CN1663752A

CN1663752A - Pneumatic Flexible Artificial Finger

Info

Publication number: CN1663752A
Application number: CN 200510049167
Authority: CN
Inventors: 张立彬; 杨庆华; 鲍官军; 阮健
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2005-03-02
Filing date: 2005-03-02
Publication date: 2005-09-07
Anticipated expiration: 2025-03-02
Also published as: CN100348385C

Abstract

The invention discloses a pneumatic flexible artificial finger, which comprises the rigid body, the thick robber tube and the restraint wires on one wall of the thick robber tube. A plurality of thick robber tubes and the rigid body are in checker, the two ends of the robber tube tight couple the rigid body, and the seal space formed by each robber tube and the rigid body creates the working chamber; the end rigid body connects the end cover through the thin robber tube, the end faces of the end rigid body and the end cover are equipped with the interfaces, the two ends of the thin robber tube tight couple the interface, and the seal space formed by the thin tube and the interface create the second working chamber; the said two working chambers connect the airing tubes separately. The invention can finish more complicated work, and based on the pneumatic technology design, it adopts the robber tubes as the implementing pieces so as to have higher flexibility and better adaptability to the target.

Description

Pneumatic flexible finger prosthesis

(1) technical field

The present invention relates to finger prosthesis, relate in particular to flexible finger prosthesis, be applicable to the design of multi-finger dexterous hand of robot based on pneumatics.

(2) background technology

The design of robot delicate is the main contents in the robot design, also is the difficult point of most critical, and the performance of robot delicate has directly determined the performance of robot.Before the present invention makes, pure frame for movement is mostly adopted in traditional Dextrous Hand design, utilize motor or hydraulic-driven, utilize mechanical part as actuating station, its major defect is to need auxiliary bodies such as motor, transmission device, profile is huge, complex structure, submissive poor performance can not initiatively adapt to the profile of target, cause damage to grasping target easily, influence implementation result.

Also the someone proposes the Pneumatic flexible joint, provide a kind of Pneumatic power flexible bending joint as application number for 200410017444.2 Chinese invention patent, form by rubber tube, the spiral metal wire and the end cap that are nested in the rubber tube tube wall, offer the through hole that communicates with atmosphere on an end cap therein, in a side pipe wall of rubber tube the constraint steel wire is installed also, each circle of constraint steel wire and spiral metal wire twines.But the rotation that single joint only has one degree of freedom and finger also needs to rely on other mechanism, and working range is narrow, can only finish simple action, grasp less object, and can't finish complicated more action.

(3) summary of the invention

The finger of artificial pneumatic in the prior art free degree is few, working range is narrow in order to overcome, can only finish the deficiency of simple motion, the invention provides a kind of multiple degrees of freedom, working range wide, can finish the Pneumatic flexible finger prosthesis of compound action more.

The technical solution adopted for the present invention to solve the technical problems is:

Pneumatic flexible finger prosthesis, comprise rigid body, crude rubber pipe and be installed in constraint steel wire in the side pipe wall of described crude rubber pipe, described crude rubber pipe two ends are tightly connected with described rigid body respectively, it is characterized in that: described crude rubber pipe and rigid body have a plurality of, described crude rubber pipe and rigid body are staggered successively, constraint steel wire in the crude rubber pipe is positioned at the same side, and the seal cavity that each crude rubber pipe and rigid body are constituted constitutes work chamber; Terminal rigid body is connected with an end cap by thin rubber tube, on the rigid body end face of described end first joint is installed, second joint is installed on the end face of described end cap, described thin rubber tube terminal is connected with second joint sealing with first joint respectively, and the seal cavity that thin rubber tube and first, second joint are constituted constitutes second working chamber; Described work chamber communicates with a breather pipe respectively, and described breather pipe passes described end cap and each rigid body successively and links to each other with separately work chamber; Described second working chamber communicates with a breather pipe, and described breather pipe passes described end cap and second joint successively and links to each other with separately second working chamber.

Further, described thin rubber tube has three and evenly distribute, and each thin rubber tube terminal is connected with separately first, second joint sealing respectively.

Further again, also be nested with spiral metal wire in the tube wall of described crude rubber pipe, each circle of described constraint steel wire and described spiral metal wire twines; Be nested with spiral metal wire in the tube wall of described thin rubber tube.

Further, described crude rubber pipe has two.

The beneficial effect of Pneumatic flexible finger prosthesis of the present invention mainly shows: can design multivariant and rotating artificial pneumatic finger as required, owing to have a plurality of frees degree and rotatable, can finish complicated more action, design based on pneumatics, adopt rubber tube as executive item, submissive performance height is stronger to the adaptive capacity of object.

(4) description of drawings

Fig. 1 is a structural representation of the present invention.

(5) specific embodiment

Below in conjunction with the drawings and specific embodiments the present invention is further described.

Embodiment one

With reference to Fig. 1, present embodiment is the five degree of freedom Pneumatic flexible finger prosthesis, has three rigid bodies 1, two crude rubber pipes 2 and end caps 3, and crude rubber pipe 2 and rigid body 1 are staggered successively, and the two ends of crude rubber pipe 2 are tightly connected by seccotine and rigid body 1.Be provided with constraint steel wire 4 in the one side pipe wall of crude rubber pipe 2, and the constraint steel wire 4 in each crude rubber pipe 2 all is positioned at the same side, constraint steel wire 4 can be fixed on the rigid body 1 by screw.Each crude rubber pipe 2 constitutes work chamber 5 with the seal cavity that rigid body 1 is constituted.On terminal its end face of rigid body three first joints 6 (only drawing among the figure one) are installed evenly, three second joints 7 (only drawing among the figure one) evenly are installed on the end face of end cap 3, and the two ends of three thin rubber tubes 8 (only drawing among the figure one) are tightly connected by seccotine with separately first, second joint respectively.Thin rubber tube 8 constitutes second working chamber 9 with the seal cavity that first, second joint is constituted.

Each work chamber 5 all has a breather pipe 10 to communicate with it, each second working chamber 9 also has a breather pipe 10 to communicate with it, breather pipe 10 is to be provided with like this: the breather pipe that leads to work chamber passes each rigid body successively from end cap 3 beginnings and arrives separately work chamber 5, and the breather pipe that leads to second working chamber 9 passes end cap 3 and second joint 7 successively and links to each other with separately second working chamber 9.Therefore, offer five holes on the end cap 3 and pass through for breather pipes 10, begin from the rigid body of end, need to offer two, one hole confession breather pipe 10 on each rigid body successively and pass through, the rigid body of the other end does not need to offer the hole.

Operation principle of the present invention is: by breather pipe 10 Compressed Gas is fed in each work chamber 5 and second working chamber 9, the elastic tube wall of rubber tube will axial elongation.As long as feed the pressure difference of the gas of second working chamber 9, just can make the elongation amplitude of three thin rubber tubes 8 produce difference, just can realize the rotation of pointing.Because the effect of constraint steel wire 4, the speed with the elongation of constraint steel wire 4 one sides of crude rubber tube wall and amplitude are all less than the side that constraint steel wire 4 is not set, consequently whole crude rubber pipe 2 is to the lateral bending song with constraint steel wire 4, control feeds the gas pressure of each work chamber 5, just can be so that finger produces motion bending in various degree.Discharge the gases at high pressure in the work chamber 5 and second working chamber 9, because the elasticity recovery of rubber, whole finger recovers reset condition.

Embodiment two

With reference to Fig. 1, also be nested with spiral metal wire 11 in the tube wall of crude rubber pipe 2, described constraint steel wire 4 twines with each circle of described spiral metal wire 11.Be nested with spiral metal wire in the tube wall of described thin rubber tube.When feeding Compressed Gas in work chamber 5, spiral metal wire 11 can limit being radially expanded of crude rubber tube wall, avoids the radial deformation of pointing.Also be nested with spiral metal wire 11 in the tube wall of described thin rubber tube 8, make thin rubber tube 8 have certain rigid, avoid restive because thin rubber tube 8 is too soft.

Embodiment three

Present embodiment is the four-degree-of-freedom Pneumatic flexible finger prosthesis, has two rigid bodies, a crude rubber pipe and an end cap, and crude rubber pipe and rigid body are staggered successively, and the two ends of crude rubber pipe are tightly connected by seccotine and rigid body.Be provided with the constraint steel wire in the one side pipe wall of crude rubber pipe, and the constraint steel wire in each crude rubber pipe all is positioned at the same side, the constraint steel wire can be fixed on the rigid body by screw.The seal cavity that each crude rubber pipe and rigid body are constituted constitutes work chamber.Wherein on its end face of the rigid body of an end three first joints are installed evenly, three second joints evenly are installed on the end face of end cap, the two ends of three thin rubber tubes are tightly connected by seccotine with separately first, second joint respectively.The seal cavity that thin rubber tube and first, second joint are constituted constitutes second working chamber.

Each work chamber all has a breather pipe to communicate with it, each second working chamber also has a breather pipe to communicate with it, breather pipe is to be provided with like this: the breather pipe that leads to work chamber passes end cap successively and rigid body arrives work chamber, and the breather pipe that leads to second working chamber passes end cap and second joint successively and links to each other with separately second working chamber.Therefore, offer four holes on the end cap and pass through for breather pipe, the rigid body adjacent with end cap need be offered a hole and pass through for breather pipe, and another rigid body does not need to offer the hole.

Embodiment four

Present embodiment is the six degree of freedom Pneumatic flexible finger prosthesis, has four rigid bodies, three crude rubber pipes and an end cap, and crude rubber pipe and rigid body are staggered successively, and the two ends of crude rubber pipe are tightly connected by seccotine and rigid body.Be provided with the constraint steel wire in the one side pipe wall of crude rubber pipe, and the constraint steel wire in each crude rubber pipe all is positioned at the same side, also is nested with spiral metal wire in the tube wall of crude rubber pipe, each circle of described constraint steel wire and described spiral metal wire twines.The constraint steel wire can be fixed on the rigid body by screw.The seal cavity that each crude rubber pipe and rigid body are constituted constitutes work chamber.On terminal its end face of rigid body three first joints are installed evenly, three second joints evenly are installed on the end face of end cap, the two ends of three thin rubber tubes are tightly connected by seccotine with separately first, second joint respectively.The seal cavity that thin rubber tube and first, second joint are constituted constitutes second working chamber.

Each work chamber all has a breather pipe to communicate with it, each second working chamber also has a breather pipe to communicate with it, breather pipe is to be provided with like this: the breather pipe that leads to work chamber begins to pass successively each rigid body from end cap and arrives separately work chamber, and the breather pipe that leads to second working chamber passes end cap and second joint successively and links to each other with separately second working chamber.Therefore, offer six holes on the end cap and pass through for breather pipes, begin from the rigid body of end, need to offer three, two, one hole confession breather pipe on each rigid body successively and pass through, the rigid body of the other end does not need to offer the hole.

Claims

1. Pneumatic flexible artificial finger, comprising a rigid body, a thick rubber tube and a restraining steel wire installed in one side of the thick rubber tube, the two ends of the thick rubber tube are respectively sealed and connected to the rigid body, its features In that: there are multiple thick rubber tubes and rigid bodies, the thick rubber tubes and the rigid bodies are arranged alternately in sequence, the restraining steel wires in the thick rubber tubes are located on the same side, and the sealed space formed by each thick rubber tube and the rigid body constitutes a working chamber;

The rigid body at the end is connected to an end cover through a plurality of thin rubber tubes, a first joint is installed on the end face of the rigid body at the end, a second joint is installed on the end face of the end cover, and the two ends of the thin rubber tube are respectively It is sealed and connected with the first joint and the second joint, and the sealed space formed by the thin rubber tube and the first and second joints constitutes the second working chamber;

The working chambers communicate with a ventilation pipe respectively, and the ventilation pipes pass through the end caps and each rigid body in turn to be connected with the respective working chambers; the second working chamber communicates with a ventilation pipe, so that The air pipes pass through the end caps and the second joints in turn to connect with the respective second working chambers.

2 . The pneumatic flexible artificial finger according to claim 1 , wherein there are three thin rubber tubes evenly distributed, and the two ends of each thin rubber tube are respectively sealed and connected to respective first and second joints. 3 .

3. The pneumatic flexible artificial finger according to claim 1 or 2, characterized in that: a helical wire is nested in the wall of the thick rubber tube, and each of the restraining steel wire and the helical wire Winding in one turn; a helical wire is embedded in the wall of the thin rubber tube.

4. The pneumatic flexible artificial finger according to claim 3, wherein there are two thick rubber tubes.