CN206011127U - Combined pneumatic flexible finger - Google Patents
Combined pneumatic flexible finger Download PDFInfo
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- CN206011127U CN206011127U CN201620587032.0U CN201620587032U CN206011127U CN 206011127 U CN206011127 U CN 206011127U CN 201620587032 U CN201620587032 U CN 201620587032U CN 206011127 U CN206011127 U CN 206011127U
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- silica gel
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- finger section
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Abstract
The technical problem that this patent is solved there is provided a kind of combined pneumatic flexible finger.Vacuum pouring molding silica gel finger block, with the bonding branch's trachea of liquid-state silicon gel, connectivity trachea and silica gel finger block, forms silica gel finger section in a mold.By each silica gel finger section independent assortment, setting angle is adjusted, is assembled, is tightened with band.Branch's trachea or connectivity trachea of each silica gel finger section of selective shut-off, is passed through compressed gas through corresponding branch's trachea or connectivity trachea, can freely control the bending of each section of silica gel finger section, complete a variety of actions.What this patent maximum can be limited meets various use conditions and requirement, and its software feature is particularly well-suited to the objects such as the fragility target that conventional robot should not be used.
Description
Technical field
This patent is related to a kind of combined pneumatic flexible finger, and it according to use condition and can require independent assortment molding,
Various actions are completed, its software feature is particularly well-suited to the objects such as the fragility target that conventional robot should not be used.
Background technology
Conventional robot executes various actions through mechanical transmission mechanism generally using motor or hydraulic pressure as driving, its
Complex structure, bulk are big, it is loaded down with trivial details to control, expensive, easily fragility target are caused to damage during work.Pneumatic flexible handss
Refer to and be mainly fabricated by using soft materials such as silica gel, rubber, by compressed gas-driven, expand finger inner chamber, finger is produced
Bending, completes various actions.The technology has largely filled up the deficiency of conventional robot.But current each enterprises and institutions' list
Using all-in-one-piece version, the problem for existing is the various air-actuated flexible fingers that position is developed：Action form and controlling party
Formula is single, fixed, lack of diversity, motility, if use condition and requirement change, only redesigns and manufactures and be new
Air-actuated flexible finger.
Content of the invention
The technical problem that this patent is solved there is provided a kind of combined pneumatic flexible finger.In a mold vacuum pouring into
Type silica gel finger block, with the bonding branch's trachea of liquid-state silicon gel, connectivity trachea and silica gel finger block, forms silica gel finger section.Will
Each silica gel finger section independent assortment, adjusts setting angle, assembles, tightened with band.The each silica gel finger section of selective shut-off
Branch's trachea or connectivity trachea, are passed through compressed gas through corresponding branch's trachea or connectivity trachea, can freely control each section of silica gel
The bending of finger section, completes a variety of actions.What this patent maximum can be limited meets various use conditions and requirement,
Its software feature is particularly well-suited to the objects such as the fragility target that conventional robot should not be used.
The combined pneumatic flexible finger of this patent is mainly by silica gel finger block A, silica gel finger block B, branch's trachea, connection
Trachea, silica gel finger section, finger tip, band, blue fourth glue composition；Branch's trachea and connectivity trachea load the passage of silica gel finger block
In and use liquid-state silicon gel bonding, uniform application liquid-state silicon gel on silica gel finger block A, the faying face of silica gel finger block B closes simultaneously
Bonding, forms silica gel finger section；After liquid-state silicon gel solidification, each finger section nose is loaded in another finger section groove, finger tip
Load in the finger section groove of head end；There is seam groove on each finger section nose circumference, on each finger section groove circumference, have seam
Flange, mutually forms tight fit, to ensure being accurately positioned, the being connected firmly during assembling of silica gel finger section；Will be each by band
Silica gel finger section and finger tip are tightened；Blue fourth glue is used for the branch's trachea or connectivity trachea for blocking each silica gel finger section.
After having air flue, the inner chamber for interconnecting, each silica gel finger section to assemble in each silica gel finger section, each branch's trachea,
Air flue, inner chamber inside connectivity trachea and each silica gel finger section is communicated.It is passed through after compressed gas through branch's trachea or connectivity trachea,
Inner chamber expands, and makes silica gel finger section bending.The pressure of the compressed gas being passed through is bigger, the angle of silica gel finger section bending
Degree is bigger.After discharging the compressed gas of each silica gel finger section inner chamber, corresponding silica gel finger section restores to the original state.
According to use condition and action request, the assembling quantity of silica gel finger section is determined, adjust the peace of each silica gel finger section
Dress angle；With branch's trachea or connectivity trachea of each silica gel finger section of blue fourth glue selective shut-off, change combined pneumatic flexible
Gas passage in finger；Compressed gas are passed through by selecting control from different branch's tracheas or connectivity trachea, make silica gel handss
Segment bending, combined pneumatic flexible finger complete a variety of actions.
This patent according to use condition and can require independent assortment molding, control each silica gel finger section by compressed gas
Bending, makes combined pneumatic flexible finger realize different actions.Its software feature is particularly suitable for traditional machine
The objects such as the fragility target that tool handss should not be used.Design, manufacture of this patent for air-actuated flexible finger, application provide new side
Method and thinking, with good using value.
Description of the drawings
Fig. 1 is the mould 3 d effect graph of the combined pneumatic flexible finger of this patent.
Fig. 2 is the moulding by casting in a mold of this patent, solidification, the 3 d effect graph of silica gel finger block after the demoulding.
Fig. 3 be the silica gel finger block of this patent each passage in load branch's trachea and connectivity trachea and use liquid-state silicon gel
Three-dimensional section view after bonding.
Fig. 4 is uniform application liquid-state silicon gel on the faying face of silica gel finger block A, B of this patent, after simultaneously bonding of closing, shape
3 d effect graph into after silica gel finger section.
Fig. 5 is that each silica gel finger section of this patent, finger tip are assembled, and the 3 d effect graph after being tightened with band.
Fig. 6 is that each silica gel finger section of this patent, finger tip are assembled, and the three-dimensional section view after being tightened with band.
Fig. 7 is after branch's trachea of each silica gel finger section of this patent is blocked through blue fourth glue, by the connection of finger tips
Trachea is passed through compressed gas, makes each silica gel finger section be deformed 3 d effect graph after bending.
Fig. 8 is branch's trachea of each silica gel finger section after the setting angle adjustment of each silica gel finger section of this patent changes
After through the closure of blue fourth glue, compressed gas are passed through by the connectivity trachea of finger tips, make each silica gel finger section be deformed bending
3 d effect graph afterwards.
Fig. 9 is after the connectivity trachea of each silica gel finger section of this patent is blocked through blue fourth glue, by the two silica gel handss in left and right
Branch's trachea of segment is passed through compressed gas, makes the two silica gel finger sections in left and right be deformed 3 d effect graph after bending.
In figure：Mould A on 1,2 times mould A, 3 times mould B, mould B on 4,5 passages, 6 silica gel finger block A, 7
Silica gel finger block B, 8 finger section grooves, 9 seam flanges, 10 seam grooves, 11 branch's tracheas, 12 connectivity tracheas,
13 finger section noses, 14 bands, 15 finger tips, 16 silica gel finger sections, 17 air flues, 18 inner chambers, 19 blue fourths
Glue.
Specific embodiment
The combined pneumatic flexible finger of this patent is mainly by silica gel finger block A 6, silica gel finger block B 7, branch's trachea
11st, connectivity trachea 12, silica gel finger section 16, finger tip 15, band 14, blue fourth glue 19 are constituted.
First with 3D printer or the upper mould A 1, lower mould A 2 of machining process manufacture, upper mould B 3, lower mould B 4.True
Liquid-state silicon gel is poured in mould in empty van, to exclude the air in liquid-state silicon gel.Treat the silica gel finger block solidification in mould
After molding, it is drawn off, the redundance such as the cast gate remove, cleared up on silica gel finger block, rising head.
Branch's trachea 11 and connectivity trachea 12 load in the passage 5 of silica gel finger block and use liquid-state silicon gel bonding, in silicon
Uniform application liquid-state silicon gel on glue finger block A 6, the faying face of silica gel finger block B 7, closes and bonding, forms silica gel finger section
16；After liquid-state silicon gel solidification, each finger section nose 13 is loaded in another finger section groove 8, finger tip 15 loads the handss of head end
In segment groove 8；There is seam groove 10 on each 13 circumference of finger section nose, on each 8 circumference of finger section groove, have seam flange 9,
Tight fit is mutually formed, to ensure being accurately positioned, the being connected firmly during assembling of silica gel finger section 16；By band 14 by each silicon
Glue finger section 16 and finger tip 15 are tightened；Blue fourth glue 19 is used for the branch's trachea 11 or connectivity trachea for blocking each silica gel finger section 16
12.
There are air flue 17, the inner chamber 18 for interconnecting, after each silica gel finger section 16 is assembled, each point in each silica gel finger section 16
Air flue 17, inner chamber 18 inside bronchus 11, connectivity trachea 12 and each silica gel finger section 16 is communicated.Through branch's trachea 11 or connection
After trachea 12 is passed through compressed gas, inner chamber 18 expands, and makes 16 bending of silica gel finger section.The pressure of the compressed gas being passed through is got over
Greatly, the angle of 16 bending of silica gel finger section is bigger.After discharging the compressed gas of 16 inner chamber 18 of each silica gel finger section, accordingly
Silica gel finger section 16 restores to the original state.
According to use condition and action request, the assembling quantity of silica gel finger section 16 is determined, adjust each silica gel finger section 16
Setting angle；With branch's trachea 11 or connectivity trachea 12 of each silica gel finger section 16 of blue 19 selective shut-off of fourth glue, change group
Gas passage in box-like air-actuated flexible finger；Pressure is passed through by selecting control from different branch's tracheas 11 or connectivity trachea 12
Contracting gas, makes 16 bending of silica gel finger section, combined pneumatic flexible finger complete a variety of actions.
Combined pneumatic flexible finger mainly adopts following two control modes.
Overall control mode：Referring to Fig. 7, the branch's trachea 11 for each silica gel finger section 16 being blocked with blue fourth glue 19, keep each
Connectivity trachea 12 unimpeded, and be passed through compressed gas from the connectivity trachea 12 of finger tips, you can while each silica gel finger of control
The bending of section 16.Referring to Fig. 8, change the setting angle of each section of silica gel finger section 16, from the connectivity trachea 12 of finger tips
Compressed gas are passed through, combined pneumatic flexible finger assumes the bending of different shape.
Discrete control mode：The connectivity trachea 12 that each silica gel finger section 16 is blocked with blue fourth glue 19, from each silica gel finger section
16 branch's trachea 11 is passed through compressed gas, can control the bending of each silica gel finger section 16 respectively, make combined pneumatic
Flexible finger assumes different bendings.Referring to Fig. 9, pressure is passed through from branch's trachea 11 of the silica gel finger section 16 at left and right two ends
Contracting gas so as to bending, and the silica gel finger section 16 of centre is not passed through compressed gas so as to maintain the original state.Which can
Arbitrarily select to control each section of silica gel finger section 16 respectively, realize a variety of actions.
After the completion of action, after discharging the compressed gas of each 16 inner chamber 18 of silica gel finger section, corresponding silica gel finger section 16 is extensive
Restore shape.As shown in Figure 5.
Claims (2)
1. combined pneumatic flexible finger, mainly by silica gel finger block A, silica gel finger block B, branch's trachea, connectivity trachea, silica gel
Finger section, finger tip, band, blue fourth glue composition；It is characterized in that branch's trachea and connectivity trachea load the passage of silica gel finger block
In and use liquid-state silicon gel bonding, uniform application liquid-state silicon gel on silica gel finger block A, the faying face of silica gel finger block B closes simultaneously
Bonding, forms silica gel finger section；Each finger section nose is loaded in another finger section groove, the finger section that finger tip loads head end is recessed
In groove；There is seam groove on each finger section nose circumference, have seam flange on each finger section groove circumference, mutually form and closely match somebody with somebody
Close；Each silica gel finger section and finger tip are tightened by band；Blue fourth glue is used for branch's trachea or the company for blocking each silica gel finger section
Breather.
2. combined pneumatic flexible finger according to claim 1, is characterized in that interconnecting in each silica gel finger section
Air flue, inner chamber, after each silica gel finger section is assembled, air flue inside each branch's trachea, connectivity trachea and each silica gel finger section,
Inner chamber is communicated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620587032.0U CN206011127U (en) | 2016-06-17 | 2016-06-17 | Combined pneumatic flexible finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620587032.0U CN206011127U (en) | 2016-06-17 | 2016-06-17 | Combined pneumatic flexible finger |
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| Publication Number | Publication Date |
|---|---|
| CN206011127U true CN206011127U (en) | 2017-03-15 |
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| CN201620587032.0U Active CN206011127U (en) | 2016-06-17 | 2016-06-17 | Combined pneumatic flexible finger |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965533A (en) * | 2016-06-17 | 2016-09-28 | 重庆科技学院 | Combined type pneumatic flexible finger |
| CN107856044A (en) * | 2017-12-15 | 2018-03-30 | 浙江大学 | A kind of pneumatic software manipulator and preparation method |
| CN109093907A (en) * | 2018-08-02 | 2018-12-28 | 东南大学 | Combined die for forming and forming method suitable for the more gas chamber software drivers of multichannel |
| CN109264394A (en) * | 2018-10-25 | 2019-01-25 | 董翰泽 | A kind of terrine grasping means of manipulator |
| CN109363883A (en) * | 2018-10-30 | 2019-02-22 | 王翰飞 | A kind of software rehabilitation hand of imitative fish bone structure |
| CN112353532A (en) * | 2020-10-29 | 2021-02-12 | 北京航空航天大学 | Prosthetic finger structure and wire-driven continuous structure prosthetic hand |
| CN114211669A (en) * | 2021-12-21 | 2022-03-22 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
-
2016
- 2016-06-17 CN CN201620587032.0U patent/CN206011127U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105965533A (en) * | 2016-06-17 | 2016-09-28 | 重庆科技学院 | Combined type pneumatic flexible finger |
| CN107856044A (en) * | 2017-12-15 | 2018-03-30 | 浙江大学 | A kind of pneumatic software manipulator and preparation method |
| CN107856044B (en) * | 2017-12-15 | 2019-09-24 | 浙江大学 | A kind of pneumatic software manipulator and production method |
| CN109093907A (en) * | 2018-08-02 | 2018-12-28 | 东南大学 | Combined die for forming and forming method suitable for the more gas chamber software drivers of multichannel |
| CN109093907B (en) * | 2018-08-02 | 2020-11-17 | 东南大学 | Forming combined die and forming method suitable for multi-channel multi-air-chamber software driver |
| CN109264394A (en) * | 2018-10-25 | 2019-01-25 | 董翰泽 | A kind of terrine grasping means of manipulator |
| CN109363883A (en) * | 2018-10-30 | 2019-02-22 | 王翰飞 | A kind of software rehabilitation hand of imitative fish bone structure |
| CN112353532A (en) * | 2020-10-29 | 2021-02-12 | 北京航空航天大学 | Prosthetic finger structure and wire-driven continuous structure prosthetic hand |
| CN114211669A (en) * | 2021-12-21 | 2022-03-22 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
| CN114211669B (en) * | 2021-12-21 | 2024-05-31 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
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| GR01 | Patent grant |