CN209919887U - Pneumatic muscle-driven five-finger dexterous hand - Google Patents
Pneumatic muscle-driven five-finger dexterous hand Download PDFInfo
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- CN209919887U CN209919887U CN201920259810.7U CN201920259810U CN209919887U CN 209919887 U CN209919887 U CN 209919887U CN 201920259810 U CN201920259810 U CN 201920259810U CN 209919887 U CN209919887 U CN 209919887U
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 110
- 241000203475 Neopanax arboreus Species 0.000 title claims abstract description 25
- 210000003811 finger Anatomy 0.000 claims abstract description 231
- 210000003813 thumb Anatomy 0.000 claims abstract description 157
- 210000002435 tendon Anatomy 0.000 claims abstract description 67
- 210000000236 metacarpal bone Anatomy 0.000 claims abstract description 47
- 238000005452 bending Methods 0.000 claims description 17
- 238000004804 winding Methods 0.000 claims description 14
- 239000000835 fiber Substances 0.000 claims description 6
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 238000001914 filtration Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 210000004932 little finger Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Abstract
A pneumatic muscle-driven five-finger dexterous hand comprises a connecting flange used for being connected with industrial machinery, four bent single fingers and a thumb, wherein the four bent single fingers and the thumb are arranged on the connecting flange; each bent single finger comprises a bent single finger metacarpal bone, a bent single finger proximal finger end, a bent single finger middle finger end and a bent single finger distal finger end, joints are hinged through hinges, and a bent single finger reset torsion spring is sleeved outside a hinge shaft of each hinge; a bent single-finger pneumatic muscle a is arranged on one side of the back of the hand of the bent single-finger metacarpal bone, a bent single-finger pneumatic muscle b is arranged on one side of the back of the hand at the proximal finger end of the bent single finger, and a bent single-finger tendon c is tied on the proximal finger end of the bent single finger; the thumb comprises a thumb metacarpal bone, a thumb proximal end and a thumb distal end. The utility model provides a pneumatic muscle driven five-finger dexterous hand, under driving force state is not applyed, its initial condition is the five-finger dexterous hand of holding the state, and this five-finger dexterous hand exerts driving force after, the finger will open.
Description
Technical Field
The utility model belongs to the technical field of the robotechnology and specifically relates to a clever hand of pneumatic muscle driven five fingers is related to.
Background
The initial postures of the dexterous five-finger hand researched in the market at present basically belong to palm stretching states, and the bending and bending angles of the fingers are controlled through a motor or a tendon rope and other mechanical structures. The traditional motion implementation mode of the fingers controls the open palm to close by applying tension through the key ropes, the layout of the tendon ropes routed in the fingers is difficult to arrange in the motion process, meanwhile, the fixing mode of the tendon ropes in the fingers is unreasonable, and the tendon ropes are easy to interfere with the internal structures of the fingers and influence the control of the tendon ropes on the fingers. Meanwhile, the traditional mechanical structure is too complicated in structure, large in occupied space and not easy to achieve the effect of small fingers.
Disclosure of Invention
In order to overcome the defect that there is the structure complicacy, the finger motion needs extra drive power in current mechanical finger, the utility model provides a pneumatic muscle driven five-finger dexterous hand, under driving force state is not applyed, the five-finger dexterous hand of state is being held to its initial condition, and this five-finger dexterous hand exerts drive power after, the finger will open.
The utility model provides a technical scheme that its technical problem adopted is:
a pneumatic muscle-driven five-finger dexterous hand comprises a connecting flange used for being connected with industrial machinery, four bent single fingers and a thumb, wherein the four bent single fingers and the thumb are arranged on the connecting flange;
each bent single finger comprises a bent single-finger metacarpal bone, a bent single-finger proximal finger end, a bent single-finger middle finger end and a bent single-finger distal finger end, the front end of the bent single-finger metacarpal bone is hinged with the rear end of the bent single-finger proximal finger end, the front end of the bent single-finger proximal finger end is hinged with the rear end of the bent single-finger middle finger end, the front end of the bent single-finger middle finger end is hinged with the rear end of the bent single-finger distal finger end through hinges, and a bent single-finger reset torsion spring is sleeved outside a hinge shaft of each hinge; one side of the back of the hand of the bent single-finger metacarpal bone is provided with a bent single-finger pneumatic muscle a, the tail end of the bent single-finger pneumatic muscle a is connected with the rear end of a bent single-finger tendon a, and the front end of the bent single-finger tendon a is connected with the proximal end of the bent single finger; the rear part of the middle finger end of the bent single finger is provided with a winding post of the middle finger end of the bent single finger, the rear part of the far finger end of the bent single finger is provided with a winding post of the far finger end of the bent single finger, one side of the back of the hand at the near finger end of the bent single finger is provided with a pneumatic muscle b of the bent single finger, the tail end of the pneumatic muscle b of the bent single finger is connected with the rear end of a tendon b of the bent single finger, the front end of the tendon b of the bent single finger is connected with the winding post of the middle finger end of the bent single finger, the near finger end of the bent single finger is also tied with a tendon c of the bent single finger, and the tendon c of the bent single finger bypasses the bottom of the winding post of the middle finger end;
bent single-finger swing joint pneumatic muscles are arranged between bent single-finger metacarpals of two adjacent bent single fingers, and a bent single-finger reset pressure spring is sleeved outside each bent single-finger swing joint pneumatic muscle; the left end and the right end of the bent single-finger resetting pressure spring are respectively connected with two adjacent bent single-finger metacarpals;
the thumb comprises a thumb metacarpal bone, a thumb proximal end and a thumb distal end, the front end of the thumb metacarpal bone is hinged with the rear end of the thumb proximal end, the front end of the thumb proximal end is hinged with the rear end of the thumb distal end through hinges, and a thumb reset torsion spring is sleeved outside a hinge shaft of each hinge; the pneumatic muscle at the proximal end of the thumb is arranged on one side of the back of the thumb metacarpal bone, the tail end of the pneumatic muscle at the proximal end of the thumb is connected with the rear end of a tendon a of the thumb, and the front end of the tendon a of the thumb is connected with the proximal end of the thumb; the rear part of the far finger end of the thumb is provided with a far finger end wrapping post, one side of the back of the hand at the near finger end of the thumb is provided with far finger end pneumatic muscle of the thumb, the tail end of the far finger end pneumatic muscle of the thumb is connected with the rear end of a thumb tendon b, and the front end of the thumb tendon b is connected with the far finger end wrapping post of the thumb;
the thumb metacarpal bone is provided with a connecting sheet on one side facing to the palm, thumb swing joint pneumatic muscle is arranged between the connecting sheet and the connecting flange, and a thumb resetting pressure spring is sleeved outside the thumb swing joint pneumatic muscle.
Furthermore, the bent single-finger pneumatic muscle a, the bent single-finger pneumatic muscle b, the thumb near-finger pneumatic muscle, the thumb far-finger pneumatic muscle, the bent single-finger swing joint pneumatic muscle and the thumb swing joint pneumatic muscle are all pneumatic muscles, the structures are the same, and each pneumatic muscle is connected with the air inlet device through a pneumatic proportional valve group; the pneumatic muscles comprise telescopic pipes and interfaces, one ends of the telescopic pipes are connected through the interfaces, the other ends of the telescopic pipes are installed on corresponding joints, and each tendon is connected with the interface of the corresponding pneumatic muscle; the telescopic tube consists of a rubber diaphragm and non-bending fibers on the inner wall surface, the rubber diaphragm is hermetically sealed and seals a working medium, and the fibers are used for enhancing the strength and generating energy; by inflating the telescopic tube with one end closed and the other end, the rubber diaphragm will expand in the radial direction and contract in the axial direction when the internal pressure increases, thereby achieving a corresponding actuation.
And furthermore, a bent single-finger fingertip pressure sensor array is arranged at the far finger end of each bent single finger on one side facing the palm of the hand, a thumb fingertip pressure sensor array is arranged at the far finger end of the thumb on one side facing the palm of the hand, the bent single-finger fingertip pressure sensor array and the thumb fingertip pressure sensor array are connected with a controller, and the controller is respectively connected with each pneumatic muscle through a pneumatic proportional valve group.
Furthermore, the left end and the right end of the hinge shaft of each hinge are respectively sleeved with a clamp spring.
Furthermore, the bottom of the rear end of each bent single-finger metacarpal bone is provided with a bent single-finger pin, the bent single-finger pins are arranged on the front part of the connecting flange, one side of the thumb metacarpal bone, which faces the palm of the hand, is provided with a thumb pin, the thumb pin is connected with an arc-shaped part, and the arc-shaped part is positioned on the front side of the connecting sheet and is connected with the front part of the connecting flange; the rear part of the connecting flange is provided with a circular boss, and the circular boss is provided with six through holes for connecting industrial machinery.
Furthermore, bosses with small holes are arranged at the front end of each bent single-finger metacarpal bone on one side of the back of the hand and at the front end of each bent single-finger proximal finger end on one side of the back of the hand, and the front ends of the bent single-finger tendons a penetrate through the small holes of the bosses on the bent single-finger metacarpal bone and are connected with the rear ends of the bent single-finger proximal finger ends; the front end of the tendon b of the bent single finger penetrates through a small hole of a boss on the proximal end of the bent single finger and then is connected with a winding post at the middle finger end of the bent single finger;
bosses with small holes are arranged at the front end of the metacarpal bone of the thumb on one side of the back of the hand and at the front end of the proximal finger end of the thumb on one side of the back of the hand, and the front end of the tendon a of the thumb penetrates through the small hole of the boss on the metacarpal bone of the thumb and is connected with the rear end of the proximal finger end of the thumb; the front end of the tendon b of the thumb passes through the small hole of the boss on the proximal finger end of the thumb and is connected with the winding post at the distal finger end of the thumb.
The beneficial effects of the utility model are that: the grabbing of an object is realized by adopting a relatively flexible structure, and the force balance is realized by applying tension to the tendon rope and the elasticity of the torsion spring through pneumatic muscles; the utility model discloses aim at solving snatching to flexible object, and the work demand of the dexterous hand of five fingers requires that it is when snatching the state for a long time, reduces the energy consumption.
Drawings
Fig. 1 is a view of the bent single finger and the metacarpal bone thereof under the view angle of the back of the hand of the utility model.
Fig. 2 is a view of the bending single finger and its metacarpal bone under the view angle of the palm of the utility model.
Fig. 3 is a diagram of the thumb and the metacarpal bone of the utility model.
Fig. 4 is an overall view of the dexterous five-finger hand of the present invention.
Fig. 5 is a plan view of fingertip force signal acquisition and grasping.
Fig. 6 is a closed-loop control diagram of the grip force of the present invention.
Fig. 7 is a schematic view of the gripping object of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1-7, a pneumatic muscle-driven five-finger dexterous hand is mainly composed of a connecting flange 9; the four bent single fingers consist of a bent single-finger far finger end 5, a bent single-finger middle finger end 4, a bent single-finger near finger end 2 and a bent single-finger metacarpal 1; a thumb composed of a distal end 12 of the thumb, a proximal end 11 of the thumb and a metacarpal bone 16 of the thumb; pneumatic muscles and other accessory mechanical mechanisms.
The connecting flange 9 is used as a carrier, the front end of the connecting flange is in pin connection with the thumb metacarpal bone 16 and the bent single-finger metacarpal bone 1 through the thumb pin 14 and the bent single-finger pin 7 respectively, and the circular boss at the rear end is provided with six through holes for being connected with other objects, such as an industrial robot. The curved single fingers are named index finger, middle finger, ring finger and little finger, respectively. The index finger and the middle finger are fixedly connected with two ends of the bent single-finger swing joint pneumatic muscle a81 respectively, and the separation and the folding of the index finger and the middle finger can be realized by controlling the air pressure of the bent single-finger swing joint pneumatic muscle a 81. Considering that the pneumatic muscle can only bear tension, the bent single-finger swing joint pneumatic muscle a81 is also sleeved with a bent single-finger reset pressure spring, and forms force closure with the bent single-finger swing joint pneumatic muscle a 81. The middle finger and the ring finger are fixedly connected with two ends of the bent single-finger swing joint pneumatic muscle b82 respectively, and the middle finger and the ring finger can be separated and folded by controlling the air pressure of the bent single-finger swing joint pneumatic muscle b 82. Considering that the pneumatic muscle can only bear tension, the bent single-finger swing joint pneumatic muscle b82 is also sleeved with a bent single-finger reset pressure spring, and forms force closure with the bent single-finger swing joint pneumatic muscle b 82. The ring finger and the little finger are fixedly connected with two ends of a bent single-finger swing joint pneumatic muscle c83 respectively, and the ring finger and the little finger can be separated and folded by controlling the air pressure of the bent single-finger swing joint pneumatic muscle c 83. Considering that the pneumatic muscle can only bear tension, the bent single-finger swing joint pneumatic muscle c83 is also sleeved with a bent single-finger reset pressure spring, and forms force closure with the bent single-finger swing joint pneumatic muscle c 83. The bending single-finger swing joint pneumatic muscle a81, the bending single-finger swing joint pneumatic muscle b82 and the bending single-finger swing joint pneumatic muscle c83 are used for realizing the separation and the folding of the index finger, the middle finger, the ring finger and the little finger.
The bent single finger mainly comprises a bent single finger far finger end 5, a bent single finger middle finger end 4, a bent single finger near finger end 2 and other components. The bent single-finger metacarpal bone 1 is fixedly connected with a bent single-finger pneumatic muscle a51, the tail end of the bent single-finger pneumatic muscle a51 is fixedly connected with a bent single-finger tendon a61, and the front end of the bent single-finger tendon a61 is connected to the bent single-finger proximal end 2. The pneumatic muscle a51 and the reset torsion spring a71 form a force closure for controlling the proximal end 2 of the bent single finger. The bent single-finger metacarpal bone 1 is connected with the bent single-finger proximal end 2 through a hinge, and clamp springs 6 are sleeved on two sides of the hinge and used for preventing the hinge shaft from falling off. The bending single-finger reset torsion spring a71 is sleeved outside the hinge. The rear portion of crooked single-finger middle finger end 4 is equipped with crooked single-finger middle finger end wrapping post 3, the rear portion of crooked single-finger distal finger end 5 is equipped with crooked single-finger distal finger end wrapping post 8, it has crooked single-finger pneumatic muscle b52 to link firmly on the crooked single-finger proximal finger end 2, crooked single-finger pneumatic muscle b52 terminal has linked firmly crooked single-finger tendon b62, crooked single-finger tendon b62 front end is connected in crooked single-finger middle finger end wrapping post 3. The bent single-finger pneumatic muscle b52 and the bent single-finger return torsion spring b72 form a force closure for controlling the middle finger end 4 of the bent single finger. The bent single-finger near-finger end 2 is connected with the bent single-finger middle-finger end 4 through a hinge, snap springs 6 are sleeved on two sides of the hinge and used for preventing the hinge shaft from falling off, and a bent single-finger reset torsion spring b72 is sleeved outside the hinge. The bent single-finger proximal end 2 is also tied with a bent single-finger tendon c63, the bent single-finger tendon 63c bypasses the bottom of the bent single-finger middle-finger end wrapping post 3, and the other end is connected with the bent single-finger distal end wrapping post 8. Under-actuation is formed between the middle finger end 4 and the distal finger end 5 of the bent single finger, when the proximal finger end 2 and the middle finger end 4 of the bent single finger bend, the length of the bent single finger tendon c63 between the proximal finger end 2 and the middle finger end 4 of the bent single finger increases, which causes the length of the bent single finger tendon c63 between the middle finger end 4 and the distal finger end 5 of the bent single finger to shorten, thereby causing the bent single finger tendon c63 to bend against the force of the bent single finger return torsion spring c 73. The middle finger end 4 of the bent single finger is connected with the far finger end 5 of the bent single finger through a hinge, snap springs 6 are sleeved on two sides of the hinge and used for preventing the hinge shaft from falling off, and a bent single-finger reset torsion spring c73 is sleeved outside the hinge.
Further, the initial state of the fingers is a fist holding state, and the initial state of the fist holding is kept through the restoring force generated by the bent single-finger reset torsion spring of each bent single finger. The front end of each bent single-finger metacarpal bone 1 on one side of the back of the hand and the front end of each bent single-finger proximal finger end 2 on one side of the back of the hand are both provided with a boss with a small hole, and the front end of the bent single-finger tendon a61 passes through the small hole of the boss on the bent single-finger metacarpal bone 1 and then is connected with the rear end of the bent single-finger proximal finger end 2; the front end of the tendon b62 of the bent single finger passes through a small hole of a boss on the proximal end 2 of the bent single finger and is connected with the winding post 3 at the middle finger end of the bent single finger; bosses with small holes are arranged at the front end of the thumb metacarpal bone 16 on one side of the back of the hand and at the front end of the thumb proximal end 11 on one side of the back of the hand, and the front end of the thumb tendon a passes through the small hole of the boss on the thumb metacarpal bone 16 and is connected with the rear end of the thumb proximal end 11; the front end of the tendon b of the thumb passes through the small hole of the boss on the proximal end 11 of the thumb and is connected with the winding post at the distal end of the thumb. The bent single-finger tendons pass through the small holes in the lug bosses on the joints to keep the stability of the tendon ropes, so that interference among the bent single-finger tendons is prevented, and meanwhile, the stability of the bent single-finger tendons can be better guaranteed.
The connecting flange 9 and a thumb metacarpal bone 16 form a hinge through a thumb pin 14, a connecting sheet is arranged on one side of the thumb metacarpal bone 16 facing to the palm of the hand, a thumb swing joint pneumatic muscle 17 is arranged between the connecting sheet and the connecting flange, and a thumb reset pressure spring is sleeved outside the thumb swing joint pneumatic muscle 17. The thumb pin 14 is connected with an arc-shaped piece which is positioned on the front side of the connecting sheet and is connected with the front part of the connecting flange 9; the connecting flange 9 is further connected with a thumb swing joint pneumatic muscle 17, and the other end of the thumb swing joint pneumatic muscle 17 is fixedly connected with the thumb metacarpal bone 16 and used for driving the thumb metacarpal bone 16 to swing. The upper end of the thumb resetting pressure spring is pressed against the connecting flange 9, and the lower end of the thumb resetting pressure spring is pressed against the connecting sheet.
The pneumatic muscle of the proximal thumb end 15 is fixedly connected to the metacarpal bone 16 of the thumb, the thumb tendon a is fixedly connected to the tail end of the pneumatic muscle of the proximal thumb end 15, and the front end of the thumb tendon a is connected to the proximal thumb end 11. The pneumatic muscle 15 at the proximal end of the thumb and the thumb reset torsion spring 10 at the proximal end 11 of the thumb form a force seal for controlling the proximal end 11 of the thumb. The thumb metacarpal bone 16 is connected with the proximal end 11 of the thumb through a hinge, and the thumb reset torsion spring is sleeved outside the hinge. The pneumatic muscle 13 of thumb distal end is linked firmly on the thumb near finger end 11, thumb tendon b is linked firmly at thumb distal end pneumatic muscle 13 terminal, thumb tendon b front end is connected in the thumb distal end spool. The pneumatic muscle 13 at the far finger end of the thumb and the thumb reset torsion spring at the far finger end 12 of the thumb form a force seal for controlling the far finger end 12 of the thumb. The thumb near-finger end 11 and the thumb far-finger end 12 are connected through a hinge, and the thumb reset torsion spring is sleeved outside the hinge.
Specifically, when the five-finger dexterous hand needs to grab a cylindrical object, the air pressure inside the bent single-finger pneumatic muscle a51 and the bent single-finger pneumatic muscle b52 is reduced, and the bent single-finger tendon a61, the bent single-finger tendon b62 and the bent single-finger tendon c63 are extended forwards, so that the proximal finger end, the middle finger end and the distal finger end are bent. Considering the difference in the length of the cylinders and the difference in the grasping manner, the thumb may be in a state of bending toward the palm center or in a state of bending toward the back of the hand.
The bent single-finger proximal end 2 is also tied with a bent single-finger tendon c63, the bent single-finger tendon c63 bypasses the bottom of the bent single-finger middle-finger end wrapping post 3, and the other end is connected with the bent single-finger distal end wrapping post 8. Under-actuation is formed between the middle finger end 4 and the distal finger end 5 of the bent single finger, when the proximal finger end 2 and the middle finger end 4 of the bent single finger bend, the length of the bent single finger tendon c63 between the proximal finger end 2 and the middle finger end 4 of the bent single finger increases, which causes the length of the bent single finger tendon c63 between the middle finger end 4 and the distal finger end 5 of the bent single finger to shorten, thereby causing the bent single finger tendon c63 to bend against the force of the bent single finger return torsion spring c 73.
The bent single-finger pneumatic muscle a51, the bent single-finger pneumatic muscle b52, the thumb proximal-finger pneumatic muscle 15, the thumb distal-finger pneumatic muscle 13, the bent single-finger swing joint pneumatic muscle and the thumb swing joint pneumatic muscle 17 are all pneumatic muscles with the same structure, and all the pneumatic muscles are connected with an air inlet device through a pneumatic proportional valve group; the pneumatic muscles comprise telescopic pipes and interfaces, one ends of the telescopic pipes are connected through the interfaces, the other ends of the telescopic pipes are installed on corresponding joints, and each tendon is connected with the interface of the corresponding pneumatic muscle; the telescopic tube consists of a rubber diaphragm and non-bending fibers on the inner wall surface, the rubber diaphragm is hermetically sealed and seals a working medium, and the fibers are used for enhancing the strength and generating energy; by inflating the telescopic tube with one end closed and the other end, the rubber diaphragm will expand in the radial direction and contract in the axial direction when the internal pressure increases, thereby achieving a corresponding actuation.
The thumb far finger end 12 and the bent single-finger far finger end 5 are respectively provided with a thumb fingertip pressure sensor array 18 and a bent single-finger fingertip pressure sensor array 19. Considering that the observed value of the fingertip sensor of the robot is easily interfered by noise, Bayesian filtering is introduced to correct the value acquired by the pressure sensor array. Because the traditional Bayes filtering needs to count the calculation results of the previous times into the filtering algorithm when solving each time, the calculation pressure of the five-finger smart hand controller can be continuously increased along with the increase of the operation time. Therefore, a batch processing method is introduced to carry out recursion on the historical Bayesian filtering calculation result, and the Bayesian recursion result is substituted into the fingertip state equation to obtain the prediction step of the fingertip pressure array. And after the five-finger smart hand controller samples the observed value of the fingertip force sensor array at the moment, updating posterior distribution of the observed value to obtain a corrected value of the sensing array signal at the moment, and counting recursive calculation of the next moment, thereby completing the Bayesian filtering of the fingertip force sensor array signal. The controller can judge whether the object slips in the hand according to increase and decrease of force signals of different areas on the force sensor array. If the object does not slip in the hand, the grasping of the object by the dexterous five-finger hand is stable; if the object slips in the hand, there are two possibilities, i.e. slipping towards the fingertip and slipping towards the proximal fingertip. If the object slides to the near finger end, the enveloping degree of the dexterous five-finger hand to the object is increased, the stability for holding the object is continuously enhanced, and if the object slides to the finger tip, the enveloping degree of the dexterous five-finger hand to the object is reduced, the stability for holding the object is continuously weakened, the holding state of the finger needs to be changed, and the holding capacity of the object is improved.
The thumb fingertip pressure sensor array 18 and the bent single-finger fingertip pressure sensor array 19 not only provide basis for providing a planning strategy for a gripping planning strategy, but also PID closed-loop control exists in the bent single finger and the thumb. After the pressure sensor array collects the pressure signals, the values of the pressure sensors with the collected pressure signals are accumulated and divided by the unit number of the pressure sensors with the pressure signals, and the average value of the pressure signals is obtained and used as an actual pressure value. And subtracting the actual pressure value from the expected pressure value to obtain an offset value, and entering an incremental PID controller for operation. The incremental PID controller outputs control quantity to the pneumatic proportional valve group, and the pneumatic proportional valve group outputs air pressure to pneumatic muscles and drives fingers to bend, so that closed-loop control of bending single fingers of the dexterous five-finger hand is realized.
The utility model discloses when the centre gripping object, need not exert extra power. The manipulator can always hold the object without loosening, so that the energy consumption is greatly reduced, and the object can be continuously clamped by depending on the particularity of the structure. Meanwhile, due to the structural particularity, the holding force of the mechanical arm for holding the object is constant, so that the force can be limited.
Claims (6)
1. The utility model provides a dexterous hand of pneumatic muscle driven five fingers which characterized in that: comprises a connecting flange used for connecting with industrial machinery, four bent single fingers and a thumb which are arranged on the connecting flange;
each bent single finger comprises a bent single-finger metacarpal bone, a bent single-finger proximal finger end, a bent single-finger middle finger end and a bent single-finger distal finger end, the front end of the bent single-finger metacarpal bone is hinged with the rear end of the bent single-finger proximal finger end, the front end of the bent single-finger proximal finger end is hinged with the rear end of the bent single-finger middle finger end, the front end of the bent single-finger middle finger end is hinged with the rear end of the bent single-finger distal finger end through hinges, and a bent single-finger reset torsion spring is sleeved outside a hinge shaft of each hinge; one side of the back of the hand of the bent single-finger metacarpal bone is provided with a bent single-finger pneumatic muscle a, the tail end of the bent single-finger pneumatic muscle a is connected with the rear end of a bent single-finger tendon a, and the front end of the bent single-finger tendon a is connected with the proximal end of the bent single finger; the rear part of the middle finger end of the bent single finger is provided with a winding post of the middle finger end of the bent single finger, the rear part of the far finger end of the bent single finger is provided with a winding post of the far finger end of the bent single finger, one side of the back of the hand at the near finger end of the bent single finger is provided with a pneumatic muscle b of the bent single finger, the tail end of the pneumatic muscle b of the bent single finger is connected with the rear end of a tendon b of the bent single finger, the front end of the tendon b of the bent single finger is connected with the winding post of the middle finger end of the bent single finger, the near finger end of the bent single finger is also tied with a tendon c of the bent single finger, and the tendon c of the bent single finger bypasses the bottom of the winding post of the middle finger end;
bent single-finger swing joint pneumatic muscles are arranged between bent single-finger metacarpals of two adjacent bent single fingers, and a bent single-finger reset pressure spring is sleeved outside each bent single-finger swing joint pneumatic muscle; the left end and the right end of the bent single-finger resetting pressure spring are respectively connected with two adjacent bent single-finger metacarpals;
the thumb comprises a thumb metacarpal bone, a thumb proximal end and a thumb distal end, the front end of the thumb metacarpal bone is hinged with the rear end of the thumb proximal end, the front end of the thumb proximal end is hinged with the rear end of the thumb distal end through hinges, and a thumb reset torsion spring is sleeved outside a hinge shaft of each hinge; the pneumatic muscle at the proximal end of the thumb is arranged on one side of the back of the thumb metacarpal bone, the tail end of the pneumatic muscle at the proximal end of the thumb is connected with the rear end of a tendon a of the thumb, and the front end of the tendon a of the thumb is connected with the proximal end of the thumb; the rear part of the far finger end of the thumb is provided with a far finger end wrapping post, one side of the back of the hand at the near finger end of the thumb is provided with far finger end pneumatic muscle of the thumb, the tail end of the far finger end pneumatic muscle of the thumb is connected with the rear end of a thumb tendon b, and the front end of the thumb tendon b is connected with the far finger end wrapping post of the thumb;
the thumb metacarpal bone is provided with a connecting sheet on one side facing to the palm, thumb swing joint pneumatic muscle is arranged between the connecting sheet and the connecting flange, and a thumb resetting pressure spring is sleeved outside the thumb swing joint pneumatic muscle.
2. A pneumatic muscle powered five-finger dexterous hand as claimed in claim 1, wherein: the bent single-finger pneumatic muscle a, the bent single-finger pneumatic muscle b, the thumb near-finger pneumatic muscle, the thumb far-finger pneumatic muscle, the bent single-finger swing joint pneumatic muscle and the thumb swing joint pneumatic muscle are all pneumatic muscles, the structures are the same, and each pneumatic muscle is connected with the air inlet device through a pneumatic proportional valve group; the pneumatic muscles comprise telescopic pipes and interfaces, one ends of the telescopic pipes are connected through the interfaces, the other ends of the telescopic pipes are installed on corresponding joints, and each tendon is connected with the interface of the corresponding pneumatic muscle; the telescopic tube consists of a rubber diaphragm and non-bending fibers on the inner wall surface, the rubber diaphragm is hermetically sealed and seals a working medium, and the fibers are used for enhancing the strength and generating energy; by inflating the telescopic tube with one end closed and the other end, the rubber diaphragm will expand in the radial direction and contract in the axial direction when the internal pressure increases, thereby achieving a corresponding actuation.
3. A pneumatic muscle powered five-finger dexterous hand as claimed in claim 1 or 2, wherein: the device comprises a controller, a pneumatic proportional valve group, a bending single-finger fingertip pressure sensor array, a thumb fingertip pressure sensor array, a single-finger bending pressure sensor array and a single-finger thumb fingertip pressure sensor array, wherein the single-finger bending pressure sensor array is arranged at the far finger end of each bending single finger and is arranged at one side facing the palm of the hand, the thumb fingertip pressure sensor array is arranged at.
4. A pneumatic muscle powered five-finger dexterous hand as claimed in claim 1 or 2, wherein: the left end and the right end of the hinge shaft of each hinge are respectively sleeved with a clamp spring.
5. A pneumatic muscle powered five-finger dexterous hand as claimed in claim 1 or 2, wherein: the bottom of the rear end of each bent single-finger metacarpal bone is provided with a bent single-finger pin, the bent single-finger pins are mounted on the front portion of the connecting flange, one side, facing the palm center of the hand, of each thumb metacarpal bone is provided with a thumb pin, each thumb pin is connected with an arc-shaped piece, and each arc-shaped piece is located on the front side of the connecting sheet and is connected with the front portion of the connecting flange; the rear part of the connecting flange is provided with a circular boss, and the circular boss is provided with six through holes for connecting industrial machinery.
6. A pneumatic muscle powered five-finger dexterous hand as claimed in claim 1 or 2, wherein: the front end of each bent single-finger metacarpal bone on one side of the back of the hand and the front end of each bent single-finger proximal finger end on one side of the back of the hand are respectively provided with a boss with a small hole, and the front end of the bent single-finger tendon a penetrates through the small hole of the boss on the bent single-finger metacarpal bone and is connected with the rear end of the bent single-finger proximal finger end; the front end of the tendon b of the bent single finger penetrates through a small hole of a boss on the proximal end of the bent single finger and then is connected with a winding post at the middle finger end of the bent single finger;
bosses with small holes are arranged at the front end of the metacarpal bone of the thumb on one side of the back of the hand and at the front end of the proximal finger end of the thumb on one side of the back of the hand, and the front end of the tendon a of the thumb penetrates through the small hole of the boss on the metacarpal bone of the thumb and is connected with the rear end of the proximal finger end of the thumb; the front end of the tendon b of the thumb passes through the small hole of the boss on the proximal finger end of the thumb and is connected with the winding post at the distal finger end of the thumb.
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| CN201920259810.7U CN209919887U (en) | 2019-03-01 | 2019-03-01 | Pneumatic muscle-driven five-finger dexterous hand |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895075A (en) * | 2019-03-01 | 2019-06-18 | 浙江工业大学 | A kind of five-needle pines blister rust of pneumatic muscles driving |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895075A (en) * | 2019-03-01 | 2019-06-18 | 浙江工业大学 | A kind of five-needle pines blister rust of pneumatic muscles driving |
| CN109895075B (en) * | 2019-03-01 | 2024-03-22 | 浙江工业大学 | Pneumatic muscle driven five-finger dexterous hand |
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