CN108582128A - Non- formed in mould diversity air-actuated flexible finger - Google Patents
Non- formed in mould diversity air-actuated flexible finger Download PDFInfo
- Publication number
- CN108582128A CN108582128A CN201810568719.3A CN201810568719A CN108582128A CN 108582128 A CN108582128 A CN 108582128A CN 201810568719 A CN201810568719 A CN 201810568719A CN 108582128 A CN108582128 A CN 108582128A
- Authority
- CN
- China
- Prior art keywords
- silica gel
- air
- mould
- flexible finger
- actuated flexible
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The technical problem to be solved by the present invention is to provide a kind of non-formed in mould diversity air-actuated flexible fingers.Using the materials such as common silica gel hose on the market, with silica gel glue by spring steel wire, silica gel bottom is bonded in successively on the outside of silica gel hose.Finger tip and air inlet pipe are respectively charged into the both ends of silica gel hose, with silica gel glue bonding, sealing.Pass through various assembly and combination, you can multifarious air-actuated flexible finger is conveniently made.It is passed through compressed gas from air inlet pipe, makes silica gel hose expansion, deformation, air-actuated flexible finger bending.Also Pneumatic flexible hand is may be combined to form, the application of various occasions is met.Without manufacturing mold, use materials such as common silica gel hose on the market can effectively save manufacturing cost, shorten the manufacturing cycle present invention.
Description
Technical field
The present invention relates to a kind of non-formed in mould diversity air-actuated flexible fingers.It is soft using common silica gel on the market
The materials such as pipe, through being bonded, combining, you can multifarious air-actuated flexible finger is conveniently made, meets answering for various occasions
With.
Background technology
Air-actuated flexible finger is usually made of flexible materials such as silica gel, is passed through compressed gas to its internal cavity, makes cavity
Expansion, air-actuated flexible finger are deformed, and various forms are presented, complete various actions.It is composable pneumatic soft by combining, arranging in pairs or groups
Property hand.But air-actuated flexible finger used at present is demoulded after silica gel curing molding by pouring liquid silica gel in a mold,
Through assembling, combining, the air-actuated flexible finger needed.The wherein manufacture generally use 3D printing of mold or the side of mechanical processing
Method, the problem is that needing to configure special process equipment, manufacturing cost is higher, and the period is longer.
Invention content
The technical problem to be solved by the present invention is to provide a kind of non-formed in mould diversity air-actuated flexible fingers.Using city
The materials such as common silica gel hose on face, with silica gel glue by spring steel wire, silica gel bottom is bonded in successively on the outside of silica gel hose.
Finger tip and air inlet pipe are respectively charged into the both ends of silica gel hose, with silica gel glue bonding, sealing.By various assembly and combination,
Multifarious air-actuated flexible finger can conveniently be made.It is passed through compressed gas from air inlet pipe, makes silica gel hose expansion, become
Shape, air-actuated flexible finger bending.Also Pneumatic flexible hand is may be combined to form, the application of various occasions is met.The present invention is without manufacture
Mold, use materials such as common silica gel hose on the market can effectively save manufacturing cost, shorten the manufacturing cycle.
The non-formed in mould diversity air-actuated flexible finger of the present invention is mainly by silica gel hose, spring steel wire, silica gel bottom
Layer, finger tip, air inlet pipe, silica gel glue, band, hard sleeve, multichannel gas-tpe fitting composition；With silica gel glue by spring steel wire,
Silica gel bottom is bonded in successively on the outside of silica gel hose；Finger tip and air inlet pipe are respectively charged into the both ends of silica gel hose, with silica gel glue
Water bonding, sealing, form the non-formed in mould air-actuated flexible finger of one-part form；With band interval tighten the non-mold of one-part form at
Each centre position of the air-actuated flexible finger of type, is used in combination silica gel glue to be bonded, and forms the non-formed in mould Pneumatic flexible of segmented
Finger；By hard sleeve spacer sleeve in the outside of the non-formed in mould air-actuated flexible finger of one-part form, silica gel glue is used in combination to be bonded,
Form the non-formed in mould air-actuated flexible finger of multi-joint；By the non-formed in mould air-actuated flexible finger combination of multi-joint, installation
Onto multichannel gas-tpe fitting, arthrogryposis type Pneumatic flexible hand is formed.
Without manufacturing mold, use materials such as common silica gel hose on the market can be saved effectively and are manufactured into the present invention
This, shortens the manufacturing cycle.For various use occasions, using multifarious structure, after being passed through compressed air, various bendings are presented
Deformation, and the arthrogryposis Pneumatic flexible hand of similar human hand can be formed.The present invention is the design of air-actuated flexible finger, manufacture, is answered
With new scheme is provided, there is application and promotion prospect well.
Description of the drawings
Fig. 1 is the three-dimensional explosive view of the non-formed in mould air-actuated flexible finger of one-part form of the present invention.
Fig. 2 is the 3 d effect graph of the non-formed in mould air-actuated flexible finger original state of one-part form of the present invention.
Fig. 3 is that the non-formed in mould air-actuated flexible finger of one-part form of the present invention is passed through compressed air, after bending
3 d effect graph.
Fig. 4 is the 3 d effect graph of the non-formed in mould air-actuated flexible finger original state of segmented of the present invention.
Fig. 5 is that the non-formed in mould air-actuated flexible finger of segmented of the present invention is passed through compressed air, after bending
3 d effect graph.
Fig. 6 is the 3 d effect graph of the non-formed in mould air-actuated flexible finger original state of multi-joint of the present invention.
Fig. 7 is that the non-formed in mould air-actuated flexible finger of multi-joint of the present invention is passed through compressed air, after bending
3 d effect graph.
Fig. 8 is the 3 d effect graph of the arthrogryposis type Pneumatic flexible hand original state of the present invention.
Fig. 9 is that the arthrogryposis type Pneumatic flexible hand of the present invention is passed through compressed air, the 3 d effect graph after bending.
In figure：1- silica gel hoses, 2- finger tips, 3- silica gel bottoms, 4- spring steel wires, 5- air inlet pipe, 6- bands, 7- hard sets
Pipe, 8- multichannel gas-tpe fittings.
Specific implementation mode
The non-formed in mould diversity air-actuated flexible finger of the present invention is mainly by silica gel hose 1, spring steel wire 4, silica gel
Bottom 3, finger tip 2, air inlet pipe 5, silica gel glue, band 6, hard sleeve 7, multichannel gas-tpe fitting 8 form；With silica gel glue by bullet
Spring steel wire 4, silica gel bottom 3 are bonded in 1 outside of silica gel hose successively；Finger tip 2 and air inlet pipe 3 are packed into the both ends of silica gel hose 1,
With silica gel glue bonding, sealing, the non-formed in mould air-actuated flexible finger of one-part form is formed, wherein finger tip 2 can be according to applied field
Conjunction is made of a variety of materials, plays the role of closure and contact surface；It is tightened in the non-mold molding of one-part form with the interval of band 6
Air-actuated flexible finger each centre position, be used in combination silica gel glue to be bonded, formed the non-formed in mould Pneumatic flexible hand of segmented
Refer to；By 7 spacer sleeve of hard sleeve in the outside of the non-formed in mould air-actuated flexible finger of one-part form, silica gel glue is used in combination to be bonded,
Form the non-formed in mould air-actuated flexible finger of multi-joint；By the non-formed in mould air-actuated flexible finger combination of multi-joint, installation
Onto multichannel gas-tpe fitting 8, arthrogryposis type Pneumatic flexible hand is formed.
It is passed through compressed air in non-formed in mould air-actuated flexible finger from air inlet pipe 5 to one-part form, due to not being bonded
1 side of silica gel hose of spring steel wire 4 and silica gel bottom 3 is relatively thin, which generates expansion, to another lateral bend, and drives spring
Steel wire 4 is bent.It is passed through compressed air from air inlet pipe 5 to the non-formed in mould air-actuated flexible finger of segmented, due to the limit of band
It makes and uses, make it that segmented bending be presented.It is passed through pressure from air inlet pipe 5 to the non-formed in mould air-actuated flexible finger of multi-joint
Contracting air, due to the restriction effect of hard sleeve, the only part outside hard sleeve is deformed bending, makes it that similar people be presented
The arthrogryposis of class finger acts.It is passed through compressed air from air inlet pipe 5 to arthrogryposis type Pneumatic flexible hand, makes each finger-joint
The action of similar human hand is completed in bending.By adjusting the pressure of compressed air, it is pneumatic that each non-formed in mould diversity can be changed
The angle of flexible finger bending.After discharging the compressed air in each non-formed in mould diversity air-actuated flexible finger, spring steel
Silk 4 is sprung back, it is made to restPose.
Claims (1)
1. non-formed in mould diversity air-actuated flexible finger mainly by silica gel hose, spring steel wire, silica gel bottom, finger tip, into
Tracheae, silica gel glue, band, hard sleeve, multichannel gas-tpe fitting composition；It is characterized in that with silica gel glue by spring steel wire, silicon
Glue bottom is bonded in successively on the outside of silica gel hose；Finger tip and air inlet pipe are respectively charged into the both ends of silica gel hose, use silica gel glue
Bonding, sealing, form the non-formed in mould air-actuated flexible finger of one-part form；It is tightened in the non-mold molding of one-part form with band interval
Air-actuated flexible finger each centre position, be used in combination silica gel glue to be bonded, formed the non-formed in mould Pneumatic flexible hand of segmented
Refer to；By hard sleeve spacer sleeve in the outside of the non-formed in mould air-actuated flexible finger of one-part form, it is used in combination silica gel glue to be bonded, shape
At the non-formed in mould air-actuated flexible finger of multi-joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810568719.3A CN108582128A (en) | 2018-05-29 | 2018-05-29 | Non- formed in mould diversity air-actuated flexible finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810568719.3A CN108582128A (en) | 2018-05-29 | 2018-05-29 | Non- formed in mould diversity air-actuated flexible finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108582128A true CN108582128A (en) | 2018-09-28 |
Family
ID=63630872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810568719.3A Pending CN108582128A (en) | 2018-05-29 | 2018-05-29 | Non- formed in mould diversity air-actuated flexible finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108582128A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363883A (en) * | 2018-10-30 | 2019-02-22 | 王翰飞 | A kind of software rehabilitation hand of imitative fish bone structure |
| CN109732586A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of multistage growth type soft robot |
| CN113799159A (en) * | 2021-09-27 | 2021-12-17 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
-
2018
- 2018-05-29 CN CN201810568719.3A patent/CN108582128A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363883A (en) * | 2018-10-30 | 2019-02-22 | 王翰飞 | A kind of software rehabilitation hand of imitative fish bone structure |
| CN109732586A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of multistage growth type soft robot |
| CN113799159A (en) * | 2021-09-27 | 2021-12-17 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
| CN113799159B (en) * | 2021-09-27 | 2023-03-14 | 哈尔滨工业大学 | Manual-imitating pneumatic soft dexterous hand |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108582128A (en) | Non- formed in mould diversity air-actuated flexible finger | |
| CN105965533A (en) | Combined type pneumatic flexible finger | |
| CN206011127U (en) | Combined pneumatic flexible finger | |
| CN207953859U (en) | A kind of variation rigidity flexible mechanical arm | |
| CN208497022U (en) | Non- formed in mould diversity air-actuated flexible finger | |
| ATE358998T1 (en) | METHOD FOR THERMOFORMING BELLOWS STRUCTURES | |
| CN107042518A (en) | It is a kind of that there is the bionical frog software flippers for reversing open and close movement form | |
| WO2004005002A8 (en) | Method for manufacturing a composite seal | |
| CN204062292U (en) | A kind of elbow with flexible pipe | |
| CN102380901A (en) | Vacuum molding process for furniture | |
| CN101508150B (en) | Method for bending natural flat stone material into arc | |
| CN106964160B (en) | The appearance parts and toy of human shape of toy of human shape | |
| CN208503647U (en) | A kind of line card | |
| CN208355339U (en) | The connection structure of hose for electric vacuum cleaner | |
| JP4022808B2 (en) | Cleaner hose with reinforced steel wire | |
| CN111113934A (en) | Manufacturing method of inflatable cushion | |
| JPH05172118A (en) | Actuator and manufacture thereof | |
| JP3879075B2 (en) | Manufacturing method of meandering capillary heat pipe | |
| CN202460111U (en) | Toy with audible whistle | |
| CN108644476A (en) | A kind of line card | |
| CN205612005U (en) | New plastic who exempts from spring presss from both sides structure | |
| TWD233881S (en) | Air filter connecting hose (13) | |
| US20180042701A1 (en) | Traction device for clear aligner, clear aligner and manufacturing method thereof | |
| CN208277421U (en) | A kind of plastic pipe bending forming attachment device and its bending device | |
| CN211230560U (en) | Spliced nozzle chamber |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |