CN111409089A - Soft bionic fingers and bionic manipulators - Google Patents

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

Soft bionic fingers and bionic manipulators

technical field

The invention relates to the field of bionic machinery, in particular to a soft bionic finger and a bionic manipulator.

Background technique

At present, manipulators based on human bionics have attracted attention due to their wide application. The core of the bionic manipulator lies in the bionic finger. Most of the bionic fingers on the market adopt a pneumatic multi-chamber structure. By inflating the gas chamber, the whole soft hand is bent in a certain direction to realize the grasping function. For example, a new type of flexible finger disclosed in Chinese invention patent CN 107378980 A includes a finger base plate and a finger finger surface, the finger finger surface is connected to one side of the finger base plate, and the elastic modulus of the finger base plate is greater than that of the finger base plate. The elastic modulus of the surface, the finger surface includes a fingertip segment, a finger segment and a finger heel segment, the finger segment includes at least one wave crest and at least one wave trough, and the wave crest and the wave trough are connected in turn to form a wavy structure , the finger segment and the finger base plate together form a drive chamber, a transition groove is arranged between the finger segment and the finger heel segment, and an expansion communication with the drive chamber is arranged in the finger heel segment In the chamber, the finger base plate or the finger heel segment is provided with a ventilation port which communicates with the expansion communication chamber. When the ventilation port is arranged on the finger base plate, the position of the ventilation port corresponds to the position of the finger heel segment. The flexible finger has a more reasonable structure and is more convenient to install.

However, the above solutions can only be implemented for grasping objects, and are no longer applicable in fields such as massage fields that require precise bionic anthropomorphic operations.

Based on this, how to provide a bionic finger whose stiffness can meet the real bionic requirements has become a technical problem that needs to be solved urgently in the industry.

SUMMARY OF THE INVENTION

Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a bionic finger that can meet the rigidity requirements.

Technical solution: a soft bionic finger, comprising:

At least two knuckles, the knuckles are hollow flexible tubular bodies;

A telescopic structure for connecting the at least two knuckles, the knuckles and the telescopic structure communicate with each other to form a closed air cavity, the telescopic structure includes a linear bottom surface and a wave-shaped structure connecting the linear bottom surfaces, the The wavy structure includes at least one wave crest and at least one wave trough, the wave crests and wave troughs being connected in sequence.

Further, a heating component is provided at the bottom of the closed air cavity.

Further, a bending sensor is provided at the bottom of the closed air cavity.

Further, the underside of the knuckle is provided with a bionic layer.

Further, the phalanx includes a fingertip segment, a finger pulp segment and a finger root segment, the fingertip segment, the finger pulp segment and the finger root segment are sequentially connected by the telescopic structure, and the tail end of the finger root segment is closed and closed. The trachea is communicated with the external air path, and the height of the front end of the fingertip section gradually decreases along the direction of the fingertip.

Further, the cross section of the wave-shaped structure is arc-shaped.

A bionic manipulator comprises: a base and the described soft bionic finger arranged on the base.

Beneficial effects: the soft bionic finger of the present invention connects the knuckles by arranging a telescopic structure, and uses the process of inflation and deflation of the air cavity in the telescopic structure to generate bending, and at the same time, because of the existence of the knuckles, a bionic effect similar to a human finger is formed, Compared with the existing solutions, it is closer to the real human fingers, has stronger grasping and pressing functions, and has better bionic performance.

Description of drawings

Accompanying drawing 1 is the plane structure schematic diagram of Embodiment 1 of the software bionic finger of the present invention;

Accompanying drawing 2 is the sectional structure schematic diagram of the software bionic finger shown in FIG. 1;

3 is a schematic diagram of the cross-sectional structure of the telescopic structure part of the soft bionic finger shown in FIG. 1;

4 is a schematic plan view of another embodiment of the software bionic finger of the present invention;

5 is a schematic three-dimensional structure diagram of an embodiment of the bionic manipulator of the present invention;

FIG. 6 is a schematic three-dimensional structure diagram of another embodiment of the bionic manipulator of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that the descriptions involving "first", "second", etc. in the present invention are only for the purpose of description, and should not be construed as indicating or implying their relative importance or implying the number of indicated technical features . Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. , is not within the scope of protection required by the present invention.

Referring to the embodiment 1 of the soft bionic finger of the present invention shown in Figures 1 to 3, including: a soft bionic finger, comprising: 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 tube body; the knuckle 1 and the telescopic structure 2 communicate with each other to form a closed air cavity 10, and the telescopic structure 2 includes a linear bottom surface and a wave-shaped structure connecting the linear bottom surface, The wave-shaped structure includes at least one wave crest and at least one wave trough, and the wave crests and wave troughs are connected in sequence.

The soft bionic finger of the present invention connects the knuckles 1 by setting the telescopic structure 2, and uses the process of inflation and deflation of the air cavity 10 in the telescopic structure 2 to generate bending, and at the same time, because of the existence of the knuckle 1, a bionic finger similar to the human body is formed As a result, compared with the existing solution, it is closer to the real human fingers, has stronger grasping and pressing functions, and has better bionic performance.

In this embodiment, the phalanx includes three phalanges 1 , which are a fingertip segment 11 , a finger pulp segment 12 and a finger root segment 13 respectively. The fingertip segment 11 , the finger pulp segment 12 and the finger root segment 13 Connected in sequence by the telescopic structure 2, the tail end of the finger root segment 13 is closed and communicated with the external air passage through the trachea, and the front end height of the fingertip segment 11 gradually decreases along the fingertip direction. The fingertip segment 11, the finger pulp segment 12 and the finger base segment 13 are set closer to the actual shape of the human finger, which can provide better bionic effect, especially suitable for massage, grasping and other fields, and can more accurately simulate the movement of the human hand. Grab, press effect.

In this embodiment, the telescopic structure 2 includes a linear bottom surface and a wave-shaped structure arranged around the linear bottom surface. The wave-shaped structure includes a plurality of wave crests and wave troughs connected in sequence, and the width of the wave crest gradually decreases along the vertical upward direction, while the wave trough The width gradually increases along the vertical upward direction, and the cross-section of the wave-shaped structure is arc-shaped. In actual work, because the elastic modulus of the linear bottom surface is greater than that of the wave-shaped structure, the deformation of the wave-shaped structure is greater than that of the linear bottom surface when the closed air cavity is inflated, resulting in the expansion of the wave-shaped structure and the formation of bending When the air is deflated in the closed air cavity 10, the wave-shaped structure contracts under the elastic action of the wave crest and the wave trough, forming a straight state of the soft bionic finger. The arc-shaped cross section of the wave-shaped structure can ensure relatively good torque and resist the torsional deformation of the soft bionic finger when it is stressed.

In other embodiments, the cross-section of the linear bottom surface is "ㄩ" type, and the wavy structure is located on the upper side of the linear bottom surface. This method can ensure the directionality of the bending, and the radial deformation of the soft bionic finger will not occur, as shown in the figure 4 shown.

As a further optimization of this embodiment, in order to improve the bionic performance and more similar to human fingers, the bottom of the closed air cavity is provided with a heating assembly, and the heating assembly includes a heating circuit 4 and a temperature set close to the bottom of the closed air cavity. sensor 5. The inner bottom of the closed air cavity is also provided with a bending sensor (not shown in the figure) for sensing the bending degree of the soft bionic finger. A bionic layer is provided on the lower side of the knuckle 1, and preferably, the bionic layer is made of silica gel.

The present invention also provides a bionic manipulator as shown in FIG. 5 , comprising: a base 6 and the aforementioned soft bionic fingers arranged on the base. The base 6 can be a circular base, and the soft bionic fingers are arranged on the soft bionic fingers in an array, or can be in the form of a human palm, and two to four soft bionic fingers are sequentially arranged on the base 6 in a straight line. Then, a soft bionic finger is arranged separately on one side of the linear soft bionic finger, as shown in Figure 6. In this way, a palm conforming to the actual human body is formed, which is closer to the actual grasping and pressing actions of the human body.

The above is only the preferred embodiment of the present invention, it should be pointed out that: for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.

Claims (7)

1. a software bionic finger, is characterized in that, comprises: At least two knuckles, the knuckles are hollow flexible tubular bodies; A telescopic structure for connecting the at least two knuckles, the knuckles and the telescopic structure communicate with each other to form a closed air cavity, the telescopic structure includes a linear bottom surface and a wave-shaped structure connecting the linear bottom surfaces, the The wavy structure includes at least one wave crest and at least one wave trough, the wave crests and wave troughs being connected in sequence. 2 . The soft bionic finger according to claim 1 , wherein a heating element is arranged at the bottom of the closed air cavity. 3 . 3 . The soft bionic finger according to claim 1 , wherein a bending sensor is arranged at the bottom of the closed air cavity. 4 . 4 . The soft bionic finger according to claim 1 , wherein a bionic layer is provided on the lower side of the knuckle. 5 . 5. The soft bionic finger according to any one of claims 1 to 5, wherein the knuckle comprises a fingertip segment, a finger pulp segment and a finger root segment, and the fingertip segment, the finger pulp segment and The finger root segments are connected in sequence through the telescopic structure, the tail end of the finger root segment is closed and communicated with the external air passage through the trachea, and the height of the front end of the fingertip segment gradually decreases along the direction of the fingertip. 6 . The soft bionic finger according to claim 5 , wherein the cross-section of the wave-shaped structure is arc-shaped. 7 . 7 . A bionic manipulator, comprising: a base and the software bionic finger according to any one of claims 1 to 6 arranged on the base. 8 .

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