CN107283453A - A kind of flexible pneumatic-finger and its production method - Google Patents
A kind of flexible pneumatic-finger and its production method Download PDFInfo
- Publication number
- CN107283453A CN107283453A CN201710699276.7A CN201710699276A CN107283453A CN 107283453 A CN107283453 A CN 107283453A CN 201710699276 A CN201710699276 A CN 201710699276A CN 107283453 A CN107283453 A CN 107283453A
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- finger
- back side
- pneumatic
- side reinforcement
- main body
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible pneumatic-finger and its production method, wherein flexible pneumatic-finger includes finger main body, back side reinforcement, side reinforcement, root connector, root locking device and end strain gauge；Provided with the consistent pneumatic main chamber of length and pneumatic secondary chamber in the finger main body, and pneumatic main chamber is close to the back side of finger main body, clamping face of the pneumatic secondary chamber close to finger main body；The clamping face of the finger main body is provided with the fine hair formula sucker that array is distributed；The back side reinforcement is removably mounted on the back side of finger main body；Side reinforcement is symmetrically arranged with the both sides outer wall of the pneumatic main chamber；The root connector is locked at the root of finger main body by root locking device；The end strain gauge is arranged in the gap of fine hair formula sucker of the pad of finger of finger main body.Flexible clamping of the present invention is stable, chucking power is adjustable, it is possible to achieve forward and reverse is clamped, and operation precision and efficiency high, cost are low.
Description
Technical field
The present invention relates to a kind of flexible pneumatic-finger and its production method.
Background technology
Software clamping device is required for using in many fields, such as food service industry goods sorting, agriculture fruit harvesting,
Industrial special-shaped workpiece clamping and exploration and search and rescue in carrying, rescue and relief work etc..In order to realize flexible crawl, generally using bionical
Finger is realized.In order to realize bending of the finger in specific direction, side packing it can typically be limited outside single-chamber body elasticity pneumatic-finger
Strained layer processed, then be covered with fiber envelope to form integral structure with pneumatic-finger main body on the outside of it.
It is disadvantageous in that using said structure：1) limitation strained layer is arranged on the inner side in flexural deformation direction, and interior
Side is just clamping face, its flexibility than do not install limitation strained layer side it is poor, thus to a certain extent with flexible clamping
Target is runed counter to；2) it can only realize and inside contract clamping, it is impossible to realize the action actively turned up, be unfavorable for realizing efficient, dynamic crawl；3)
Generally capture reliability for the flexible article of surface irregularity and be difficult to ensure that；4) limitation strained layer can not be dismantled or changed, only
It is extremely limited by the flexure operation for controlling gas pressure to realize.If to solve the above problems using Three Degree Of Freedom muscle or
Then controlled by the way of multi-joint independent ventilation complex, and cost is higher.
The content of the invention
It is an object of the invention to provide a kind of flexible pneumatic-finger and its production method.
Realizing the technical scheme of the object of the invention is：A kind of flexible pneumatic-finger, including finger main body, back side reinforcement,
Side reinforcement, root connector, root locking device and end strain gauge；It is consistent provided with length in the finger main body
Pneumatic main chamber and pneumatic secondary chamber, and pneumatic main chamber is close to the back side of finger main body, folder of the pneumatic secondary chamber close to finger main body
Hold face；The area of section of the pneumatic main chamber is more than the area of section of pneumatic secondary chamber, and the two is individually ventilated；The finger master
The clamping face of body is provided with the fine hair formula sucker that array is distributed；The back side reinforcement is removably mounted on finger main body
The back side；Side reinforcement is symmetrically arranged with the both sides outer wall of the pneumatic main chamber；The root connector is locked by root
Device is locked at the root of finger main body；The fine hair formula that the end strain gauge is arranged on the pad of finger of finger main body is inhaled
In the gap of disk.
The back side reinforcement is made up of elastomeric material, including the first back side reinforcement, the second back side reinforcement and the 3rd
Back side reinforcement；Between first back side reinforcement and the second back side reinforcement and the second back side reinforcement and the 3rd the back of the body
Gap is equipped between the reinforcement of face；The elasticity of second back side reinforcement is more than the first back side reinforcement and the 3rd back side adds
The elasticity of strengthening tendons.
The finger main body from refer to root and include successively to finger tip refer to root, the first joint, refer in, second joint and finger tip；Institute
State the first back side reinforcement and be located at the finger root back side, the second back side reinforcement is located at the back side in finger, and the 3rd back side reinforcement, which is located at, to be referred to
The sharp back side.
It is described refer to root, the first joint, refer to neutralize the pneumatic main chamber in second joint cross sectional shape it is consistent, the cross sectional shape
To be divided into long side and short side, both sides curved at two ends；The long side pneumatic main chamber of correspondence and pneumatic secondary chamber of the cross sectional shape it
Between septal surface, the back side of short side correspondence finger main body；The area of section of pneumatic main chamber in the finger tip is tapered into.
The section of the pneumatic secondary chamber is in the rectangle of edge rounding.
The finger that the fine hair formula sucker of the array distribution is arranged on finger main body is neutralized on the clamping face of fingertip location；Institute
The size and spacing each other for stating the corresponding fine hair formula sucker in position in referring to are more than the corresponding fine hair formula of fingertip location and inhaled
The size of disk and spacing each other.
The fine hair formula sucker is elongated, its section flare；The fine hair formula sucker is in the finger of finger main body
With on the clamping face of fingertip location vertically and radial arrangement.
The back side of the finger main body is provided with multiple boss being interference fitted through back side reinforcement and with back side reinforcement；
The height of the boss is more than the thickness of back side reinforcement；The finger root of the finger main body and position is additionally provided with and is coated on the in referring to
One back side reinforcement and the overhanging groove structure of the second back side reinforcement both sides.
The finger tip corner location of the finger main body is respectively provided with a boss；3rd back side reinforcement is in isosceles ladder
Shape, and section is the rectangular configuration that area is tapered into.
The both sides of the finger main body are provided with the concave support platform for being coated on side reinforcement both sides.
The root connector uses convex shape；The small end of the root connector is respectively protruding into pneumatic master provided with two
The hollow cavity of chamber and pneumatic secondary intracavitary；The side at the big end of the root connector provided with two symmetrically arranged air inlets and
Two symmetrically arranged annular connectors；The central junction line of described two air inlets is perpendicular to the center of two annular connectors
Connecting line.
The root locking device includes the first cushion block, the second cushion block and clip and its locking device；First cushion block
It is consistent with the length of the small end of root connector with the thickness of the second cushion block；The clip and its locking device are locked at finger master
The finger root position of body, and it is corresponding with the small end position of root connector；First cushion block is arranged on the back side of finger main body
Between clip and its locking device；Second cushion block is arranged on the clamping face and two sides and clip and its lock of finger main body
Between tight device.
The end strain gauge uses strip structure, including section be semicircular silica gel and be encapsulated in section be
Sensitive material and flexible circuit in semicircular silica gel.
The thickness of the end strain gauge is less than the height of fine hair formula sucker.
The production method of above-mentioned flexible pneumatic-finger, comprises the following steps：
1., produced using soft material 3D printing integral molding techniques with pneumatic main chamber, pneumatic secondary chamber, boss, outer
The finger main body of groove structure and concave support platform is stretched, and goes out small-sized software set spool in the side print of pneumatic main chamber；
2., sensitive material and flexible circuit are encapsulated in semicircular silica gel using the method for cast or photocuring and obtained
End strain gauge, then paste the relevant position on the clamping face of finger main body；Then conducting wire, passes through pneumatic main chamber
The small flexible set spool of side leads to wire the root of pneumatic main chamber；
3. the fine hair formula sucker of array distribution, is printed on a plane formula matrix, then is pasted using silica adhesive
On the clamping face of finger main body；
4. the first back side reinforcement and the 3rd back side reinforcement, are gone out using elastic less material cutting, and with boss
Cooperation at punch；Then using the larger soft material of elasticity by 3D printing or using rubber cut obtaining second
Back side reinforcement, and punched at the cooperation with boss；Then installed successively at the back side of finger main body the first back side reinforcement,
Second back side reinforcement and the 3rd back side reinforcement；
5., sheet metal is encapsulated in silica gel using the method for cast and obtains side reinforcement, then pastes finger main body
Concave support platform in；Then root connector is obtained using mach method；
6. the first cushion block and the second cushion block of root locking device, are obtained using 3D printing；Clip and its locking device are adopted
With the standardized product of in the market；
7. two hollow cavities of root connector small end are inserted into pneumatic main chamber and pneumatic secondary intracavitary respectively, then by a people
Root connector and its junction with pneumatic main chamber are fixed with a hand, another hand fixes the end of pneumatic main chamber, makes finger
Main body keeps level；Then the first cushion block and the second cushion block are put well, and the bottom of the second cushion block is on operation planar；Then
Cover front band and its locking device, and adjusting the position of the first cushion block and the second cushion block makes cooperation close, then to clip and its
Locking device is locked.
8., finally root connector is connected on manipulator, two air inlets ventilated respectively, to end stress
Sensor carries out wiring and debugging can normal work.
The step 4. in the installation method of the first back side reinforcement be specially：First by the finger or branch stake tool of hand
Go deep into pneumatic main chamber, then with another hand by the root of the first back side reinforcement and the overhanging groove for referring to root position of finger main body
First back side reinforcement, is then pressed into overhanging groove structure, and corresponding boss is pressed successively by the root alignment of structure
In the hole for being depressed into the first back side reinforcement；The installation side of the installation method of second back side reinforcement and the first back side reinforcement
Method is consistent；The installation method of 3rd back side reinforcement is specially：By the boss of the pad of finger of the 3rd back side reinforcement according to
It is secondary to be pressed into the hole of the 3rd back side reinforcement.
Above-mentioned technical proposal is employed, the present invention has following beneficial effect：(1) flexible clamping of the present invention is stable, press from both sides
Holding force is adjustable.The limitation strained layer that clamping side can be used under normal circumstances is changed to use software by the pneumatic-finger in the present invention
The pneumatic secondary cavity configuration that material is constituted, realizes flexibility during clamping face crawl, and make clamping contact power adjustable.Pneumatic secondary chamber
Clamping face is provided with the fine hair formula strip sucker of array arrangement, limits landing and the sidesway of workpiece；Fine hair formula strip sucker section
Using flared structure, on the one hand make to form vacuum between contact impetus of the pneumatic secondary chamber outer surface with workpiece during clamping,
Increase chucking power, the on the other hand design of a plurality of sucker arrangement and cross sectional shape make it that contact area increases during piece-holder.Cause
And the present invention can ensure the stabilization of piece-holders at three aspects such as the arrangement of fine hair shape sucker, cross sectional shape, the settings of bar number
Property, the setting of pneumatic-finger end strain gauge is then conducive to the accurate control of pneumatic main chamber and pneumatic secondary cavity pressure, makes folder
Keep steady qualitative further raising.
(2) present invention can realize that forward and reverse is clamped, and be respectively suitable for the more smooth rigidity of flexible article and surface
The clamping of object.Forward direction clamping inside contracts clamping, and the array shape fine hair formula strip sucker on now pneumatic secondary chamber clamping face can make
The microcosmic action of clamping task is very reliable, and this causes positive holding action of the invention to can be suitably used for the workpiece of small volume；It is many
Deformation when bar fine hair formula strip sucker is clamped can with inconsistent, the corresponding fine hair formula strip sucker of finger main body fingertip location with
Finger main body refers to the corresponding fine hair formula strip sucker size in middle position even shape can be otherwise varied so that the present invention is positive
Holding action can be suitably used for the clamping of the workpiece of surface irregularity, and special-shaped workpiece clamping；Fine hair formula strip sucker is complete
Certain deformation is had during into positive holding action, with clamping face close to pneumatic secondary chamber clamping when have certain deformation buffer
Space, and fine hair formula strip sucker and pneumatic secondary chamber use soft material so that and present invention forward direction holding action is especially fitted
Clamping for flexible article.Carried out frequently when needing the workpiece more smooth to surface or the relatively small rigid workpiece of quality
When clamping, sorting, holding action (i.e. reverse clamp) can be completed using the 3rd back side reinforcement at the pneumatic-finger back side.Now
Clamping face deformation is smaller, and efficiency of movement is improved.
(3) operation precision of the present invention and efficiency are improved.The pose that the pneumatic main chamber of the present invention is used for pneumatic-finger is adjusted, pneumatic
Secondary chamber is used for the regulation of clamping contact power (or flexible), improves operation precision.Three sections of back side reinforcements and side reinforcement are carried
The accuracy of high pneumatic-finger pose.Three sections of back side reinforcements limit the axially and radially deformation of pneumatic-finger；Pneumatic main chamber refers to
The radial deformation of the root of the side reinforcement limitation pneumatic-finger of root positional symmetry arrangement, can guarantee that the total of pneumatic-finger action
Body direction；A plurality of groove is provided with the middle part of second back side reinforcement, can make the flexure operation of joint has suitable deformation space, makes
The pose of pneumatic-finger is more controllable.The setting of pneumatic secondary chamber array shape fine hair formula strip sucker and end strain gauge makes to connect
Touch control is relatively reliable, precision is improved.The present invention, which can be realized, to be inside contracted clamping, turns up and actively unclamp, and on the one hand improves positive
The efficiency of holding action；On the other hand so that when the crawl of industry spot dynamic or multiple operation aggregation operator, increase single gas
Start refer to function and applicable workpiece species, shortening action beat between interval time, reduce adjacent stations between distance, from
And improve production efficiency.Pneumatic main chamber and the pneumatic secondary cavity configuration of the present invention be asymmetric, positive clamp connects with reverse clamp
Contacting surface structure is inconsistent, and the major function and miscellaneous function of pneumatic-finger in the present invention can be distinguish between, raising action
The utilization rate of specific aim and equipment, the difficulty of reduction control are so as to improve the efficiency of action.
(4) accessory of the present invention is replaceable, wider suitable for scope.The pneumatic main chamber of the present invention, pneumatic secondary chamber mainly use 3D
The method of printing integrated shaping is obtained, it is ensured that the reliability of pneumatic-finger basic performance, and obtains the operation precision of pneumatic-finger
To improving or the accessory expanded of function is replaceable, including array shape fine hair formula strip sucker, end strain gauge, the
One back side reinforcement, the second back side reinforcement, the 3rd back side reinforcement.What replaceable accessory structure design made pneumatic-finger can
Debugging property and maintainable enhancing, decrease to the professional dependence of operating personnel, to the reduction of control device performance requirement, resist dry
Ability enhancing is disturbed, equipment life improves.By the combination of above-mentioned attached energy accessory Different structural parameters and material, pneumatic-finger is set to exist
Certain pressure scope interior energy realizes more pose forms, applicable situation increase.
(5) low manufacture cost of the present invention, easily forms tandem product.The primary structure and accessory of the present invention can pass through
The method of 3D printing is obtained.Agent structure is using being integrally formed, such as pneumatic main chamber and pneumatic secondary chamber；Required precision is higher or structure
More complicated position is using individually printing, the method for carrying out pasting installation again, such as array shape fine hair formula strip sucker；Detachably more
The method that the accessory changed cut processing using 3D printing or using current material is obtained；It is only in need that hardware is carried out
The position of encapsulation just needs the method for using cast.Therefore, above-mentioned processing method can be according to structure and material feature using most suitable
Suitable processing mode, reduces mould consumption, manufacturing procedure shortens, material is most saved, cost reduction.Replaceable accessory structure is set
Meter, fine features are individually processed, the method for critical piece 3D printing shaping makes it possible the seriation of product, and are conducive to
Partial structurtes are improved, structure design optimal under concrete application conditions is obtained.
Brief description of the drawings
In order that present disclosure is easier to be clearly understood, it is right below according to specific embodiment and with reference to accompanying drawing
The present invention is described in further detail, wherein
Fig. 1 is the structural representation of the flexible pneumatic-finger of the present invention.
Fig. 2 is Fig. 1 rearview.
Fig. 3 is the explosive view of the flexible pneumatic-finger of the present invention.
In accompanying drawing marked as：
Pneumatic main chamber 1, boss 1-1, overhanging groove structure 1-2, concave support platform 1-3, pneumatic secondary chamber 2, back side reinforcement
3rd, the first back side reinforcement 3-1, the second back side reinforcement 3-2, the 3rd back side reinforcement 3-3, side reinforcement 4, root connection
First 5, air inlet 5-1, annular connector 5-2, root locking device 6, the first cushion block 6-1, the second cushion block 6-2, clip and its lock
Tight device 6-3, end strain gauge 7, fine hair formula sucker 8.
Embodiment
(embodiment 1)
See Fig. 1 to Fig. 3, the flexible pneumatic-finger of the present embodiment, including finger main body, back side reinforcement 3, side reinforcement
4th, root connector 5, root locking device 6, end strain gauge 7 and fine hair formula sucker 8.
Provided with the consistent pneumatic main chamber 1 of length and pneumatic secondary chamber 2 in finger main body, and pneumatic main chamber 1 is close to finger master
The back side of body, clamping face of the pneumatic secondary chamber 2 close to finger main body.The area of section of pneumatic main chamber 1 is more than the section of pneumatic secondary chamber 2
Area, and the two individually ventilation.Fine hair formula sucker 8 is elongated, its section flare.Fine hair formula sucker 8 is in finger master
Body finger neutralize fingertip location clamping face on vertically and radial array type arrangement.The corresponding fine hair formula sucker 8 in position in finger
Size and spacing each other be more than the size of the corresponding fine hair formula sucker 8 of fingertip location and each other between
Away from.Back side reinforcement 3 is removably mounted on the back side of finger main body.Side is symmetrically arranged with the both sides outer wall of pneumatic main chamber 1
Face reinforcement 4.Root connector 5 is locked at the root of finger main body by root locking device 6.
Back side reinforcement 3 is made up of elastomeric material, including the first back side reinforcement 3-1, the second back side reinforcement 3-2 and
Three back side reinforcement 3-3.Between first back side reinforcement 3-1 and the second back side reinforcement 3-2 and the second back side reinforcement 3-
2 and the 3rd are equipped with gap between the reinforcement 3-3 of the back side.Second back side reinforcement 3-2 elasticity is more than the first back side reinforcement
3-1 and the 3rd back side reinforcement 3-3 elasticity.
Finger main body from refer to root and include successively to finger tip refer to root, the first joint, refer in, second joint and finger tip.First back of the body
Face reinforcement 3-1, which is located at, refers to the root back side, and the second back side reinforcement 3-2 is located at the back side in finger, and the 3rd back side reinforcement 3-3, which is located at, to be referred to
The sharp back side.Refer to root, the first joint, refer to neutralize the pneumatic main chamber 1 in second joint cross sectional shape it is consistent, the two of the cross sectional shape
It is curved that end is divided into long side and short side, both sides.Between between the long side pneumatic main chamber 1 of correspondence of cross sectional shape and pneumatic secondary chamber 2
Every face, the back side of short side correspondence finger main body.The area of section of pneumatic main chamber 1 in finger tip is tapered into.Section of pneumatic secondary chamber 2
Face is in the rectangle of edge rounding.
The back side of finger main body is provided with multiple boss 1- being interference fitted through back side reinforcement 3 and with back side reinforcement 3
1.Boss 1-1 height is more than the thickness of back side reinforcement 3.Position, which is additionally provided with, in the finger root and finger of finger main body is coated on first
The back side reinforcement 3-1 and overhanging groove structure 1-2 of the second back side reinforcement 3-2 both sides.The finger tip corner location of finger main body
It is respectively provided with a boss 1-1.3rd back side reinforcement 3-3 is in isosceles trapezoid, and section is the rectangle knot that area is tapered into
Structure.The both sides of finger main body are provided with the concave support platform 1-3 for being coated on the both sides of side reinforcement 4.
Root connector 5 uses convex shape.The small end of root connector 5 is respectively protruding into the pneumatic He of main chamber 1 provided with two
Hollow cavity in pneumatic secondary chamber 2.The side at the big end of root connector 5 is provided with two symmetrically arranged air inlet 5-1 and two
Individual symmetrically arranged annular connector 5-2.Two air inlet 5-1 central junction line is perpendicular to two annular connector 5-2's
Central junction line.
Root locking device 6 includes the first cushion block 6-1, the second cushion block 6-2 and clip and its locking device 6-3.First pad
Block 6-1 and the second cushion block 6-2 thickness are consistent with the length of the small end of root connector 5.Clip and its locking device 6-3 lockings
It is and corresponding with the small end position of root connector 5 in the finger root position of finger main body.First cushion block 6-1 is arranged on finger master
Between the back side of body and clip and its locking device 6-3.Second cushion block 6-2 be arranged on finger main body clamping face and two sides with
Between clip and its locking device 6-3.
End strain gauge 7 is arranged in the gap of fine hair formula sucker 8 of the pad of finger of finger main body.End stress
Sensor 7 uses strip structure, including it is quick in semicircular silica gel that section, which is semicircular silica gel and is encapsulated in section,
Feel material and flexible circuit.
The thickness of end strain gauge 7 is less than the height of fine hair formula sucker 8, when each both sides of end strain gauge 7
Fine hair formula sucker 8 because carry out holding action deploy when, can all encounter end strain gauge 7, cause the change of electric signal.
The wire of end strain gauge 7 can be fixed on the side of pneumatic-finger.
Clamping (forward direction is clamped) is inside contracted by controlling the pressure differential of pneumatic main chamber 1 and pneumatic secondary chamber 2 to realize and certain
The release (or reverse clamp) of turning up of degree.Inside contract clamping (forward direction clamping) and be suitable to clamping flexible article, special-shaped workpiece and body
The less workpiece of product, applicable workpiece weight range is larger.The contact surface of reverse clamp is the 3rd back side reinforcement 3-3 appearance
Face, the workpiece more smooth suitable for clamping surface or the relatively small rigid workpiece of quality.
The production method of the flexible pneumatic-finger of the present embodiment, comprises the following steps：
1., produced using soft material 3D printing integral molding techniques with pneumatic main chamber 1, pneumatic secondary chamber 2, boss 1-
1st, overhanging groove structure 1-2 and concave support platform 1-3 finger main body (method that fusion sediment or photocuring can be used), and
Going out small-sized software set spool in the side print of pneumatic main chamber 1, (set spool can be divided into two by the total length according to pneumatic-finger
Certain interval is provided between section or three sections, two sections, facilitates wire to install).
2., sensitive material and flexible circuit are encapsulated in semicircular silica gel using the method for cast or photocuring and obtained
End strain gauge 7, then paste the relevant position on the clamping face of finger main body.Then conducting wire, passes through pneumatic master
The small flexible set spool of the side of chamber 1 leads to wire the root of pneumatic main chamber 1.
3. the fine hair formula sucker 8 of array distribution, is printed on a plane formula matrix, then is pasted using silica adhesive
On the clamping face of finger main body.
4. the first back side reinforcement 3-1, is cut out using elastic less material (such as fiber cloth) and the 3rd back side is strengthened
Muscle 3-3, and punched at the cooperation with boss 1-1.Then 3D printing or use are passed through using the larger soft material of elasticity
Rubber cut obtaining the second back side reinforcement 3-2, and is punched at the cooperation with boss 1-1.Then in finger main body
First back side reinforcement 3-1, the second back side reinforcement 3-2 and the 3rd back side reinforcement 3-3 are installed at the back side successively.First back side adds
Strengthening tendons 3-1 installation method is specially：The finger or branch stake tool of hand are first goed deep into pneumatic main chamber 1, then use another hand
First back side reinforcement 3-1 root is alignd with the overhanging groove structure 1-2 of the finger root position of finger main body root, then
First back side reinforcement 3-1 is pressed into overhanging groove structure 1-2, and corresponding boss 1-1 is pressed into first back of the body successively
In face reinforcement 3-1 hole.The installation method one of second back side reinforcement 3-2 installation method and the first back side reinforcement 3-1
Cause.3rd back side reinforcement 3-3 installation method is specially：By the boss 1-1 of the 3rd back side reinforcement 3-3 pad of finger according to
It is secondary to be pressed into the 3rd back side reinforcement 3-3 hole.
5., sheet metal is encapsulated in silica gel using the method for cast and obtains side reinforcement 4, then pastes finger main body
Concave support platform 1-3 in.Then root connector 5 is obtained using mach method.
6., using 3D printing obtain root locking device 6 the first cushion block 6-1 and the second cushion block 6-2 (or by first pad
Block 6-1 and the second cushion block 6-2 is integral using 3D printing with finger main body).Clip and its locking device 6-3 are using in the market
Standardized product.
7. two hollow cavities of the small end of root connector 5 are inserted in pneumatic main chamber 1 and pneumatic secondary chamber 2 respectively, then by
One people fixes root connector 5 and its junction with pneumatic main chamber 1 with a hand, and another hand fixes the end of pneumatic main chamber 1,
Make finger main body holding level.Then the first cushion block 6-1 and the second cushion block 6-2 are put well, and is in the second cushion block 6-2 bottom
On operation planar.Then covering front band and its locking device 6-3, and adjust the first cushion block 6-1 and the second cushion block 6-2 position makes
Coordinate close, then clip and its locking device 6-3 are locked.
8., finally root connector 5 is connected on manipulator, two air inlet 5-1 ventilated respectively, to end
Strain gauge 7 carries out wiring and debugging can normal work.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail it is bright, should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. a kind of flexible pneumatic-finger, it is characterised in that：Including finger main body, back side reinforcement (3), side reinforcement (4), root
Portion's connector (5), root locking device (6) and end strain gauge (7)；Provided with the gas that length is consistent in the finger main body
Dynamic main chamber (1) and pneumatic secondary chamber (2), and pneumatic main chamber (1), close to the back side of finger main body, pneumatic secondary chamber (2) is close to finger
The clamping face of main body；The area of section of the pneumatic main chamber (1) is more than the area of section of pneumatic secondary chamber (2), and the two is independent
Ventilation；The clamping face of the finger main body is provided with the fine hair formula sucker (8) that array is distributed；The back side reinforcement (3) can
Releasably it is arranged on the back side of finger main body；Side reinforcement is symmetrically arranged with the both sides outer wall of the pneumatic main chamber (1)
(4)；The root connector (5) is locked at the root of finger main body by root locking device (6)；The end stress sensing
Device (7) is arranged in the gap of fine hair formula sucker (8) of the pad of finger of finger main body.
2. a kind of flexible pneumatic-finger according to claim 1, it is characterised in that：The back side reinforcement (3) is by elasticity
Material is made, including the first back side reinforcement (3-1), the second back side reinforcement (3-2) and the 3rd back side reinforcement (3-3)；Institute
State between the first back side reinforcement (3-1) and the second back side reinforcement (3-2) and the second back side reinforcement (3-2) and the 3rd
Gap is equipped between back side reinforcement (3-3)；The elasticity of second back side reinforcement (3-2) is more than the first back side reinforcement
(3-1) and the 3rd back side reinforcement (3-3) elasticity.
3. a kind of flexible pneumatic-finger according to claim 2, it is characterised in that：The finger main body is from root is referred to finger tip
In including referring to root, the first joint successively, referring to, second joint and finger tip；First back side reinforcement (3-1), which is located at, refers to the root back of the body
Face, the second back side reinforcement (3-2) is located at the back side in finger, and the 3rd back side reinforcement (3-3) is located at the finger tip back side.
4. a kind of flexible pneumatic-finger according to claim 3, it is characterised in that：It is described to refer to root, the first joint, refer to neutralization
The cross sectional shape of pneumatic main chamber (1) in second joint is consistent, and the two ends of the cross sectional shape are divided into long side and short side, both sides and are in
Arc；Septal surface between the pneumatic main chamber (1) of long side correspondence of the cross sectional shape and pneumatic secondary chamber (2), short side correspondence finger
The back side of main body；The area of section of pneumatic main chamber (1) in the finger tip is tapered into.
5. a kind of flexible pneumatic-finger according to claim 2, it is characterised in that：The fine hair formula of the array distribution is inhaled
The finger that disk (8) is arranged on finger main body is neutralized on the clamping face of fingertip location；The corresponding fine hair formula sucker (8) in position in the finger
Size and spacing each other be more than the size of the corresponding fine hair formula sucker (8) of fingertip location and each other between
Away from.
6. a kind of flexible pneumatic-finger according to claim 5, it is characterised in that：The fine hair formula sucker (8) is in strip
Shape, its section flare；The fine hair formula sucker (8) is neutralized on the clamping face of fingertip location vertically in the finger of finger main body
And radial arrangement.
7. a kind of flexible pneumatic-finger according to claim 1, it is characterised in that：The root connector (5) is using convex
Type structure；During the small end of the root connector (5) is respectively protruding into pneumatic main chamber (1) and pneumatic secondary chamber (2) provided with two
Cavity body；The side at the big end of the root connector (5) is symmetrically set provided with two symmetrically arranged air inlets (5-1) and two
The annular connector (5-2) put；The central junction line of described two air inlets (5-1) is perpendicular to two annular connectors (5-2)
Central junction line.
8. a kind of flexible pneumatic-finger according to claim 1, it is characterised in that：The root locking device (6) includes
First cushion block (6-1), the second cushion block (6-2) and clip and its locking device (6-3)；First cushion block (6-1) and the second pad
The thickness of block (6-2) is consistent with the length of the small end of root connector (5)；The clip and its locking device (6-3) are locked at
The finger root position of finger main body, and it is corresponding with the small end position of root connector (5)；First cushion block (6-1) is arranged on
Between the back side of finger main body and clip and its locking device (6-3)；Second cushion block (6-2) is arranged on the folder of finger main body
Hold between face and two sides and clip and its locking device (6-3).
9. a kind of production method of flexible pneumatic-finger, it is characterised in that：Comprise the following steps：
1., produced using soft material 3D printing integral molding techniques with pneumatic main chamber (1), pneumatic secondary chamber (2), boss
(1-1), overhanging groove structure (1-2) and concave support platform (1-3) finger main body, and in the side print of pneumatic main chamber (1)
Go out small-sized software set spool；
2., sensitive material and flexible circuit are encapsulated in semicircular silica gel using the method for cast or photocuring and obtain end
Strain gauge (7), then paste the relevant position on the clamping face of finger main body；Then conducting wire, passes through pneumatic main chamber
(1) the small flexible set spool of side leads to wire the root of pneumatic main chamber (1)；
3. the fine hair formula sucker (8) of array distribution, is printed on a plane formula matrix, then is pasted onto using silica adhesive
On the clamping face of finger main body；
4. the first back side reinforcement (3-1) and the 3rd back side reinforcement (3-3), are gone out using elastic less material cutting, and
Punched at cooperation with boss (1-1)；Then carried out using the larger soft material of elasticity by 3D printing or using rubber
Cutting obtains the second back side reinforcement (3-2), and is punched at the cooperation with boss (1-1)；Then at the back side of finger main body
First back side reinforcement (3-1), the second back side reinforcement (3-2) and the 3rd back side reinforcement (3-3) are installed successively；
5., sheet metal is encapsulated in silica gel using the method for cast and obtains side reinforcement (4), then pastes finger main body
In concave support platform (1-3)；Then root connector (5) is obtained using mach method；
6. the first cushion block (6-1) and the second cushion block (6-2) of root locking device (6), are obtained using 3D printing；Clip and its lock
Tight device (6-3) uses the standardized product of in the market；
7. two hollow cavities of root connector (5) small end are inserted in pneumatic main chamber (1) and pneumatic secondary chamber (2) respectively, then
Root connector (5) and its junction with pneumatic main chamber (1) are fixed with a hand by a people, another hand fixes pneumatic main chamber
(1) end, makes finger main body holding level；Then the first cushion block (6-1) and the second cushion block (6-2) are put well, and makes the second pad
The bottom of block (6-2) is on operation planar；Then set front band and its locking device (6-3), and adjust the first cushion block (6-1)
Make cooperation close with the position of the second cushion block (6-2), then clip and its locking device (6-3) are locked.
8., finally root connector (5) is connected on manipulator, two air inlets (5-1) ventilated respectively, to end
Strain gauge (7) carries out wiring and debugging can normal work.
10. a kind of production method of flexible pneumatic-finger according to claim 9, it is characterised in that：The step 4. in
The installation method of first back side reinforcement (3-1) is specially：The finger or branch stake tool of hand are first goed deep into pneumatic main chamber
(1), then with another hand by the overhanging groove structure for referring to root position of the root of the first back side reinforcement (3-1) and finger main body
First back side reinforcement (3-1), is then pressed into overhanging groove structure (1-2) by the root alignment of (1-2), and will be corresponding
Boss (1-1) is pressed into the hole of the first back side reinforcement (3-1) successively；The installation side of second back side reinforcement (3-2)
Method is consistent with the installation method of the first back side reinforcement (3-1)；The installation method of 3rd back side reinforcement (3-3) is specific
For：The boss (1-1) of the pad of finger of 3rd back side reinforcement (3-3) is pressed into the 3rd back side reinforcement (3-3) successively
In hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710699276.7A CN107283453A (en) | 2017-08-15 | 2017-08-15 | A kind of flexible pneumatic-finger and its production method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710699276.7A CN107283453A (en) | 2017-08-15 | 2017-08-15 | A kind of flexible pneumatic-finger and its production method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107283453A true CN107283453A (en) | 2017-10-24 |
Family
ID=60106934
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710699276.7A Withdrawn CN107283453A (en) | 2017-08-15 | 2017-08-15 | A kind of flexible pneumatic-finger and its production method |
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| Country | Link |
|---|---|
| CN (1) | CN107283453A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466281A (en) * | 2018-06-19 | 2018-08-31 | 苏州大学 | Detachable Pneumatic flexible list refers to |
| CN115655532A (en) * | 2022-10-08 | 2023-01-31 | 天津大学 | Pneumatic soft finger and hardness identification system based on same |
-
2017
- 2017-08-15 CN CN201710699276.7A patent/CN107283453A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108466281A (en) * | 2018-06-19 | 2018-08-31 | 苏州大学 | Detachable Pneumatic flexible list refers to |
| CN108466281B (en) * | 2018-06-19 | 2024-01-05 | 苏州大学 | Detachable pneumatic flexible single finger |
| CN115655532A (en) * | 2022-10-08 | 2023-01-31 | 天津大学 | Pneumatic soft finger and hardness identification system based on same |
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