collecting system, and two intake pipe connections connect air compressor by control pressurer system.Simple in construction, submissive dexterity of the invention, control performance is good, can largely imitate finger motion, and realize the precise and stable crawl to object.
Description
Technical field
The present invention relates to a kind of manipulator, particularly a kind of bionic finger.
Background technology
Manipulator just turns into scientific research personnel as the end execution unit of robot since robot technology broad development
Primary study object.With development in science and technology and social progress, industrial products handling and assembling, military machine people, farming machine
Substantial amounts of flexible manipulator is needed in people, the disable person and service robot, to complete the function of similar human hand, is realized instead of people
Dexterous manipulation.The performance indications for evaluating flexible manipulator are mainly compliance, flexibility and control performance.It is soft from type of drive
Property manipulator can be divided into：Motor driving, gas-liquid driving and functional material driving etc., wherein motor drive machinery hand control performance
Preferably；Gas-liquid driving flexible manipulator compliance is preferable, and because pneumatic source of the gas is convenient, lightweight, so pneumatic light-duty
It is widely used in flexible manipulator；Functional material driving is to use marmem, ultrasonic wave, high molecular polymer and function
Property liquid driven, there is its unique advantage in the occasion for requiring manipulator small volume and less weight.
The flexible manipulator of these current types is difficult while meeting the requirement of compliance, flexibility and control performance, such as
Motor drive machinery hand controls better performances but compliance is poor, and Pneumatic flexible manipulator compliance is preferably but crawl precision is low, difficult
To realize Accurate Position Control and power control, functional material driving manipulator flexibility is poor, and Grasping skill is limited.
The content of the invention
Object of the present invention is to provide a kind of compliance is good, flexibility is high, can improve precision controlling and power control
From perceive two-chamber multiple degrees of freedom Pneumatic flexible bionic finger.
The present invention includes air-actuated flexible finger matrix, flexible multidimensional changing sensor, right pneumatic cavity and left pneumatic cavity,
Using conventional method, with flexible silicone rubber, substep cast is integrally formed in a mold, wherein, the top of flexible substrate is multistage half
The pleated structure that the face of cylinder is constituted, the bottom surface of air-actuated flexible finger matrix is for plane and provided with groove, flexible 3 D deformation sensing
Device is embedded in the groove of base bottom；The two pneumatic cavitys in left and right, left and right pneumatic sky are set above air-actuated flexible finger matrix
One end of chamber is blind end, and the right pneumatic cavity of its other end sets right intake pipe connection, and left pneumatic cavity sets left intake pipe connection；It is soft
Property multidimensional changing sensor draw two and connect lead access data collecting system, described two intake pipe connections pass through Stress control
System connects air compressor.
The number and length of the top pleated structure, internal two-chamber geomery, flexible multidimensional changing sensor are realized
Form and position size are all in accordance with needing to be adjusted.
Multiple flexible fingers can be arranged on to a pedestal over-assemble into a flexible flexible manipulator, in crawl object
Set the deflection of each finger according to body form before, each flexible 3 D changing sensor is by finger practical distortion information
Control system is fed back to, control system is again by the deformation of each finger of Stress control valve regulation, until flexible mechanical hands movement
To suitable posture to realize precise and stable crawl.
The operation principle of the present invention is as follows：It is right pneumatic when being passed through pressed gas to left pneumatic cavity by pressure-control valve
When cavity connects atmospheric pressure, flexible finger is bending to the right；When by pressure-control valve to right pneumatic cavity cut-in pressure gas, it is left
When pneumatic cavity connects atmospheric pressure, flexible finger is bending to the left；When simultaneously two pneumatic cavitys are passed through the pressed gas of identical pressure
When, flexible finger is bent downwardly.The deformation data of flexible finger can be fed back to control system by flexible multidimensional changing sensor, control
System processed and then control pressure control valve constantly regulate are passed through the gas pressure of pneumatic cavity, until finger reaches the deformation specified
Untill.
The present invention has the advantage that as follows compared with prior art：
1st, shape, size and flexibility can change according to requirements, and due to the silica gel material acid and alkali-resistance of use, therefore its
Available for particular surroundings such as all kinds of soda acids, humidities, the work that can for a long time stablize in adverse circumstances；
2nd, the double cavity structure inside air-actuated flexible finger causes it to bend up and down, and can swing,
The free degree of finger is added, the flexibility of finger is improved；The flexible manipulator that the air-actuated flexible finger is constituted is easy for installation,
Submissive dexterity, mechanical property is similar with biological muscles, and crawl thing will not be damaged, can be widely used for delicate objects from
Dynamicization is captured；
3rd, three-dimensional deformation sensor is embedded in internal structure and is integrally formed, it is ensured that from the reliable of perceptional function
Property, and by using the feedback information of multidimensional changing sensor, closed-loop control can be realized to the grasping movement of flexible manipulator,
It ensure that the precise and stable crawl to object.
Brief description of the drawings
Fig. 1 is main view schematic diagram of the invention.
Fig. 2 is internal structure schematic diagram of the invention.
In figure：The flexible multidimensional changing sensor of 1- air-actuated flexible fingers matrix, 2-, the right pneumatic cavitys of 3-, the right air inlet pipe of 4-
The left pneumatic cavity of interface, 5-, the left intake pipe connections of 6-.
Embodiment
In the two-chamber multiple degrees of freedom Pneumatic flexible bionic finger schematic diagram of perception certainly shown in Fig. 1, air-actuated flexible finger base
The profile total length of body 1 is 80mm, the pleated structure that its top is constituted for a diameter of 20mm of multistage semi-cylindrical, Pneumatic flexible hand
Refer to the bottom surface of matrix for plane and provided with groove, flexible 3 D changing sensor 2 is embedded in the groove of flexible substrate bottom；Gas
Right pneumatic cavity 3 and left pneumatic cavity 5 are provided with above dynamic flexible finger matrix, one end of left and right pneumatic cavity is blind end,
The right pneumatic cavity of its other end sets right intake pipe connection 4, and left pneumatic cavity sets left intake pipe connection 6；Flexible multidimensional deformation sensing
Device draws two and connects lead access data collecting system, described two intake pipe connections and connects air pressure by control pressurer system
Contracting machine.Using conventional method, with flexible silicone rubber, substep cast is integrally formed whole bionic finger in a mold.
As shown in Fig. 2 have the cavity of two almost fans kept apart inside the semicylinder of every section of top, it is each such
Cavity connects with the symmetrical cuboid cavity in left and right two form the pneumatic cavity in symmetrical left and right respectively again respectively, can be in pressed gas
Deforming tops is more than deformation of bottom when being passed through, show as finger and be bent downwardly deformation.
The operation principle of the present invention is as follows：It is right pneumatic when being passed through pressed gas to left pneumatic cavity by pressure-control valve
When cavity connects atmospheric pressure, flexible finger is bending to the right；When by pressure-control valve to right pneumatic cavity cut-in pressure gas, it is left
When pneumatic cavity connects atmospheric pressure, flexible finger is bending to the left；When simultaneously two pneumatic cavitys are passed through the pressed gas of identical pressure
When, flexible finger is bent downwardly.The deformation data of flexible finger can be fed back to control system by flexible multidimensional changing sensor, control
System processed and then control pressure control valve constantly regulate are passed through the gas pressure of pneumatic cavity, until finger reaches the deformation specified
Untill.
The present invention can by the way that multiple flexible fingers are arranged on into pedestal over-assemble into a flexible flexible manipulator,
The deflection of each finger can be set according to body form before crawl object, each flexible 3 D changing sensor is by finger
Practical distortion feedback of the information is to control system, and control system is again by the deformation of each finger of Stress control valve regulation, until soft
Property robot movement is to suitable posture to realize precise and stable crawl.
Claims (3)
1. it is a kind of from perception two-chamber multiple degrees of freedom Pneumatic flexible bionic finger, it is characterised in that：Including air-actuated flexible finger matrix,
Flexible multidimensional changing sensor, right pneumatic cavity and left pneumatic cavity, are divided in a mold using conventional method flexible silicone rubber
Step cast is integrally formed, wherein, the top of flexible substrate is the pleated structure that multistage semi-cylindrical is constituted, air-actuated flexible finger base
The bottom surface of body is plane and is provided with groove, and flexible 3 D changing sensor is embedded in the groove of base bottom；Pneumatic flexible hand
Refer to and the two pneumatic cavitys in left and right are set above matrix, one end of left and right pneumatic cavity is blind end, the right pneumatic cavity of its other end
If right intake pipe connection, left pneumatic cavity sets left intake pipe connection；Flexible multidimensional changing sensor draws two and connects lead access
Data collecting system, two intake pipe connections connect air compressor by control pressurer system.
2. it is according to claim 1 from perception two-chamber multiple degrees of freedom Pneumatic flexible bionic finger, it is characterised in that：By inciting somebody to action
Multiple flexible fingers are arranged on a pedestal over-assemble into a flexible flexible manipulator, can be according to thing before crawl object
Shape sets the deflection of each finger, and each flexible 3 D changing sensor is by finger practical distortion feedback of the information to control
System, control system is again by the deformation of each finger of Stress control valve regulation, until flexible manipulator moves to suitable appearance
State stablizes crawl to realize.
3. according to claim 1 from two-chamber multiple degrees of freedom Pneumatic flexible bionic finger is perceived, its adjustment is：The top
The number and length of portion's pleated structure, internal two-chamber geomery, flexible multidimensional changing sensor way of realization and position size
It is adjusted all in accordance with actual requirement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710551092.6A CN107214696A (en) | 2017-07-07 | 2017-07-07 | It is a kind of to perceive two-chamber multiple degrees of freedom Pneumatic flexible bionic finger certainly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710551092.6A CN107214696A (en) | 2017-07-07 | 2017-07-07 | It is a kind of to perceive two-chamber multiple degrees of freedom Pneumatic flexible bionic finger certainly |
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| CN107214696A true CN107214696A (en) | 2017-09-29 |
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| CN201710551092.6A Pending CN107214696A (en) | 2017-07-07 | 2017-07-07 | It is a kind of to perceive two-chamber multiple degrees of freedom Pneumatic flexible bionic finger certainly |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718021A (en) * | 2017-10-27 | 2018-02-23 | 华南理工大学 | A kind of pneumatic software handgrip |
| CN108297955A (en) * | 2018-03-29 | 2018-07-20 | 燕山大学 | A kind of bionical wheel and foot formula wriggling soft robot |
| CN108501024A (en) * | 2018-04-10 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of flexible manipulator that bending is controllable |
| CN108501023A (en) * | 2018-04-10 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of multiple degrees of freedom flexible manipulator |
| CN110281257A (en) * | 2019-07-10 | 2019-09-27 | 浙江理工大学 | Can multi-direction bending the double air cavity flexible mechanical finger of modularization and its working method |
| WO2020025938A1 (en) * | 2018-07-30 | 2020-02-06 | Imperial College Of Science, Technology And Medicine | Soft robotic manipulator |
| CN110815199A (en) * | 2019-11-12 | 2020-02-21 | 上海交通大学 | Bending type variable rigidity self-sensing pneumatic soft driver |
| CN110877344A (en) * | 2019-11-21 | 2020-03-13 | 浙江大学 | Multi-degree-of-freedom pneumatic flexible manipulator |
| CN110919632A (en) * | 2019-12-03 | 2020-03-27 | 哈尔滨工业大学 | Software robot system with space steering function |
| CN111113459A (en) * | 2019-12-26 | 2020-05-08 | 浙江清华柔性电子技术研究院 | Flexible finger, manipulator and robot |
| CN111975807A (en) * | 2020-07-08 | 2020-11-24 | 河海大学常州校区 | Air control soft bionic manipulator |
| CN112692848A (en) * | 2020-12-28 | 2021-04-23 | 深圳市人工智能与机器人研究院 | Flexible pneumatic arm and tail end control system |
| CN112809720A (en) * | 2021-03-09 | 2021-05-18 | 中国石油大学(北京) | Soft mechanical arm |
| CN113103266A (en) * | 2021-04-30 | 2021-07-13 | 北京理工大学 | Stability-increasing self-healing bionic finger and bionic soft hand |
| CN113967922A (en) * | 2021-10-21 | 2022-01-25 | 安徽大学 | Full-flexible pneumatic soft bionic manipulator |
| CN115655532A (en) * | 2022-10-08 | 2023-01-31 | 天津大学 | Pneumatic soft finger and hardness identification system based on same |
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| CN103213138A (en) * | 2013-04-09 | 2013-07-24 | 江南大学 | Pneumatic serial-connection flexible hinge multi-finger paw of compliant mechanism |
| US20150290794A1 (en) * | 2013-12-19 | 2015-10-15 | Other Lab Llc | Pneumatic exomuscle system and method |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718021A (en) * | 2017-10-27 | 2018-02-23 | 华南理工大学 | A kind of pneumatic software handgrip |
| CN107718021B (en) * | 2017-10-27 | 2023-05-23 | 华南理工大学 | Pneumatic soft tongs |
| CN108297955A (en) * | 2018-03-29 | 2018-07-20 | 燕山大学 | A kind of bionical wheel and foot formula wriggling soft robot |
| CN108297955B (en) * | 2018-03-29 | 2023-07-04 | 燕山大学 | Bionic wheel foot type peristaltic soft robot |
| CN108501024A (en) * | 2018-04-10 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of flexible manipulator that bending is controllable |
| CN108501023A (en) * | 2018-04-10 | 2018-09-07 | 佛山市奥耶克思机械设备有限公司 | A kind of multiple degrees of freedom flexible manipulator |
| WO2020025938A1 (en) * | 2018-07-30 | 2020-02-06 | Imperial College Of Science, Technology And Medicine | Soft robotic manipulator |
| CN110281257A (en) * | 2019-07-10 | 2019-09-27 | 浙江理工大学 | Can multi-direction bending the double air cavity flexible mechanical finger of modularization and its working method |
| CN110281257B (en) * | 2019-07-10 | 2024-02-13 | 浙江理工大学 | Modularized double-air-cavity flexible mechanical finger capable of being bent in multiple directions and working method thereof |
| CN110815199A (en) * | 2019-11-12 | 2020-02-21 | 上海交通大学 | Bending type variable rigidity self-sensing pneumatic soft driver |
| CN110877344A (en) * | 2019-11-21 | 2020-03-13 | 浙江大学 | Multi-degree-of-freedom pneumatic flexible manipulator |
| CN110919632A (en) * | 2019-12-03 | 2020-03-27 | 哈尔滨工业大学 | Software robot system with space steering function |
| CN111113459A (en) * | 2019-12-26 | 2020-05-08 | 浙江清华柔性电子技术研究院 | Flexible finger, manipulator and robot |
| CN111113459B (en) * | 2019-12-26 | 2021-07-06 | 浙江清华柔性电子技术研究院 | Flexible finger, manipulator and robot |
| CN111975807A (en) * | 2020-07-08 | 2020-11-24 | 河海大学常州校区 | Air control soft bionic manipulator |
| CN112692848A (en) * | 2020-12-28 | 2021-04-23 | 深圳市人工智能与机器人研究院 | Flexible pneumatic arm and tail end control system |
| CN112809720B (en) * | 2021-03-09 | 2022-03-15 | 中国石油大学(北京) | Soft mechanical arm |
| CN112809720A (en) * | 2021-03-09 | 2021-05-18 | 中国石油大学(北京) | Soft mechanical arm |
| CN113103266A (en) * | 2021-04-30 | 2021-07-13 | 北京理工大学 | Stability-increasing self-healing bionic finger and bionic soft hand |
| CN113967922A (en) * | 2021-10-21 | 2022-01-25 | 安徽大学 | Full-flexible pneumatic soft bionic manipulator |
| CN115655532A (en) * | 2022-10-08 | 2023-01-31 | 天津大学 | Pneumatic soft finger and hardness identification system based on same |
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Application publication date: 20170929 |