CN111409088A

CN111409088A - Bionic mechanical arm

Info

Publication number: CN111409088A
Application number: CN202010399180.0A
Authority: CN
Inventors: 陈睿; 黎程; 顾宇灵; 郭隽; 田军章; 李洋
Original assignee: Guangdong Provincial Institute Of Traditional Medicine And Sports Injury Rehabilitation; Shanghai Tianyin Biotechnology Co ltd; Guangdong No 2 Peoples Hospital
Current assignee: Guangdong Provincial Institute Of Traditional Medicine And Sports Injury Rehabilitation; Shanghai Tianyin Biotechnology Co ltd; Guangdong No 2 Peoples Hospital
Priority date: 2020-05-12
Filing date: 2020-05-12
Publication date: 2020-07-14

Abstract

The invention discloses a bionic manipulator, comprising: the finger joints are flexible hollow tube bodies; the telescopic structure is used for sequentially connecting the knuckles, and the knuckles and the telescopic structure are communicated to form a closed air cavity; and the rigid bodies are respectively nested in each knuckle and are sequentially and movably connected. According to the bionic manipulator, the knuckle of the flexible hollow pipe body and the rigid body nested in the knuckle are arranged, on the basis of simulating the flexibility of the knuckle of a human body, the rigid body is used for supporting the bionic manipulator by the rigidity, the bionic manipulator is closer to a real finger of the human body, and the bionic manipulator is suitable for grabbing and can also be applied to the health care field of massage and the like.

Description

Bionic mechanical arm

Technical Field

The invention relates to the field of bionic machinery, in particular to a bionic manipulator.

Background

Currently, attention is paid to a manipulator based on human body bionics because of wide application. The core of bionic mechanical hand lies in bionic finger, and the most adoption pneumatic multi-chamber structures of bionic finger on the market are through aerifing gas chamber for the whole function of snatching to certain direction bending of software hand. The flexible manipulator with the buffering function, as disclosed in the Chinese invention patent CN201710665670.9, comprises a flexible manipulator body and an installation flange, and further comprises an elastic buffering assembly, wherein the elastic buffering assembly is installed between the flexible manipulator body and the installation flange for elastically changing the distance between the installation flange and the flexible manipulator body, the flexible manipulator body comprises an integrated block, at least two flexible fingers which are mutually matched to realize flexible clamping are installed on the integrated block, each flexible finger comprises a finger bottom plate and a finger face, the finger bottom plates and the finger faces jointly enclose a driving chamber, the elastic modulus of the finger bottom plates is greater than that of the finger faces, each flexible finger is provided with an air vent communicated with the driving chamber, the air vent is communicated with an air passage, and the flexible manipulator realizes the self-adaptive grabbing of tiny objects on an uneven or inclined working face, is suitable for various environments and target objects, and greatly improves the application range. But the bionic degree of the scheme is low, and the real grabbing and pressing behaviors of the human hand cannot be simulated.

Therefore, how to provide a bionic manipulator which can meet the real bionic requirement becomes a technical problem which needs to be solved urgently in the industry.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the bionic manipulator which can meet the bionic requirements of grabbing, massaging and the like.

The technical scheme is as follows: a biomimetic manipulator comprising:

the base with set up in two at least bionical fingers on the base, wherein at least one bionical finger is equipped with the rotating electrical machines, bionical finger can rotate around self axis under the rotating electrical machines drive, bionical finger includes a plurality of knuckles and is used for connecting gradually the extending structure of knuckle, the knuckle is soft cavity body, extending structure includes linear bottom surface and connects the wave structure of linear bottom surface, the wave structure includes at least one crest and at least one trough, crest and trough link to each other in proper order, the knuckle with extending structure in-connection forms the closed air cavity to communicate with external gas circuit, make bionical finger can realize the orientation under the effect of external gas circuit linear bottom surface is crooked.

Furthermore, the at least two bionic fingers are arranged on the base in a centrosymmetric manner, and the bending directions of the at least two bionic fingers face the central point of the base.

Further, the base includes first base and rotate connect in second base on the first base, be provided with two at least on the first base bionical finger, be provided with at least one on the second base bionical finger.

Furthermore, a bionic finger is arranged on the second base, a first rotating motor is arranged at the bottom end of the bionic finger, and the bionic finger can rotate around the axis of the bionic finger under the driving of the first rotating motor.

Further, a second rotating motor is arranged at the bottom end of the second base, and the second base can rotate towards the side face of the first base under the driving of the second rotating motor.

Furthermore, the knuckle comprises a finger tip section, a finger abdomen section and a finger root section, the finger tip section, the finger abdomen section and the finger root section are sequentially connected through the telescopic structure, and the tail end of the finger root section is closed and communicated with an external air passage through an air pipe.

Further, the cross section of the wavy structure is arc-shaped.

Furthermore, rigid bodies are arranged in the knuckles or outside the knuckles, and the rigid bodies are sequentially hinged.

Furthermore, the rigid body is sleeved in the knuckle and is a rigid hollow pipe body, the rigid body in the finger root section is fixedly connected with the tail end of the finger root section, and a gap is formed between the lower surface of each rigid body and the inner bottom surface of each knuckle.

Further, horizontal protrusions are arranged at two horizontal ends of the top of the rigid body, and when every two adjacent knuckles are in a flat state, the protrusions are abutted to each other.

Further, the protrusions of every two adjacent rigid bodies are respectively provided with a protruding part and a concave part, and when the protrusions are abutted against each other, the protruding parts are meshed with the concave parts.

Furthermore, a plurality of holes are formed in the rigid hollow pipe body and are used for communicating the knuckle inner cavity with the rigid hollow pipe body inner cavity.

Furthermore, the rigid bodies are rigid columns, the rigid bodies in the finger root sections are fixedly connected with the tail ends of the finger root sections, and gaps are formed between the lower surfaces of the rigid bodies and the inner bottom surfaces of the finger joints.

Further, a heating assembly is arranged at the bottom in the closed air cavity.

Further, a bending sensor is arranged at the bottom in the closed air cavity.

Furthermore, a bionic layer is arranged on the lower side of the rigid layer.

Has the advantages that: according to the bionic manipulator, the base and the bionic fingers are arranged, and the bionic fingers are arranged on the base through the rotating motor, so that the bionic manipulator is closer to the fingers of a real human body in shape and action, and is not only suitable for grabbing, but also suitable for the health care fields of massage and the like.

Drawings

FIG. 1 is a schematic perspective view of a bionic manipulator in accordance with embodiment 1 of the present invention;

FIG. 2 is a schematic diagram of a three-dimensional structure of a bionic finger portion of the bionic manipulator shown in FIG. 1;

FIG. 3 is a schematic cross-sectional view of a portion of the bionic finger shown in FIG. 2;

FIG. 4 is a schematic view of the plane structure of the bionic finger shown in FIG. 2

FIG. 5 is a schematic structural view of a rigid body protrusion of the bionic manipulator shown in FIG. 2;

FIG. 6 is a schematic perspective view of a bionic manipulator in accordance with embodiment 2 of the present invention;

FIG. 7 is a schematic view of a plane structure of a bionic finger portion of the bionic manipulator shown in FIG. 6;

FIG. 8 is a schematic diagram of a cross-sectional view of a bionic finger of the bionic manipulator shown in FIG. 6

FIG. 9 is a schematic sectional view of a rigid body of the bionic finger portion shown in FIG. 8

FIG. 10 is a schematic perspective view of a bionic manipulator in accordance with embodiment 3 of the present invention;

fig. 11 is a schematic plan view of a bionic finger portion of the bionic manipulator shown in fig. 9.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the description relating to "first", "second", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Example 1:

referring to fig. 1 to 5, an embodiment 1 of the bionic manipulator of the present invention includes a base 1 and three bionic fingers 2 disposed on the base 1. The bottom of each bionic finger 2 is provided with a rotating motor 22, the bionic finger 2 can rotate around the axis of the bionic finger 2 under the drive of the rotating motor 22, and the bionic finger 2 comprises three knuckles 21 and a telescopic structure 213 which is used for connecting the knuckles 2 in sequence. Preferably, the three bionic fingers 2 are arranged on the base 1 in a centrosymmetric manner, and the bending directions of the three bionic fingers 2 face the central point of the base 1.

The knuckle 21 is a flexible hollow pipe body, the telescopic structure 213 comprises a linear bottom surface and a wave-shaped structure connected with the linear bottom surface, the wave-shaped structure comprises at least one wave crest and at least one wave trough, the wave crest and the wave trough are sequentially connected, the knuckle 21 and the telescopic structure 213 are communicated to form a closed air cavity and are communicated with an external air passage, so that the bionic finger can bend towards the linear bottom surface under the action of the external air passage. Through setting up base 1 and bionical finger 2 to bionical finger 2 sets up on base 1 through rotating motor 22, from the form and action, more press close to real human finger, not only be applicable to snatch, also can be applicable to health care fields such as massage

In this embodiment, each knuckle 21 is sleeved with a rigid body 211, and each rigid body 211 is hinged in turn. The rigid body 211 is a hollow tube made of titanium alloy or engineering plastic, and in other embodiments, the rigid body 211 may be made of other materials, and such material variations still fall within the protection scope of the present invention. And through setting up rigid body 211, when satisfying the flexible crooked demand of knuckle 21, guaranteed the rigidity of knuckle 21, more press close to human actual finger form, can satisfy various bionical demands in fields such as snatching, massage.

In this embodiment, the horizontal both ends at the top of the rigid body 211 are provided with horizontal protrusions 214, and when every two adjacent knuckles 21 are in a flat state, the protrusions 214 are abutted against each other, so that it can be ensured that the two adjacent knuckles 21 are not reversely bent, the axial strength is ensured, and the finger is closer to a real human finger.

As a further optimization of the present embodiment, horizontal recesses 215 are provided at two horizontal ends of the bottom of the rigid body 211, so that when the knuckle 21 is bent, the lower bottom surfaces of the knuckles will not interfere with each other due to the abutting, and the smoothness of the bending action is ensured.

In other embodiments, the protrusions 214 of each two adjacent knuckles 21 are respectively provided with a protrusion 215 and a recess 216, and when the protrusions 214 abut against each other, the protrusions 215 and the recesses 216 are provided. Through setting up protruding portion 215 and depressed part 216, can further promote the ability that resists bionical finger to take place the circumferential direction torsional deformation when protruding 214 butt when the interlock, further guarantee crooked direction precision, also guaranteed intensity and rigidity when bionical finger is in straight state simultaneously.

Knuckle 21 is including pointing sharp section, pointing the abdomen section and indicating the root section, indicate sharp section, indicate abdomen section and indicate the root section to pass through extending structure 213 and circular sunken and circular bellied cooperation structure cooperate in proper order articulatedly, indicate that root section tail end seals and communicates through trachea and external gas circuit, indicate that sharp section front end height reduces along the fingertip direction gradually. Indicate the tip section, indicate the abdomen section and indicate the setting of root section, press close to the form that human actual pointed more, can provide more excellent bionic effect, the field such as specially adapted massage, snatch, the effect is pressed down in snatching of simulation people's hand that can be more accurate.

The wave structure includes a plurality of crests and troughs that connect gradually, and the width of crest is along vertical ascending direction diminishing gradually, and the width of trough is along vertical ascending direction grow gradually, the cross section of wave structure is arc. In actual work, because the elastic modulus of the linear bottom surface is greater than that of the wavy structure, when the closed air cavity is inflated, the deformation of the wavy structure is greater than that of the linear bottom surface, so that the wavy structure stretches and forms bending; when the closed air cavity is deflated, the wave-shaped structure contracts under the elastic action of the wave crests and the wave troughs to form a straight state of the knuckle 21. And the circular arc cross section of the wavy structure can ensure relatively good torque and resist the torsional deformation of the bionic finger when stressed.

As a further optimization of the present embodiment, in order to improve the bionic performance, the inner bottom of the closed air cavity is provided with a heating assembly (not shown) which comprises a heating circuit (not shown) and a temperature sensor (not shown) arranged close to the inner bottom of the closed air cavity, in order to be more similar to human fingers. And a bending sensor (not shown) for sensing the bending degree of the exoskeleton bionic finger is further arranged at the bottom in the closed air cavity. The lower side of the knuckle 1 is provided with a bionic layer, and preferably, the bionic layer is made of silica gel.

Example 2:

referring to fig. 6 to 9, an embodiment 2 of the bionic manipulator of the present invention is different from embodiment 1 in that in this embodiment, the rigid body 211 is a rigid hollow tube body disposed in the knuckle 21, and the four bionic fingers 2 are distributed on the base 1 in a central symmetry manner. The rigid bodies 211 in the finger root sections are fixedly connected with the tail ends of the finger root sections, and

gaps

4 and 5 are formed between the lower surfaces of the rigid bodies 211 and the inner bottom surfaces of the finger joints 2. The rigid body 211 is provided with a plurality of holes for communicating the inner cavity of the knuckle 21 with the inner cavity of the rigid body 211.

By providing the

gaps

4 and 5, it is ensured that the rigid body 211 does not interfere with the bottom surface of the cavity of the knuckle 21 to prevent the entire knuckle 21 from being bent when the rigid body 211 bends with the knuckle 21. Moreover, the rigid body 211 of the hollow tube body has a good supporting function, and a plurality of holes are formed in the rigid hollow tube body 211, so that the air pressure inside and outside the rigid hollow tube body 211 is consistent, and the stability of the inside of the whole knuckle 21 is kept.

In other embodiments, the rigid body 211 is a rigid column, the rigid body 211 in the finger base section is fixedly connected with the tail end of the finger base section, and a

gap

4, 5 is provided between the lower surface of each rigid body 211 and the inner bottom surface of each knuckle 21. The arrangement of the rigid column body can flexibly rotate when the knuckle 1 is bent, thereby being beneficial to realizing various massage grabbing actions.

As a further optimization of this embodiment, horizontal protrusions 214 are provided at two horizontal ends of the top of the rigid body 211, and when every two adjacent knuckles 21 are in a straight state, the protrusions 214 abut against each other, so that it can be ensured that the two adjacent knuckles 21 do not bend reversely, the axial strength is ensured, and the finger is closer to a real human finger.

In other embodiments, the protrusions 31 of each two adjacent knuckles 1 are respectively provided with a protrusion 31 and a recess 32, and when the protrusions 31 abut against each other, the protrusions and the recesses 32 are engaged. Through setting up protruding portion 31 and depressed part 32, can further promote the ability that resists bionical finger 2 to take place circumference torsional deformation when protruding 31 butt when the interlock, further guarantee crooked direction precision, also guaranteed intensity and rigidity when bionical finger is in straight state simultaneously.

Other structures of this embodiment are the same as those of embodiment 1.

Example 3:

referring to the embodiment 3 of the bionic manipulator shown in fig. 10 to 11, the embodiment 1 is different from the embodiment 1 in that the base 1 comprises a first base 11 and a second base 12 rotatably connected to the first base 11, two bionic fingers 2 are arranged on the first base 11, and one bionic finger 2 is arranged on the second base 12. The bottom end of the bionic finger 2 is provided with a first rotating motor, and the bionic finger can rotate around the axis of the bionic finger under the driving of the first rotating motor. The bottom end of the second base 12 is provided with a second rotating motor, and the second base 12 can rotate towards the side of the first base 11 under the driving of the second rotating motor.

In this embodiment, the second base 12 is arranged to simulate the movement track of the thenar muscle part of the palm of a human hand, so that the hand movement of the human body is closer to the reality, the bionic performance is higher, and the accuracy of grabbing and massaging the simulated human body can be ensured.

The bionic finger 2 in this embodiment is formed by sequentially connecting three knuckles through the telescopic structure 213, and the knuckle is a hollow soft tube structure, and has a better and flexible activity effect after ventilation.

Other structures of this embodiment are the same as those of embodiment 1.

It should be noted that the above description is only a preferred embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention. In the above embodiments, the arrangement of the bionic fingers 2 of each base 1 may be interchanged, and the structural shapes of the bionic fingers 2 may be replaced mutually or partially, and such structural changes still fall within the protection scope of the present invention.

Claims

1. A biomimetic manipulator, comprising: the base with set up in two at least bionical fingers on the base, wherein at least one bionical finger is equipped with the rotating electrical machines, bionical finger can rotate around self axis under the rotating electrical machines drive, bionical finger includes a plurality of knuckles and is used for connecting gradually the extending structure of knuckle, the knuckle is soft cavity body, extending structure includes linear bottom surface and connects the wave structure of linear bottom surface, the wave structure includes at least one crest and at least one trough, crest and trough link to each other in proper order, the knuckle with extending structure in-connection forms the closed air cavity to communicate with external gas circuit, make bionical finger can realize the orientation under the effect of external gas circuit linear bottom surface is crooked.

2. The biomimetic manipulator of claim 1, wherein: the at least two bionic fingers are arranged on the base in a centrosymmetric mode, and the bending directions of the at least two bionic fingers face the central point of the base.

3. The biomimetic manipulator of claim 1, wherein: the base includes first base and rotate connect in second base on the first base, be provided with two at least on the first base bionical finger, be provided with at least one on the second base bionical finger.

4. The biomimetic manipulator of claim 3, wherein: the bionic finger is arranged on the second base, a first rotating motor is arranged at the bottom end of the bionic finger, and the bionic finger can rotate around the axis of the bionic finger under the driving of the first rotating motor.

5. The biomimetic manipulator of claim 4, wherein: the bottom end of the second base is provided with a second rotating motor, and the second base can rotate towards the side face of the first base under the driving of the second rotating motor.

6. The biomimetic manipulator according to any one of claims 1 to 5, wherein: the knuckle comprises a finger tip section, a finger abdomen section and a finger root section, the finger tip section, the finger abdomen section and the finger root section are connected in sequence through the telescopic structure, and the tail end of the finger root section is sealed and communicated with an external air passage through an air pipe.

7. The biomimetic manipulator of claim 6, wherein: the cross section of the wave-shaped structure is arc-shaped.

8. The biomimetic manipulator of claim 6, wherein: rigid bodies are arranged in the knuckles or sleeved outside the knuckles, and the rigid bodies are sequentially hinged.

9. The biomimetic manipulator of claim 8, wherein: the rigid body is sleeved in the knuckle and is a rigid hollow pipe body, the rigid body in the finger root section is fixedly connected with the tail end of the finger root section, and a gap is formed between the lower surface of each rigid body and the inner bottom surface of each knuckle.

10. The biomimetic manipulator of claim 9, wherein: horizontal protrusions are arranged at two horizontal ends of the top of the rigid body, and when every two adjacent knuckles are in a straight state, the protrusions are abutted to each other.

11. The biomimetic manipulator of claim 10, wherein: and the bulges of every two adjacent rigid bodies are respectively provided with a protruding part and a concave part, and when the bulges are abutted against each other, the protruding parts are occluded with the concave parts.

12. The biomimetic manipulator of claim 9, wherein: the rigid hollow pipe body is provided with a plurality of holes for communicating the knuckle inner cavity with the rigid hollow pipe body inner cavity.

13. The biomimetic manipulator of claim 8, wherein: the rigid bodies are rigid columns, the rigid bodies in the finger root sections are fixedly connected with the tail ends of the finger root sections, and gaps are formed between the lower surfaces of the rigid bodies and the inner bottom surfaces of the finger joints.

14. The biomimetic manipulator of claim 1, wherein: and a heating component is arranged at the bottom in the closed air cavity.

15. The biomimetic manipulator of claim 1, wherein: and a bending sensor is arranged at the bottom in the closed air cavity.

16. The biomimetic manipulator of claim 1, wherein: the bionic layer is arranged on the lower side of the rigid layer.