CN1663753A - A Pneumatic Flexible Artificial Finger - Google Patents
A Pneumatic Flexible Artificial Finger Download PDFInfo
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- CN1663753A CN1663753A CN 200510049168 CN200510049168A CN1663753A CN 1663753 A CN1663753 A CN 1663753A CN 200510049168 CN200510049168 CN 200510049168 CN 200510049168 A CN200510049168 A CN 200510049168A CN 1663753 A CN1663753 A CN 1663753A
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- rigid body
- rubber tube
- robber
- tube
- tubes
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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, and two ends of the robber tubes tight couple the said rigid body. It is characterized in that A plurality of thick robber tubes and the rigid body are in checker, the restraint wires are in the same side and the seal space formed by each robber tube and the rigid body creates the working chambers that connect the airing channel, the said channel orderly passes through the rigid body and connect the working chambers of its own. 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
(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 a single joint only has one degree of freedom, 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:
A kind of Pneumatic flexible finger prosthesis, comprise rigid body, rubber tube and be installed in constraint steel wire in the side pipe wall of described rubber tube, described rubber tube terminal is tightly connected with described rigid body respectively, described rubber tube and rigid body have a plurality of, rubber tube and rigid body are staggered successively, the constraint steel wire of each rubber tube is positioned at the same side, the seal cavity that each rubber tube and rigid body constituted constitutes work chamber, described work chamber communicates with a breather pipe respectively, and described breather pipe passes each rigid body successively and links to each other with separately work chamber.
Further, also be nested with spiral metal wire in the tube wall of described rubber tube, each circle of described constraint steel wire and described spiral metal wire twines.
Further, described rubber tube has three.
The beneficial effect of Pneumatic flexible finger prosthesis of the present invention mainly shows: can design multivariant artificial pneumatic finger as required, owing to have a plurality of frees degree, 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 Three Degree Of Freedom Pneumatic flexible finger prosthesis, has four rigid bodies 1 and three rubber tubes 2, and rubber tube 2 and rigid body 1 are staggered successively, and the two ends of rubber tube 2 are tightly connected by seccotine and rigid body 1.Be provided with constraint steel wire 3 in the one side pipe wall of rubber tube 2, and the constraint steel wire 3 in each rubber tube 2 all is positioned at the same side, the constraint steel wire can be fixed on the rigid body by screw.Each rubber tube 2 constitutes work chamber 4 with the seal cavity that rigid body 1 is constituted, each work chamber 4 all has a breather pipe 5 to communicate with it, breather pipe 5 is to be provided with like this: begin to pass successively each rigid body arrival work chamber separately from the rigid body of end, therefore, begin from the rigid body of end, need to offer three, two, one hole on each rigid body successively and pass through for breather pipe 5, the rigid body of the other end does not need to offer the hole.
Operation principle of the present invention is: by breather pipe 5 Compressed Gas is fed in each work chamber 4, the elastic tube wall of rubber tube 2 will axial elongation, because the effect of constraint steel wire 3, have the speed of side elongation of constraint steel wire 3 and amplitude all less than the side that the constraint steel wire is not set, consequently whole rubber tube 2 is to the lateral bending song with constraint steel wire 3.Control feeds the gas pressure of each work chamber 4, just can discharge the gases at high pressure in the work chamber 4 so that whole finger produces motion bending in various degree, because the elasticity recovery of rubber, whole finger recovers reset condition.
Embodiment two
With reference to Fig. 1, in the tube wall of rubber tube 2, also be nested with spiral metal wire 6, described constraint steel wire 3 twines with each circle of described spiral metal wire 6.When feeding Compressed Gas in work chamber 4, spiral metal wire 6 can limit being radially expanded of rubber tube tube wall, avoids the radial deformation of pointing.All the other structures are identical with embodiment one with embodiment.
Embodiment three
Present embodiment is the two degrees of freedom Pneumatic flexible finger prosthesis, has three rigid bodies and two rubber tubes, and rubber tube and rigid body are staggered successively, and the two ends of rubber tube are tightly connected by seccotine and rigid body.Be provided with the constraint steel wire in the one side pipe wall of rubber tube, and the constraint steel wire in each rubber tube all is positioned at the same side.The seal cavity that each rubber tube and rigid body constituted constitutes work chamber, each work chamber all has a breather pipe to communicate with it, breather pipe is to be provided with like this: begin to pass successively each rigid body arrival work chamber separately from the rigid body of end, therefore, therefore, begin from the rigid body of end, need to offer two, one hole on each rigid body successively and pass through for breather pipe, the rigid body of the other end does not need to offer the hole.
Embodiment four
Present embodiment is the four-degree-of-freedom Pneumatic flexible finger prosthesis, has five rigid bodies and four rubber tubes, and rubber tube and rigid body are staggered successively, and the two ends of rubber tube are tightly connected by seccotine and rigid body.Be provided with the constraint steel wire in the one side pipe wall of rubber tube, and the constraint steel wire in each rubber tube all is positioned at the same side, also is nested with spiral metal wire in the tube wall of rubber tube, each circle of described constraint steel wire and described spiral metal wire twines.The seal cavity that each rubber tube and rigid body constituted constitutes work chamber, each work chamber all has a breather pipe to communicate with it, breather pipe is to be provided with like this: begin to pass successively each rigid body arrival work chamber separately from the rigid body of end, therefore, therefore, begin from the rigid body of end, need to offer four, three, two, one hole on each rigid body successively and pass through for breather pipe, the rigid body of the other end does not need to offer the hole.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510049168 CN1663753A (en) | 2005-03-02 | 2005-03-02 | A Pneumatic Flexible Artificial Finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200510049168 CN1663753A (en) | 2005-03-02 | 2005-03-02 | A Pneumatic Flexible Artificial Finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1663753A true CN1663753A (en) | 2005-09-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200510049168 Pending CN1663753A (en) | 2005-03-02 | 2005-03-02 | A Pneumatic Flexible Artificial Finger |
Country Status (1)
| Country | Link |
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| CN (1) | CN1663753A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272383A (en) * | 2015-05-14 | 2017-01-04 | 天津市赫恩思体育用品有限公司 | A kind of Pneumatic flexible four refers to mechanical hand |
| CN109693246A (en) * | 2019-01-18 | 2019-04-30 | 哈尔滨工业大学 | Enhance the bridging arrangement of growth type soft robot rigidity |
-
2005
- 2005-03-02 CN CN 200510049168 patent/CN1663753A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272383A (en) * | 2015-05-14 | 2017-01-04 | 天津市赫恩思体育用品有限公司 | A kind of Pneumatic flexible four refers to mechanical hand |
| CN109693246A (en) * | 2019-01-18 | 2019-04-30 | 哈尔滨工业大学 | Enhance the bridging arrangement of growth type soft robot rigidity |
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