CN204505280U - A kind of pneumatic softness finger - Google Patents
A kind of pneumatic softness finger Download PDFInfo
- Publication number
- CN204505280U CN204505280U CN201520100329.5U CN201520100329U CN204505280U CN 204505280 U CN204505280 U CN 204505280U CN 201520100329 U CN201520100329 U CN 201520100329U CN 204505280 U CN204505280 U CN 204505280U
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- finger
- cavity
- air flue
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- side cavity
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Abstract
The utility model relates to a kind of pneumatic softness finger, and comprise finger and install pin two parts, a described installation pin part is cast in finger and finger is bonded together, and a part is positioned at outside finger; There are three row gas storage cavitys (left side cavity, middle part cavity, right side cavity) and three air flue (left side air flues in described finger part inside, middle part air flue, right side air flue), described three row gas storage cavitys all with finger axis parallel, one-tenth " product " shape distribute; Described three air flues all with finger axis parallel, become " product " shape distribution; Described left side air flue is positioned at left side cavity near pointing side, axis and communicating with left side cavity, described right side air flue is positioned at right side cavity and communicates with right side cavity near side, axis, and described middle part air flue is positioned at middle part cavity and also communicates with middle part cavity near finger side, axis.The utility model uses silicon rubber to make, and cavity becomes the distribution of " product " shape, is arranged on the crawl that palm can realize to difformity, objects of material; Middle part cavity leads to low-pressure air, and when capturing object, cavity can carry out appropriateness distortion, and grasp stability is good.
Description
Technical field
The present invention relates to end effector of robot field, especially a kind of drive lacking Pneumatic paw.
Background technology
Robot, as the outlet terminal of robot, becomes the research object of more and more robot research person.Robot is mainly divided into two large classes: Dextrous Hand and drive lacking hand.Dextrous Hand is mainly apery hand, under the comprehensive function of control algolithm, sensor-based system, control system, can complete most actions that staff can complete neatly, but Dextrous Hand, and manufacture difficulty, control complicated, expensive, maintenance difficulties is large.Drive lacking hand realizes more joint freedom degrees by the driver of fewer number of, has adaptive ability when capturing difformity and size objects, and installation cost is lower simultaneously, control is simple.
Many fingers articulated robot arm device of existing a kind of pneumatic type active drive, as Chinese invention patent cN101402200A, wherein each joint adopts Pneumatic flexible actuator to realize the bending of finger.The weak point of this device is: the rotation of this device owing to adopting pneumatic actuation respectively to point each joint, make that this hand volume is comparatively large, manufacturing cost is higher, it is larger to control difficulty, can not adaptive crawl object, the crawl that very complicated control could realize different size, shaped objects must be relied on.
Summary of the invention
The applicant, for above-mentioned existing finger, controls the shortcomings such as difficulty is large, manufacturing cost is high, and provide another kind of pneumatic softness finger, adopt silica gel main body and air pressure to drive, structure is simple, low cost of manufacture, controls simple.
The technical solution adopted in the present invention is as follows:
The present invention relates to a kind of pneumatic softness finger, comprise finger and install pin two parts, a described installation pin part is cast in finger and finger is bonded together, and a part is positioned at outside finger; Described finger part inside have left side cavity, middle part cavity, right side cavity three row gas storage cavity and left side air flue, middle part air flue, right side air flue three air flues, described three row gas storage cavitys all with finger axis parallel, one-tenth " product " shape distribute; Described three air flues all with finger axis parallel, become " product " shape distribution; Described left side air flue is positioned at left side cavity near pointing side, axis and communicating with left side cavity, described right side air flue is positioned at right side cavity and communicates with right side cavity near side, axis, and described middle part air flue is positioned at middle part cavity and also communicates with middle part cavity near finger side, axis; Described finger shape is oval, and left side cavity, right side cavity are " crescent moon " shape, and middle part cavity is fan-shaped; Finger inner side is smooth, and there is a row grooving in outside, top sensor installation.
Its further technical scheme is:
Described finger is made up of silicon rubber;
Described three row gas storage cavitys all with finger axis parallel, become " product " shape distribution;
Described three air flues all with finger axis parallel, become " product " shape distribution;
A described installation pin part is cast in finger and finger is bonded together, and a part is positioned at outside finger;
In described three row cavitys, left and right cavity realizes the bending of finger, and middle chamber better realizes the self-adapting grasping pointed;
Beneficial effect of the present invention is as follows:
The present invention uses silicon rubber to make, and cavity becomes the distribution of " product " shape, is arranged on the crawl that palm can realize to difformity, objects of material; Middle part cavity leads to low-pressure air, and when capturing object, cavity can carry out appropriateness distortion, and grasp stability is good.
Fig. 1 is existing self adaptation under-actuated finger schematic diagram.
Fig. 2 is schematic appearance of the present invention.
Fig. 3 is cross-sectional structure schematic diagram of the present invention.
Fig. 4 is cavity expansion schematic diagram of the present invention.
Fig. 5 is that the present invention refers to outside grooving structural representation.
Fig. 6 is digital flexion schematic diagram of the present invention.
Wherein: 1, pin is installed; 2, point; 3, left side cavity; 4, middle chamber; 5, right side cavity; 6, left side air flue; 7, middle air flue; 8, right side air flue; 9, sensor.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
The pneumatic softness finger of the present embodiment comprises finger 2 and installs pin 1 two parts (as shown in Figure 2), and described installation pin 1 part is cast in finger 2 and finger 2 is bonded together, and a part is positioned at outside finger 2; Described finger 2 partial interior has three row gas storage cavitys and three air flues, described three row gas storage cavitys and three air flues all with finger 2 axis parallel, become the distribution of " product " shape; Described left side air flue 6 is positioned at left side cavity 3 near pointing 2 sides, axis and communicating with left side cavity 3, described right side air flue 8 is positioned at right side cavity 5 near pointing 2 sides, axis and communicating with right side cavity 5, and described middle part air flue 7 is positioned at middle part cavity 4 and also communicates (as shown in Figure 3) with middle part cavity 4 near finger 2 sides, axis; Soft finger shape is oval, and left side cavity 3, right side cavity 5 are " crescent moon " shape, and middle part cavity 4 is fan-shaped; Finger inner side is smooth, and there is a row grooving in outside, top sensor installation 9.When passing into gases at high pressure, because cavity pressure increases, cavity expands (as shown in Figure 4), and the expansion of permutation cavity can realize the elongation of permutation cavity length; If only cavity ventilation to the left, left side cavity extends, right-side cavity body length is constant, lateral bend to the right in finger deflection, if only cavity ventilation to the right, right side cavity extends, left side cavity length is constant, lateral bend to the left in finger deflection, if both sides cavity is ventilated simultaneously, finger curves inwardly (as shown in Figure 6); The logical low-pressure gas in finger middle part, when capturing object, middle part air bag can carry out corresponding deformation according to object profile, and finger is fitted body surface more.
In actual use procedure, according to crawl requirement, if desired point and to the rightly to the inside bending then pass into gases at high pressure to finger left side cavity, according to the pressure of force sensor feedback signal determination gases at high pressure, to middle chamber ventilation, finger is fitted body surface more simultaneously; The method of work that need bend left is with bending to the right; When need curve inwardly, then both sides cavity passes into gases at high pressure simultaneously, and the feedback according to force snesor determines gas atmosphere, the air pressure of level middle chamber.
The present invention is rational in infrastructure, succinct, and drive, control simply, adaptive performance is good, and Grabbing properties is stablized.
More than describing is explanation of the invention, and be not limitation of the invention, limited range of the present invention is see claim.Be appreciated that the oher improvements and changes that those skilled in the art directly derive without departing from the basic idea of the present invention or associate, all should think and be included within protection scope of the present invention.
Claims (3)
1. a pneumatic softness finger, comprise finger (2) and pin (1) two parts are installed, described installation pin (1) part is cast in finger (2) and finger (2) is bonded together, and a part is positioned at finger (2) outward; Described finger top installing force sense sensor (9); Described finger (2) partial interior has left side cavity (3), middle part cavity (4), right side cavity (5) three row gas storage cavity and left side air flue (6), middle part air flue (7), right side air flue (8) three air flues, described three row gas storage cavitys all with finger (2) axis parallel, become " product " shape distribution; Described three air flues all with finger (2) axis parallel, become " product " shape distribution; Described left side air flue (6) is positioned at left side cavity (3) near pointing (2) side, axis and communicating with left side cavity (3), described right side air flue (8) is positioned at right side cavity (5) near pointing (2) side, axis and communicating with right side cavity (5), and described middle part air flue (7) is positioned at middle part cavity (4) and also communicates with middle part cavity (4) near finger (2) side, axis.
2. a kind of pneumatic softness finger as claimed in claim 1, it is characterized in that: described finger (2) profile is for oval, left side cavity (3), right side cavity (5) are " crescent moon " shape, and middle part cavity (4) is for fan-shaped.
3. a kind of pneumatic softness finger as claimed in claim 1, is characterized in that: described finger (2) refers to that inner side is smooth, refers to that there is a row grooving in outside, top sensor installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520100329.5U CN204505280U (en) | 2015-02-11 | 2015-02-11 | A kind of pneumatic softness finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520100329.5U CN204505280U (en) | 2015-02-11 | 2015-02-11 | A kind of pneumatic softness finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204505280U true CN204505280U (en) | 2015-07-29 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520100329.5U Withdrawn - After Issue CN204505280U (en) | 2015-02-11 | 2015-02-11 | A kind of pneumatic softness finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204505280U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608140A (en) * | 2015-02-11 | 2015-05-13 | 江南大学 | Pneumatic soft finger |
| CN110914018A (en) * | 2017-06-22 | 2020-03-24 | G·T·西廷 | Robot gripper |
-
2015
- 2015-02-11 CN CN201520100329.5U patent/CN204505280U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104608140A (en) * | 2015-02-11 | 2015-05-13 | 江南大学 | Pneumatic soft finger |
| CN110914018A (en) * | 2017-06-22 | 2020-03-24 | G·T·西廷 | Robot gripper |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150729 Effective date of abandoning: 20171114 |
|
| AV01 | Patent right actively abandoned |