CN209954685U - Man-hand-simulated pneumatic soft paw - Google Patents
Man-hand-simulated pneumatic soft paw Download PDFInfo
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- CN209954685U CN209954685U CN201920788405.4U CN201920788405U CN209954685U CN 209954685 U CN209954685 U CN 209954685U CN 201920788405 U CN201920788405 U CN 201920788405U CN 209954685 U CN209954685 U CN 209954685U
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- finger
- finger unit
- vent pipe
- vent hole
- rotating seat
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Abstract
The patent discloses a imitative manual pneumatic software hand claw, including: a plurality of finger units, a plurality of finger joints, a palm body and a connecting mechanism. The finger unit is a columnar structure made of flexible materials, two cylindrical chambers which are distributed in parallel and have different heights are arranged in the finger unit, the two cylindrical chambers are respectively a first chamber and a second chamber, and two groups of constraint fibers which are spirally arranged are wound on the outer surface of the finger unit to limit the transverse expansion of the finger unit. The finger joint is a circular ring-shaped structure made of harder silica gel materials, and the bending angle of the finger unit can be changed. The palm body is similar to the palm of a human body in shape and is a hollow cavity, and a plurality of air pipes and electromagnetic valves are arranged in the hollow cavity and used for controlling the movement of the finger units. The connecting mechanism is made of rigid materials, and can realize the up-and-down movement and the left-and-right movement of the finger unit. The palm body is connected with a plurality of finger units through a plurality of connecting mechanisms. This patent has realized the combination of software material and rigid material, drives the crooked and multi-attitude motion of finger through gas, has reduced the motion state of staff in the very big degree, realizes snatching effectively to the object.
Description
Technical Field
The technology belongs to the technical field of soft robots and relates to a bionic pneumatic paw device.
Background
In recent years, software robots have become an emerging and promising direction of research in the field of robotics. The soft robot is a continuation of the research of the bionic robot, simulates the mollusk in nature, has infinite multi-degree of freedom and continuous deformation capability, can randomly change the shape and the size of the soft robot in a large range, and has wide application prospect in the fields of military affairs, detection, medical treatment and the like due to excellent flexibility and adaptability.
At present, most of soft robots are made of flexible materials, such as: silicone rubber, shape memory alloy SMA, electroactive polymer EAP, and the like. The rapid development of these materials has also accelerated the development of soft robots to a great extent. Compared with the traditional rigid robot, the soft robot has great improvement on the driving mode, and most of the soft robots adopt pneumatic driving, and the bending action and the rigidity adjustment of the soft robot are changed through pneumatic pressure.
In recent years, researchers mainly apply the software robot technology to human-computer interaction and medical rehabilitation, and remarkable effects are achieved. However, since the whole body of the soft robot is made of flexible materials, the soft robot has a defect in grabbing function, and the grabbing force is general, which is not sufficient in some specific fields.
Disclosure of Invention
The technical purpose is to provide a human-hand-simulated pneumatic soft hand grip which has multiple degrees of freedom, flexible action and convenient article gripping.
The human-hand-simulated pneumatic soft hand grip comprises a palm body and a plurality of finger units, wherein the palm body is connected with each finger unit through a connecting structure; the connecting structure comprises a horizontal rotating seat and a vertical rotating seat; the horizontal rotating seat is rotatably connected with the palm body through a first pivot, a left vent hole and a right vent hole are formed in the horizontal rotating seat and are positioned on the left side and the right side of the first pivot, and the left vent hole and the right vent hole are respectively connected with a left vent pipe and a right vent pipe; the vertical rotating seat is rotatably connected with the horizontal rotating seat through a second pivot, the vertical rotating seat is provided with an upper vent hole and a lower vent hole which are positioned at the upper side and the lower side of the second pivot, and the upper vent hole and the lower vent hole are respectively connected with an upper vent pipe and a lower vent pipe;
the finger unit is made of flexible materials and is of a columnar structure, two groups of constraint fibers which are arranged spirally and oppositely in spiral directions are wound on the outer surface of the finger unit, and a first chamber and a second chamber which extend along the axial direction of the finger unit but are unequal in extension height are arranged in the finger unit;
the end part of the finger unit is connected with the vertical rotating seat; the vertical rotating seat is provided with a first vent hole and a second vent hole which are communicated with the first cavity and the second cavity, and the first vent hole and the second vent hole are respectively connected with the first vent pipe and the second vent pipe.
The beneficial effect of this patent:
when the upper vent hole of the vertical rotating seat is inflated, the upper end of the vertical rotating seat is pushed, and the vertical rotating seat and the finger unit connected with the vertical rotating seat can rotate downwards around the second pivot; when the lower vent hole of the vertical rotating seat is inflated, the lower end of the vertical rotating seat is pushed, and the vertical rotating seat and the finger unit can rotate upwards around the second pivot.
When the left vent hole of the vertical rotating seat is inflated, the left end of the finger unit is pushed, and the finger unit rotates rightwards around the first pivot; when the right vent hole of the vertical rotating seat is inflated, the right end of the finger unit is pushed, and the finger unit rotates leftwards around the first pivot.
When the first and second chambers of a finger unit are inflated simultaneously, the pressure in the chambers becomes greater and the finger unit will stretch and form a bend due to the flexibility of its material and the limitations of the peripheral restraining fibers. If the height of the second chamber is greater than the height of the first chamber, the side of the second chamber is bent to a greater extent than the side of the first chamber, and the finger unit is bent toward the side of the first chamber.
Therefore, the human hand-simulated pneumatic soft paw can flexibly rotate and bend with multiple degrees of freedom, is convenient to grab articles, and realizes the function similar to human hands.
As a further improvement of the human hand-simulated pneumatic soft hand grab, the first pivot is vertical to the second pivot; the first chamber and the second chamber are both located in a plane perpendicular to the second pivot.
As a further improvement of the pneumatic soft hand grip of the humanoid hand, the pneumatic soft hand grip further comprises a circular ring-shaped finger joint tightly sleeved on the outer surface of the finger unit, and the hardness of the material of the finger joint is greater than that of the material of the finger unit.
The finger joints are of circular ring structures and are tightly sleeved on the outer surfaces of the finger units, and because the hardness of the material of the finger joints is greater than that of the material of the finger units, the finger joints can restrict the bending of the material of the finger units at the finger joint sleeving position, so that the bending degree of the finger units at the finger joint sleeving position is obviously changed, and the finger units are bent in a broken layer manner to form bending similar to that of the finger joints of a human hand.
As a further improvement of the human-hand-simulated pneumatic soft hand grip, the number of the finger units is 5, wherein one finger joint on one finger unit at the outer side part is one, and the number of the finger joints on the other finger units is two; finger joints on each finger unit are uniformly distributed in the length direction of the finger unit.
As a further improvement of the human-simulated pneumatic soft hand grip, the palm body is provided with a plurality of through holes, the left vent pipe, the right vent pipe, the upper vent pipe, the lower vent pipe, the first vent pipe and the second vent pipe which are connected with each finger respectively penetrate through one through hole, and the palm body is internally provided with an electromagnetic valve which respectively controls the on-off of the left vent pipe, the right vent pipe, the upper vent pipe, the lower vent pipe, the first vent pipe and the second vent pipe which are connected with each finger.
Each electromagnetic valve is placed in the palm body, so that the structure is more compact and the appearance is attractive.
Drawings
FIG. 1 is a schematic perspective view of a human hand-simulated pneumatic soft-body gripper;
FIG. 2 is a perspective view of a human-simulated pneumatic soft-body hand (with the finger unit 11 and the like removed);
FIG. 3 is a schematic diagram of a finger unit structure;
FIG. 4 is a schematic view of a finger unit, finger joint, etc.;
FIG. 5 is a schematic view of the bending of the finger unit;
FIG. 6 is a schematic structural view of the connection mechanism;
FIG. 7 is a schematic view of a horizontal rotary base;
FIG. 8 is a schematic view of a vertical rotary base or the like;
FIG. 9 is a schematic view of the finger unit and vertical swivel mount assembly;
FIG. 10 is a schematic view of a palm;
FIG. 11 is a general assembly view of the soft gripper apparatus;
fig. 12 is a schematic view of a palm.
In the figure, a finger unit 1, a finger unit 11, a finger unit 12, a finger unit 13, a finger unit 14, a finger unit 15, a first chamber 16, a second chamber 17, and a constraint fiber 18;
the connecting mechanism 4, the first pivot 41, the horizontal rotating base 42, the second pivot 43, the vertical rotating base 44, the upper vent hole 441, the lower vent hole 442, the first vent hole 443, the second vent hole 444, the left vent hole 425, and the right vent hole 426;
Detailed Description
The patent is further described with reference to the accompanying drawings.
Referring to fig. 1 and 2, the human hand-simulated pneumatic soft hand grip consists of 5 finger units 1, 9 finger joints 2, a palm body 3 and 5 connecting mechanisms 4.
The 5 finger units are respectively a finger unit 11, a finger unit 12, a finger unit 13, a finger unit 14 and a finger unit 15 from left to right. Wherein the finger elements 11 have one less finger joint than the other finger elements and can only form one distinct bend, similar to the thumb of a human hand.
Referring to fig. 3 and 4, the finger unit 1 is a cylindrical structure made of a flexible material, such as silicone rubber, shape memory alloy SMA, etc., and has two sets of helically arranged constraining fibers 18 wound around its outer surface for limiting the lateral expansion of the finger unit, and two cylindrical chambers, a first chamber 16 and a second chamber 17, are formed inside the finger unit. Two air vents are symmetrically distributed at the lower end of the finger unit: the upper end of the first chamber vent hole is of a hemispherical flexible structure. The first and second chambers are symmetrically distributed about the axis of the finger element but are different in height, the apex of the first chamber being at 2/3 of the finger element and the apex of the second chamber being at the top of the finger element. The restraining fiber can be Kevlar wire or fishing line.
Referring to fig. 1, 2 and 4, the finger joint 2 is a ring-shaped structure made of silicone material, and tightly covers 1/2 on the outer surface of the finger unit 11 and 1/3, 2/3 on the outer surface of the finger units 12, 13, 14, 15. Because the finger joint material has a greater hardness than the finger unit material, the finger joint constrains the flexing of the material at 1/2 of the outer surface of the finger unit 11 and at 1/3, 2/3 of the outer surface of the finger units 12, 13, 14, 15, causing a significant change in the degree of flexing of the finger unit 11 at 1/2 and at 1/3 and 2/3 of the finger units 12, 13, 14, 15, which results in a broken-layer flexing of the finger units, resulting in a similar flexing to a "human hand".
Each finger unit is connected with the palm body through a connecting structure.
Referring to fig. 1, 2, 6-8, each link mechanism 4 is made of a rigid material and includes a first pivot 41 fixed to the palm, a horizontal rotating base 42 rotatably disposed on the first pivot, a second pivot 43 rotatably disposed on the horizontal rotating base, and a vertical rotating base 44 fixedly disposed on the second pivot. The first pivot and the second pivot are vertically installed, the finger unit can move back and forth around the axis of the second pivot, and the finger unit and the vertical rotating seat can complete left and right movement around the axis of the first pivot.
The vertical rotating seat 44 is adhered to the end of the finger unit by glue, and 4 air holes are left: upper vent hole 441, lower vent hole 442, first vent hole 443, second vent hole 444.
The first and second ventilation holes 443, 444 are respectively used for communicating with the first and second chamber ventilation holes of the finger unit, and the first and second ventilation holes 443, 444 are respectively connected with the first and second ventilation pipes (not shown) for controlling the bending movement of the finger unit.
The upper and lower ventilation holes 441, 442 are blind holes and are connected to the upper and lower ventilation pipes 51, 52, respectively, for controlling the vertical rotation of the vertical rotation base (i.e., forward and backward rotation).
The horizontal rotating seat 42 is provided with a left vent hole 425 and a right vent hole 426, and the left vent hole 425 and the right vent hole 426 are blind holes and are respectively connected with the left vent pipe 55 and the right vent pipe 56 for controlling the horizontal rotating seat to rotate left and right.
The palm body 3 is similar to the palm of a person in shape, and a cavity is arranged in the palm body and used for arranging the air pipes and the electromagnetic valves. There are 5 fixed supports on the upper and left sides for connection with the connection mechanism. Meanwhile, 5 through holes are reserved at the upper end and the left side, and 5 through holes are also formed at the lower part.
The trachea communicates with the flexion joint and the connection mechanism through these ventilation holes. The air pipe that the palm lower extreme air vent passes through is connected with external drive air pump, controls the break-make of gas circuit with the solenoid valve to control the motion of finger unit.
Each finger unit and the connecting mechanism are connected with 6 air pipes (an upper air pipe 51, a lower air pipe 52, a first air pipe, a second air pipe, a left air pipe 55 and a right air pipe 56), and the 6 air pipes enter from a through hole at the bottom of the palm body and penetrate out from a through hole at the left side and the upper part of the palm body. Each air pipe is connected with an external driving air pump. The palm body is internally provided with an electromagnetic valve which respectively controls the on-off of a left vent pipe, a right vent pipe, an upper vent pipe, a lower vent pipe, a first vent pipe and a second vent pipe which are connected with each finger unit and the connecting structure, and the electromagnetic valve respectively controls the movement of one finger unit and the connecting mechanism, so that the multi-posture action of the whole paw device can be realized.
When the first and second chambers of the finger unit are inflated simultaneously, the pressure in the chambers becomes greater and the finger unit will stretch and form a bend due to the flexibility of its material and the limitations of the peripheral restraining fibers. Since the height of the second chamber is greater than the height of the first chamber, the side of the second chamber is bent more than the side of the first chamber, and the finger unit is bent toward the side of the first chamber.
When the upper vent hole of the vertical rotating seat is inflated, the upper end of the finger unit is pushed, and the finger unit rotates downwards around the second pivot; when the lower vent hole of the vertical rotary seat is inflated, the lower end of the finger unit is pushed, and the finger unit rotates upwards around the second pivot.
When the left vent hole of the horizontal rotating seat is inflated, the left end of the finger unit is pushed, and the finger unit rotates rightwards around the first pivot; when the right vent hole of the horizontal rotating seat is inflated, the right end of the finger unit is pushed, and the finger unit rotates leftwards around the first pivot.
The palm body is similar to the palm of a human body in shape and is a hollow cavity, and a plurality of air pipes and electromagnetic valves are arranged in the hollow cavity and used for controlling the movement of the finger units. The connecting mechanism is made of rigid materials, and can realize the up-and-down movement and the left-and-right movement of the finger unit. The palm body is connected with a plurality of finger units through a plurality of connecting mechanisms. This patent has realized the combination of software material and rigid material, drives the crooked and multi-attitude motion of finger through gas, has reduced the motion state of staff in the very big degree, realizes snatching effectively to the object.
Claims (5)
1. The utility model provides an imitative pneumatic software hand of people's hand is held, includes the palm body and a plurality of finger unit, characterized by: the palm body is connected with each finger unit through a connecting structure; the connecting structure comprises a horizontal rotating seat and a vertical rotating seat; the horizontal rotating seat is rotatably connected with the palm body through a first pivot, a left vent hole and a right vent hole are formed in the horizontal rotating seat and are positioned on the left side and the right side of the first pivot, and the left vent hole and the right vent hole are respectively connected with a left vent pipe and a right vent pipe; the vertical rotating seat is rotatably connected with the horizontal rotating seat through a second pivot, the vertical rotating seat is provided with an upper vent hole and a lower vent hole which are positioned at the upper side and the lower side of the second pivot, and the upper vent hole and the lower vent hole are respectively connected with an upper vent pipe and a lower vent pipe;
the finger unit is made of flexible materials and is of a columnar structure, two groups of constraint fibers which are arranged spirally and oppositely in spiral directions are wound on the outer surface of the finger unit, and a first chamber and a second chamber which extend along the axial direction of the finger unit but are unequal in extension height are arranged in the finger unit;
the end part of the finger unit is connected with the vertical rotating seat; the vertical rotating seat is provided with a first vent hole and a second vent hole which are communicated with the first cavity and the second cavity, and the first vent hole and the second vent hole are respectively connected with the first vent pipe and the second vent pipe.
2. The humanoid-hand pneumatic soft-body hand grab of claim 1, characterized in that: the first pivot is vertical to the second pivot; the first chamber and the second chamber are both located in a plane perpendicular to the second pivot.
3. The humanoid-hand pneumatic soft-body hand grab of claim 1, characterized in that: the finger joint is characterized by further comprising a circular ring-shaped finger joint tightly sleeved on the outer surface of the finger unit, and the hardness of the material of the finger joint is greater than that of the material of the finger unit.
4. The humanoid-hand pneumatic soft-body hand grab of claim 3, characterized in that: the number of the finger units is 5, wherein one finger joint on one finger unit at the outer side part is one, and the number of the finger joints on the other finger units is two; finger joints on each finger unit are uniformly distributed in the length direction of the finger unit.
5. The humanoid-hand pneumatic soft-body hand grab of claim 1, characterized in that: the palm body is provided with a plurality of through holes, the left vent pipe, the right vent pipe, the upper vent pipe, the lower vent pipe, the first vent pipe and the second vent pipe which are connected with each finger respectively penetrate through one through hole, and the palm body is internally provided with an electromagnetic valve which respectively controls the on-off of the left vent pipe, the right vent pipe, the upper vent pipe, the lower vent pipe, the first vent pipe and the second vent pipe which are connected with each finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920788405.4U CN209954685U (en) | 2019-05-28 | 2019-05-28 | Man-hand-simulated pneumatic soft paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920788405.4U CN209954685U (en) | 2019-05-28 | 2019-05-28 | Man-hand-simulated pneumatic soft paw |
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| Publication Number | Publication Date |
|---|---|
| CN209954685U true CN209954685U (en) | 2020-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920788405.4U Expired - Fee Related CN209954685U (en) | 2019-05-28 | 2019-05-28 | Man-hand-simulated pneumatic soft paw |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091348A (en) * | 2019-05-28 | 2019-08-06 | 南京林业大学 | A kind of dynamic software gripper of apery luck |
| CN111993449A (en) * | 2020-08-06 | 2020-11-27 | 中国科学技术大学 | Multi-degree-of-freedom flexible dexterous hand based on shape memory alloy |
-
2019
- 2019-05-28 CN CN201920788405.4U patent/CN209954685U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091348A (en) * | 2019-05-28 | 2019-08-06 | 南京林业大学 | A kind of dynamic software gripper of apery luck |
| CN111993449A (en) * | 2020-08-06 | 2020-11-27 | 中国科学技术大学 | Multi-degree-of-freedom flexible dexterous hand based on shape memory alloy |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200117 Termination date: 20210528 |
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| CF01 | Termination of patent right due to non-payment of annual fee |