CN111496835A

CN111496835A - Inner skeleton bionic finger and bionic manipulator

Info

Publication number: CN111496835A
Application number: CN202010399624.0A
Authority: CN
Inventors: 陈睿; 黎程; 田军章; 顾宇灵; 史华彩
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: 2020-08-07

Abstract

The invention discloses an endoskeleton bionic finger, which comprises: 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 endoskeleton bionic finger, the knuckle of the soft hollow pipe body and the rigid body nested in the knuckle are arranged, so that the bionic finger is closer to a real human finger by utilizing the rigid support of the rigid body on the basis of simulating the flexibility of the human knuckle, and is suitable for grabbing, massaging and other health care fields.

Description

Inner skeleton bionic finger and bionic manipulator

Technical Field

The invention relates to the field of bionic machinery, in particular to an endoskeleton bionic finger and 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. For example, the chinese patent CN110142797A discloses a soft finger, which comprises at least one set of pneumatic bending module and paper folding type connecting mechanism; each paper folding type connecting mechanism comprises a paper folding type telescopic module and two connecting pieces, the two connecting pieces are respectively connected to two ends of the paper folding type telescopic module, and the connecting piece at one end is connected with the pneumatic bending module; the connecting piece at the other end is connected with the adjacent pneumatic bending module or the supporting mechanism; every the connecting piece with install the leaf spring that resets between the flexible module of paper folding formula, the leaf spring that resets is for corresponding when being used for the bending the connecting piece reaches the flexible module of paper folding formula provides the restoring force.

However, when the object is actually grabbed by the scheme, the paper folding type connecting mechanism can deform due to load, so that the whole finger is reversely bent, and the grabbing is not firm.

Therefore, how to provide the bionic finger with rigidity capable of meeting 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 finger capable of meeting the rigidity requirement.

The technical scheme is as follows: an endoskeleton biomimetic finger 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.

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 telescopic structure 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, and the wave crest and the wave trough are sequentially connected.

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

Further, the rigid bodies are rigid hollow pipe bodies, the rigid bodies in the finger root sections are fixedly connected with 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.

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, 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.

A biomimetic manipulator comprising: the bionic finger comprises a base and the endoskeleton bionic finger arranged on the base.

Has the advantages that: according to the endoskeleton bionic finger, the knuckle of the soft hollow pipe body and the rigid body nested in the knuckle are arranged, so that the bionic finger is closer to a real human finger by utilizing the rigid support of the rigid body on the basis of simulating the flexibility of the human knuckle, and is suitable for grabbing, massaging and other health care fields.

Drawings

FIG. 1 is a schematic plane structure diagram of an endoskeleton bionic finger according to embodiment 1 of the present invention;

FIG. 2 is a schematic cross-sectional view of the endoskeleton biomimetic finger shown in FIG. 1;

FIG. 3 is a schematic structural view of a convex portion of a rigid body of the endoskeleton bionic finger shown in FIG. 1;

FIG. 4 is a schematic top view of the raised portion of FIG. 3;

FIG. 5 is a schematic perspective view of a bionic manipulator according to an embodiment of the present invention;

fig. 6 is a schematic perspective view of another embodiment of the bionic manipulator of the present invention.

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.

Referring to fig. 1 to 4, one embodiment of the endoskeleton bionic finger of the present invention comprises a plurality of knuckles 1, a plurality of rigid bodies 3, and a telescopic structure 2 for connecting the knuckles in sequence. The knuckle 1 is a flexible hollow pipe body, the knuckle 1 and the telescopic structure 2 are communicated to form a closed air cavity 4, and the plurality of rigid bodies 3 are respectively nested in each knuckle 1 and are sequentially and movably connected. According to the endoskeleton bionic finger, the knuckle 1 of the soft hollow pipe body and the rigid body 3 nested in the knuckle are arranged, on the basis of simulating the flexibility of the knuckle of a human body, the rigid body 3 is used for supporting rigidly, so that the endoskeleton bionic finger is closer to the finger of the real human body, and the endoskeleton bionic finger is not only suitable for grabbing, but also suitable for the health care fields of massage and the like.

In this embodiment, knuckle 1 is including pointing sharp section 11, pointing abdomen section 12 and indicating root section 13, point sharp section 11, point abdomen section 12 and indicate root section 13 to pass through extending structure 2 and circular sunken and circular bellied cooperation structure connect gradually, indicate that root section 13 tail end seals and communicates with external gas circuit through the trachea, indicate that sharp section 11 front end height reduces along the fingertip direction gradually. Indicate the setting of pointed section 11, indicate abdomen section 12 and indicate root section 13, 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.

Extending structure 2 includes linear bottom surface and encircles the wave structure that linear bottom surface set up, wave structure include a plurality of crests and troughs that connect gradually, and the width of crest is gradually diminishing along vertical upward direction, and the width of trough is gradually becoming big along vertical upward direction, the cross section of wave structure is convex. 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 soft layer. And the circular arc-shaped cross section of the wavy structure can ensure relatively good torque and resist torsional deformation of the exoskeleton bionic finger when stressed.

In this embodiment, the rigid body 3 is a rigid hollow pipe, the rigid body 3 in the finger base section 13 is fixedly connected with the tail end of the finger base section 13, and a gap 5 is provided between the lower surface of each rigid body 3 and the inner bottom surface of each knuckle 1. 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.

By arranging the gap 5, the phenomenon that the whole knuckle 1 cannot be bent due to the interference of the lower surface of the rigid body 3 and the bottom surface of the inner cavity of the knuckle 1 when the rigid body 3 bends along with the knuckle 1 is avoided. Moreover, the rigid body 3 of the hollow pipe body has a relatively good supporting effect, and a plurality of holes are formed in the rigid hollow pipe body, so that the air pressure inside and outside the rigid hollow pipe body is consistent, and the stability of the whole knuckle 1 is kept.

In other embodiments, the rigid body 3 is a rigid column, the rigid body 3 in the finger base section 13 is fixedly connected with the tail end of the finger base section 13, and a gap 5 is arranged between the lower surface of each rigid body 3 and the inner bottom surface of each knuckle 1. By arranging the gap 5, the phenomenon that the whole knuckle 1 cannot be bent due to the interference of the lower surface of the rigid body 3 and the bottom surface of the inner cavity of the knuckle 1 when the rigid body 3 bends along with the knuckle 1 is avoided. And 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 31 are provided at both ends of the top of the rigid body 3, and when every two adjacent knuckles 1 are in a flat state, the protrusions 31 abut against each other, so that it can be ensured that the two adjacent knuckles 1 are not reversely bent, the axial strength is ensured, and the finger can be 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 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.

As a further optimization of the present embodiment, in order to improve the bionic performance, the bottom of the closed air cavity 4 is provided with a heating assembly (not shown) which includes a heating circuit (not shown) and a temperature sensor (not shown) disposed closely to the 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.

The present invention also provides a biomimetic manipulator as shown in fig. 5, comprising: a base 6 and a soft exoskeleton bionic finger arranged on the base. The base 6 can be a circular base, the exoskeleton bionic fingers are arranged on the exoskeleton bionic fingers in an array, or a human body palm imitating mode can be adopted, two to four exoskeleton bionic fingers are sequentially arranged on the base 6 in a straight line, and then one exoskeleton bionic finger is independently arranged on one side of the straight line exoskeleton bionic finger, as shown in fig. 6. Therefore, the palm conforming to the actual condition of the human body is formed, and the actual grabbing and pressing actions of the human body are more closely followed.

The above description is only of the preferred embodiments 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.

Claims

1. An endoskeleton biomimetic finger, comprising:

the finger joints are flexible hollow tube bodies;

2. The endoskeleton biomimetic finger of claim 1, 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.

3. The endoskeleton biomimetic finger of claim 2, wherein: the telescopic structure 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, and the wave crest and the wave trough are sequentially connected.

4. The endoskeleton biomimetic finger of claim 3, wherein: the cross section of the wave-shaped structure is arc-shaped.

5. The endoskeleton biomimetic finger of claim 3, wherein: the rigid body 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.

6. The endoskeleton biomimetic finger of claim 5, 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.

7. The endoskeleton biomimetic finger of claim 3, 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.

8. An endoskeleton biomimetic finger according to claim 5 or 6, characterized in that: 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.

9. The endoskeleton biomimetic finger of claim 8, 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.

10. A biomimetic manipulator, comprising: a base and an endoskeleton biomimetic finger as in any of claims 1-9 disposed on the base.