CN220555128U - Rigid-flexible-soft combined pneumatic bionic mechanical finger - Google Patents
Rigid-flexible-soft combined pneumatic bionic mechanical finger Download PDFInfo
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- CN220555128U CN220555128U CN202321869161.5U CN202321869161U CN220555128U CN 220555128 U CN220555128 U CN 220555128U CN 202321869161 U CN202321869161 U CN 202321869161U CN 220555128 U CN220555128 U CN 220555128U
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- mechanical finger
- flexible
- knuckles
- bionic mechanical
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- 210000003205 muscle Anatomy 0.000 claims abstract description 25
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- 239000004698 Polyethylene Substances 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- -1 polyethylene Polymers 0.000 claims description 4
- 229920000573 polyethylene Polymers 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000005452 bending Methods 0.000 abstract description 16
- 230000003993 interaction Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 4
- 230000000740 bleeding effect Effects 0.000 description 4
- 238000000605 extraction Methods 0.000 description 4
- 239000002131 composite material Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 210000004553 finger phalanx Anatomy 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
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- Prostheses (AREA)
Abstract
The application provides a rigid-flexible-soft combined pneumatic bionic mechanical finger, which comprises a rigid inner skeleton and air suction type pneumatic muscles coated on the rigid inner skeleton; one end of the rigid inner skeleton is provided with an air duct interface, the rigid inner skeleton is formed by connecting a plurality of rigid knuckles, two adjacent rigid knuckles are connected through a flexible knuckle spring, and adjacent contact ends of the two adjacent rigid knuckles are respectively provided with a notch groove with opposite directions; each rigid knuckle is provided with a through vent hole which is communicated with the air duct interface. The mechanical finger has the advantages of high pressure bearing and bending resistance of the rigid mechanical finger, high adaptability of the flexible finger, good man-machine interaction performance, simple structure and easy control and assembly.
Description
Technical Field
The application belongs to the technical field of soft robots, and particularly relates to a rigid-flexible-soft combined pneumatic bionic mechanical finger.
Background
The existing mechanical fingers can be roughly divided into two types, namely a traditional rigid mechanical finger and an emerging flexible mechanical finger according to different structures and driving modes.
The traditional rigid mechanical finger mainly comprises a knuckle made of rigid materials, a connecting rod, a gear, a buckle and other structures, and is generally driven by a motor. The mechanical finger has the advantages of large gripping force, rapid response, higher precision and the like; but simultaneously has the problems of complex structure, poor flexibility and the like, has risks in grabbing soft fragile articles, man-machine interaction and the like, and is difficult to adapt to complex environments.
In recent years, flexible mechanical fingers are mainly made of soft materials such as rubber and silica gel, and are generally driven by wires or fluid (gas/liquid). The mechanical finger can safely grasp soft fragile objects or perform man-machine interaction through self flexible deformation, and can bear external impact such as certain extrusion, torsion and the like. However, the existing pure soft mechanical finger is often simple in structure, small in output force, single in movement mode and incapable of making some complex actions.
There have been some hybrid mechanical fingers currently attempting to couple rigid and flexible structures to integrate their respective advantages. The designs have high output force and flexibility and have wide development prospect. However, such hybrid fingers have problems in that the structure is more complicated and heavy, the mass-to-effect ratio is lowered, and the integration with other structures becomes more difficult.
Disclosure of Invention
The pneumatic bionic mechanical finger with the combination of rigidity, flexibility and softness has the advantages of high pressure bearing performance, bending resistance, high adaptability of the flexible finger, good man-machine interaction performance, simple structure and easiness in control and assembly.
In order to achieve the above purpose, the technical scheme adopted in the application is as follows: the rigid-soft combined pneumatic bionic mechanical finger comprises a rigid inner skeleton and air suction type pneumatic muscles coated on the rigid inner skeleton;
one end of the rigid inner skeleton is provided with an air duct interface, the rigid inner skeleton is formed by connecting a plurality of rigid knuckles, two adjacent rigid knuckles are connected through flexible knuckle springs, and adjacent contact ends of the two adjacent rigid knuckles are respectively provided with a notch groove with opposite directions; each rigid knuckle is provided with a through vent hole, and the vent holes are communicated with the airway interface.
Further, the flexible knuckle spring includes two torsion springs connected side-by-side.
Further, the adjacent contact ends of the two adjacent rigid knuckles are respectively provided with a jack and a slot, and the jack and the slot are respectively spliced with the two ends of the flexible knuckle spring.
Further, the insertion hole is a circular hole, and the insertion groove is a rectangular groove.
Further, the torsion spring is formed by twisting steel wires with the wire diameter of 0.1-0.3 mm.
Further, the cutout grooves on adjacent contact ends of adjacent two of the rigid knuckles are symmetrically disposed.
Further, threads are attached to the outside of the airway interface.
Further, the fingertip end of the air suction type pneumatic muscle is provided with a beveling arc surface.
Further, the rigid endoskeleton is formed by connecting four rigid knuckles.
Further, the air-extracting type pneumatic muscle is a polyethylene sleeve with one end sealed, and the inner diameter of the air-extracting type pneumatic muscle is coupled with the outer diameter of the rigid inner skeleton.
Compared with the prior art, the application has the following technical effects:
the rigid-flexible-soft combined pneumatic bionic mechanical finger comprises a rigid inner skeleton and air suction type pneumatic muscles coated on the rigid inner skeleton, wherein the rigid inner skeleton enables the mechanical finger to have high pressure bearing and bending resistance, and the air suction type pneumatic muscles enable the mechanical finger to have high adaptability and good man-machine interaction performance of the flexible finger. The mechanical finger is simple in structure and easy to drive and assemble.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of a pneumatic bionic mechanical finger with rigid-flexible combination according to an embodiment of the present application;
FIG. 2 is a partial exploded view of FIG. 1;
FIG. 3 is a schematic view of the structure of the rigid endoskeleton of FIG. 2;
FIG. 4 is a schematic view of the adjacent two rigid knuckle joints of FIG. 3;
fig. 5 is a schematic structural diagram of a rigid-flexible combined pneumatic bionic mechanical finger in a bending state (the air extraction type pneumatic muscle is not shown in the figure);
fig. 6 is a schematic diagram of the suction bending principle of a rigid-flexible combined pneumatic bionic mechanical finger according to an embodiment of the present application;
fig. 7 is a schematic diagram of a principle of a rigid-flexible combination type pneumatic bionic mechanical finger against reverse bending according to an embodiment of the present application;
fig. 8 is a schematic diagram of a motion space range of a pneumatic bionic mechanical finger with rigid-flexible combination according to an embodiment of the present application.
Wherein, each reference sign in the figure:
1. rigid endoskeleton, 2, air extraction type pneumatic muscle, 3, flexible knuckle spring, 101, airway interface, 102, rigid knuckle, 103, incision groove, 104, vent hole, 105, jack, 106, slot, 201, chamfer arc surface, 301, torsion spring.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the present application.
In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1 to 8, a description will now be given of a rigid-flexible combined pneumatic bionic mechanical finger according to an embodiment of the present application.
In one embodiment of the application, the rigid-flexible combined pneumatic bionic mechanical finger comprises a rigid inner skeleton 1 and an air suction type pneumatic muscle 2 coated on the rigid inner skeleton 1; one end of the rigid inner skeleton 1 is provided with an air duct interface 101, the rigid inner skeleton 1 is formed by connecting a plurality of rigid knuckles 102, two adjacent rigid knuckles 102 are connected through a flexible knuckle spring 3, adjacent contact ends of the two adjacent rigid knuckles 102 are respectively provided with a notch 103 with opposite directions, and the notch 103 with opposite directions is arranged to enable a certain accommodating space to be formed between the two adjacent rigid knuckles 102 when a finger is bent, so that the finger cannot be bent to a large extent due to mutual interference between the two adjacent rigid knuckles 102 when the finger is bent; each rigid knuckle 102 is provided with a through-going vent 104, and the vent 104 communicates with the airway interface 101.
When the rigid-flexible combined pneumatic bionic mechanical finger is used, the air duct interface 101 is used for inflating or exhausting the inside of the mechanical finger, the bending motion of the mechanical finger is controlled through inflation or exhausting, the bending motion principle of the mechanical finger is shown in fig. 6, and when the air in the finger is pumped out through the air pump, the inner side of the air exhausting type pneumatic muscle 2 is greatly contracted under the action of atmospheric pressure, so that inward driving force is generated. Under this driving force, the finger bends toward the side where the muscle contracts.
The rigid-flexible combined pneumatic bionic mechanical finger comprises a rigid inner skeleton 1 and air suction type pneumatic muscles 2 coated on the rigid inner skeleton 1, wherein the rigid inner skeleton 1 enables the mechanical finger to have high pressure bearing and bending resistance, and the air suction type pneumatic muscles 2 enable the mechanical finger to have high adaptability and good man-machine interaction performance of the flexible finger. The mechanical finger of the embodiment of the application is simple in structure and easy to drive and assemble.
In the embodiment of the application, threads are attached to the outer portion of the air guide pipe interface 101, so that the mechanical fingers can be conveniently assembled through threaded connection.
In the present embodiment, the cutout grooves 103 on adjacent contact ends of adjacent two rigid knuckles 102 are symmetrically disposed.
In the embodiment of the application, the fingertip end of the air extraction type pneumatic muscle 2 is provided with a bevelled arc surface 201 so as to simulate the fingertip structure of a human finger.
In the embodiment of the present application, the rigid inner skeleton 1 is formed by connecting four rigid knuckles 102, the four rigid knuckles 102 are connected by three flexible knuckle springs 3, and the flexible knuckle springs 3 are matched with the specific structure of the rigid inner skeleton 1 to form a structure with deformation limitation. The four rigid finger joints 102 are vertically arranged in sequence according to the finger bones of a human hand, the first section is a tangent plane cylinder at the front end (matched with the structure of the inclined arc-shaped surface 201 of the air extraction type pneumatic muscle 2 covered outside the tangent plane cylinder), and the rear end is a composite structure of a tubular body cut by the cylinder; the second section and the third section are symmetrical tubular body structures with two ends cut by cylinders; the fourth section is a composite structure with a tubular body cut by a cylinder at the front end and a thread at the rear end and an air duct interface 101 installed.
In this application embodiment, the pneumatic muscle 2 of type of bleeding is the polyethylene material sleeve that one end was sealed, and the internal diameter of the pneumatic muscle 2 of type of bleeding and the external diameter coupling of rigidity endoskeleton 1, the internal wall face of the pneumatic muscle 2 of type of bleeding and the external wall face butt of rigidity endoskeleton 1 promptly for the pneumatic muscle 2 of type of bleeding just cladding is at the surface of rigidity endoskeleton 1. The polyethylene sleeve may be a transparent sleeve.
In the present embodiment, the flexible knuckle spring 3 includes two torsion springs 301 connected side by side, and the flexible bending motion of the rigid knuckle 102 is enabled by the torsion springs 301. The torsion spring 301 can be made by twisting a steel wire with a wire diameter of 0.1-0.3 and mm, and the torsion spring 301 of the embodiment of the application is made by twisting 6 turns of the steel wire with the wire diameter of 0.2 mm.
In the embodiment of the application, the adjacent contact ends of the adjacent two rigid knuckles 102 are respectively provided with a jack 105 and a slot 106, and the jack 105 and the slot 106 are respectively inserted into two ends of the flexible knuckle spring 3. The insertion hole 105 may be a circular hole, and the insertion slot 106 may be a rectangular slot, so that the flexible knuckle spring 3 is conveniently installed by providing the insertion hole 105 and the insertion slot 106 on the end surface of the rigid knuckle 102.
The schematic diagram of the reverse bending resistance of the rigid-flexible combined pneumatic bionic mechanical finger is shown in fig. 7, and when the mechanical finger generates a trend of reverse bending under the action of external force, the mechanical finger has certain reverse bending resistance under the action of external force due to the fact that the upper ends of the rigid inner skeletons 1 are mutually extruded and the air suction type pneumatic muscles 2 are tightened.
The movement space range (including the maximum amplitude of reverse bending) of the rigid-flexible combined pneumatic bionic mechanical finger is shown in fig. 8, and as seen from fig. 8, the movement space range of the pneumatic bionic mechanical finger is close to that of a real human finger, and the designed mechanical finger realizes better bionic effect in the aspects of the movement space range and the movement form.
The mechanical finger of this application embodiment can shrink under the negative pressure, drives finger global motion, can realize the finger forward bending, can avoid the finger reverse bending again, and the motion space scope is big, has very big practical value.
The foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not thereby to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. The rigid-flexible-soft combined pneumatic bionic mechanical finger is characterized by comprising a rigid inner skeleton and air suction type pneumatic muscles coated on the rigid inner skeleton;
one end of the rigid inner skeleton is provided with an air duct interface, the rigid inner skeleton is formed by connecting a plurality of rigid knuckles, two adjacent rigid knuckles are connected through flexible knuckle springs, and adjacent contact ends of the two adjacent rigid knuckles are respectively provided with a notch groove with opposite directions; each rigid knuckle is provided with a through vent hole, and the vent holes are communicated with the airway interface.
2. The pneumatic bionic mechanical finger of claim 1, wherein the flexible knuckle spring comprises two torsion springs connected side-by-side.
3. The pneumatic bionic mechanical finger with rigid-flexible combination according to claim 2, wherein the adjacent contact ends of two adjacent rigid knuckles are respectively provided with a jack and a slot, and the jack and the slot are respectively spliced with two ends of the flexible knuckle spring.
4. A pneumatic bionic mechanical finger according to claim 3, wherein the insertion hole is a circular hole and the insertion slot is a rectangular slot.
5. The pneumatic bionic mechanical finger with the combination of rigidity, flexibility and softness as claimed in claim 2, wherein the torsion spring is made by twisting steel wires with the wire diameter of 0.1-0.3 and mm.
6. A rigid-flexible combined pneumatic bionic mechanical finger according to claim 1, wherein said cutout grooves on adjacent contact ends of adjacent two of said rigid knuckles are symmetrically disposed.
7. The pneumatic bionic mechanical finger with rigid-flexible combination according to claim 1, wherein threads are externally attached to the airway interface.
8. The rigid-flexible combined pneumatic bionic mechanical finger according to claim 1, wherein the fingertip end of the air suction type pneumatic muscle is provided with a bevelled arc surface.
9. The pneumatic bionic mechanical finger of claim 1, wherein the rigid inner skeleton is formed by connecting four rigid knuckles.
10. A rigid-flexible combined pneumatic bionic mechanical finger according to any one of claims 1 to 9, wherein the air-extracting pneumatic muscle is a polyethylene sleeve with one end sealed, and the inner diameter of the air-extracting pneumatic muscle is coupled with the outer diameter of the rigid inner skeleton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321869161.5U CN220555128U (en) | 2023-07-17 | 2023-07-17 | Rigid-flexible-soft combined pneumatic bionic mechanical finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321869161.5U CN220555128U (en) | 2023-07-17 | 2023-07-17 | Rigid-flexible-soft combined pneumatic bionic mechanical finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220555128U true CN220555128U (en) | 2024-03-05 |
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ID=90051463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321869161.5U Active CN220555128U (en) | 2023-07-17 | 2023-07-17 | Rigid-flexible-soft combined pneumatic bionic mechanical finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220555128U (en) |
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2023
- 2023-07-17 CN CN202321869161.5U patent/CN220555128U/en active Active
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