CN111409089A - Soft bionic finger and bionic manipulator - Google Patents
Soft bionic finger and bionic manipulator Download PDFInfo
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- CN111409089A CN111409089A CN202010399618.5A CN202010399618A CN111409089A CN 111409089 A CN111409089 A CN 111409089A CN 202010399618 A CN202010399618 A CN 202010399618A CN 111409089 A CN111409089 A CN 111409089A
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- finger
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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Abstract
The invention discloses a soft bionic finger, which comprises: the finger joints are hollow flexible tubes; the telescopic structure is used for connecting the at least two knuckles, the knuckles and the telescopic structure are communicated to form a closed air cavity, the telescopic structure comprises a linear bottom surface and a wave-shaped structure connected with the linear bottom surface, the wave-shaped structure comprises at least one wave crest and at least one wave trough, and the wave crest and the wave trough are sequentially connected. According to the soft bionic finger, the telescopic structure is arranged, the finger sections are connected, the process of inflating and deflating the air cavity in the telescopic structure is utilized, the bending is generated, meanwhile, the bionic effect similar to that of a human finger is formed due to the existence of the finger sections, compared with the existing scheme, the soft bionic finger is better close to the real human finger, has stronger gripping and pressing functions and has more excellent bionic performance.
Description
Technical Field
The invention relates to the field of bionic machinery, in particular to a soft bionic finger and a bionic manipulator.
Background
Currently, attention is paid to a manipulator based on human body bionics because of wide application. The core of bionic mechanical hand lies in bionic finger, and the most adoption pneumatic multi-chamber structures of bionic finger on the market are through aerifing gas chamber for the whole function of snatching to certain direction bending of software hand. For example, the Chinese patent CN 107378980A discloses a novel flexible finger, which comprises a finger bottom plate and a finger surface, the finger surface is connected with one side plate surface of the finger bottom plate, the elastic modulus of the finger bottom plate is larger than that of the finger surface, the finger surface comprises a finger tip section, a finger section and a finger heel section, the finger section comprises at least one wave crest and at least one wave trough, the wave crests and the wave troughs are connected in sequence to form a wave-shaped structure, the finger segments and the finger bottom plate jointly enclose a driving chamber, a transition groove is arranged between the finger section and the finger heel section, an expansion communicating chamber communicated with the driving chamber is arranged in the finger heel section, a vent communicated with the expansion communicating chamber is arranged on the finger bottom plate or the finger heel section, when the vent hole is arranged on the finger bottom plate, the position of the vent hole corresponds to the position of the finger heel section. The structure of the flexible finger is more reasonable, and the flexible finger is more convenient to mount.
However, the above-mentioned scheme can only be implemented for grabbing objects, and is no longer applicable in the fields such as massage field, etc. where accurate bionic anthropomorphic operation is required.
Therefore, how to provide the bionic finger with rigidity capable of meeting the real bionic requirement becomes a technical problem which needs to be solved urgently in the industry.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the bionic finger capable of meeting the rigidity requirement.
The technical scheme is as follows: a soft biomimetic finger comprising:
the finger joints are hollow flexible tubes;
the telescopic structure is used for connecting the at least two knuckles, the knuckles and the telescopic structure are communicated to form a closed air cavity, the telescopic structure comprises a linear bottom surface and a wave-shaped structure connected with the linear bottom surface, the wave-shaped structure comprises at least one wave crest and at least one wave trough, and the wave crest and the wave trough are sequentially connected.
Further, a heating assembly is arranged at the bottom in the closed air cavity.
Further, a bending sensor is arranged at the bottom in the closed air cavity.
Furthermore, a bionic layer is arranged on the lower side of the knuckle.
Furthermore, the knuckle comprises a finger tip section, a finger abdomen section and a finger root section, the finger tip section, the finger abdomen section and the finger root section are sequentially connected through the telescopic structure, the tail end of the finger root section is closed and communicated with an external air passage through an air pipe, and the height of the front end of the finger tip section is gradually reduced along the direction of a finger tip.
Further, the cross section of the wavy structure is arc-shaped.
A biomimetic manipulator comprising: the bionic finger comprises a base and the soft bionic finger arranged on the base.
Has the advantages that: according to the soft bionic finger, the telescopic structure is arranged, the finger sections are connected, the process of inflating and deflating the air cavity in the telescopic structure is utilized, the bending is generated, meanwhile, the bionic effect similar to that of a human finger is formed due to the existence of the finger sections, compared with the existing scheme, the soft bionic finger is better close to the real human finger, has stronger gripping and pressing functions and has more excellent bionic performance.
Drawings
FIG. 1 is a schematic plane structure diagram of a soft bionic finger according to embodiment 1 of the present invention;
FIG. 2 is a schematic sectional view of the soft bionic finger shown in FIG. 1;
FIG. 3 is a schematic cross-sectional view of a part of the flexible structure of the soft bionic finger shown in FIG. 1;
FIG. 4 is a schematic plane structure view of another embodiment of the soft bionic finger of the present invention;
FIG. 5 is a schematic perspective view of a bionic manipulator according to an embodiment of the present invention;
fig. 6 is a schematic perspective view of another embodiment of the bionic manipulator of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the description relating to "first", "second", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 3, an embodiment 1 of the soft bionic finger of the present invention includes a soft bionic finger, including: at least two knuckles 1 and a telescopic structure 2 for connecting the at least two knuckles 1. The knuckle 1 is a hollow flexible pipe body; the knuckle 1 and the telescopic structure 2 are communicated to form a closed air cavity 10, the telescopic structure 2 comprises a linear bottom surface and a wave-shaped structure connected with the linear bottom surface, the wave-shaped structure comprises at least one wave crest and at least one wave trough, and the wave crest and the wave trough are sequentially connected.
According to the soft bionic finger, the telescopic structure 2 is arranged, the knuckles 1 are connected, the process of inflation and deflation of the air cavities 10 in the telescopic structure 2 is utilized to generate bending, and meanwhile, the bionic effect similar to that of a human finger is formed due to the existence of the knuckles 1.
In this embodiment, the knuckle includes three knuckle 1, is fingertip section 11, indicates abdomen section 12 and indicates root section 13 respectively, indicate tip section 11, indicate abdomen section 12 and indicate root section 13 to pass through extending structure 2 connects gradually, indicate that root section 13 tail end seals and communicates with external gas circuit through the trachea, indicate that tip section 11 front end height reduces along the fingertip direction gradually. Indicate the setting of pointed section 11, indicate abdomen section 12 and indicate root section 13, press close to the form that human actual pointed more, can provide more excellent bionic effect, the field such as specially adapted massage, snatch, the effect is pressed down in snatching of simulation people's hand that can be more accurate.
In this embodiment, extending structure 2 includes linear bottom surface and encircles the wave structure that linear bottom surface set up, wave structure include a plurality of crests and troughs that connect gradually, and the width of crest is gradually diminishing along vertical upward direction, and the width of trough is gradually becoming big along vertical upward direction, the cross section of wave structure is arc. In actual work, because the elastic modulus of the linear bottom surface is greater than that of the wavy structure, when the closed air cavity is inflated, the deformation of the wavy structure is greater than that of the linear bottom surface, so that the wavy structure stretches and forms bending; when the closed air cavity 10 is deflated, the wave-shaped structure contracts under the elastic action of the wave crests and the wave troughs to form a flat state of the soft bionic finger. And the circular arc cross section of the wavy structure can ensure relatively good torque and resist the torsional deformation of the soft bionic finger when stressed.
In other embodiments, the linear base has a cross-section of "ㄩ" and the wave-shaped structure is located on the upper side of the linear base, which ensures the bending directionality and does not generate the radial deformation of the soft bionic finger, as shown in fig. 4.
As a further optimization of the present embodiment, in order to improve the bionic performance, the bottom of the closed air cavity is provided with a heating assembly, which includes a heating circuit 4 and a temperature sensor 5 closely attached to the bottom of the closed air cavity, in a manner more similar to human fingers. And a bending sensor (not shown) for sensing the bending degree of the soft bionic finger is further arranged at the bottom in the closed air cavity. The lower side of the knuckle 1 is provided with a bionic layer, and preferably, the bionic layer is made of silica gel.
The present invention also provides a biomimetic manipulator as shown in fig. 5, comprising: a base 6 and the soft bionic finger arranged on the base. The base 6 can be a circular base, the soft bionic fingers are arranged on the soft bionic fingers in an array, or a human body palm imitating mode can be adopted, two to four soft bionic fingers are sequentially arranged on the base 6 in a straight line, and then one soft bionic finger is independently arranged on one side of the straight line soft bionic finger, as shown in fig. 6. Therefore, the palm conforming to the actual condition of the human body is formed, and the actual grabbing and pressing actions of the human body are more closely followed.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. A soft bionic finger, comprising:
the finger joints are hollow flexible tubes;
the telescopic structure is used for connecting the at least two knuckles, the knuckles and the telescopic structure are communicated to form a closed air cavity, the telescopic structure comprises a linear bottom surface and a wave-shaped structure connected with the linear bottom surface, the wave-shaped structure comprises at least one wave crest and at least one wave trough, and the wave crest and the wave trough are sequentially connected.
2. The soft biomimetic finger of claim 1, wherein: and a heating component is arranged at the bottom in the closed air cavity.
3. The soft biomimetic finger of claim 1, wherein: and a bending sensor is arranged at the bottom in the closed air cavity.
4. The soft biomimetic finger of claim 1, wherein: the lower side of the knuckle is provided with a bionic layer.
5. The soft biomimetic finger according to any one of claims 1 to 5, wherein: the knuckle comprises a finger tip section, a finger abdomen section and a finger root section, the finger tip section, the finger abdomen section and the finger root section are sequentially connected through the telescopic structure, the tail end of the finger root section is closed and communicated with an external air passage through an air pipe, and the front end of the finger tip section is gradually reduced along the direction of a finger tip.
6. The soft biomimetic finger of claim 5, wherein: the cross section of the wave-shaped structure is arc-shaped.
7. A biomimetic manipulator, comprising: a base and a soft biomimetic finger as in any of claims 1-6 disposed on the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010399618.5A CN111409089A (en) | 2020-05-12 | 2020-05-12 | Soft bionic finger and bionic manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010399618.5A CN111409089A (en) | 2020-05-12 | 2020-05-12 | Soft bionic finger and bionic manipulator |
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| Publication Number | Publication Date |
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| CN111409089A true CN111409089A (en) | 2020-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010399618.5A Pending CN111409089A (en) | 2020-05-12 | 2020-05-12 | Soft bionic finger and bionic manipulator |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113070895A (en) * | 2021-04-07 | 2021-07-06 | 上海工程技术大学 | Magnetic-driven soft manipulator |
| CN115648233A (en) * | 2022-09-09 | 2023-01-31 | 广东海洋大学 | Grab net manipulator |
-
2020
- 2020-05-12 CN CN202010399618.5A patent/CN111409089A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113070895A (en) * | 2021-04-07 | 2021-07-06 | 上海工程技术大学 | Magnetic-driven soft manipulator |
| CN113070895B (en) * | 2021-04-07 | 2023-03-14 | 上海工程技术大学 | Magnetic-driven soft manipulator |
| CN115648233A (en) * | 2022-09-09 | 2023-01-31 | 广东海洋大学 | Grab net manipulator |
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