A bionic finger with controllable flexibility

A technology of flexibility and fingers, applied in the field of bionic fingers, can solve problems such as damage, inability to protect itself, and difficulty in achieving compliant grip, and achieve the effect of improving the ability to coordinate with each other

Inactive Publication Date: 2016-03-16
CHINA UNIV OF MINING & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002]At present, if the multi-fingered dexterous hand at the end of the robotic arm adopts a rigid structure, it will easily cause two problems: one is not in line with the actual situation of human fingers, and cannot It meets the requirements of bionics well; the second is tha...

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  • A bionic finger with controllable flexibility
  • A bionic finger with controllable flexibility
  • A bionic finger with controllable flexibility

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Embodiment Construction

[0018] exist figure 1 Among them, the bionic finger with controllable flexibility includes: bionic skin 1, electromagnetic coil 5, strain gauge sensor 6, magnetorheological fluid 7, sealing boss 8, rigid support body 9, nail seat 10, finger control box 11 , a sealant 12, a sealing washer 13, and a set screw 14; the bionic finger with controllable flexibility is mainly composed of a bionic finger cortex structure, a bionic finger internal structure and a bionic finger circuit structure.

[0019] The structural features of the bionic finger with controllable flexibility mainly include: the main features of the bionic finger cortex structure are: the bionic skin 1 is made of silicone rubber cast into a finger shape, and has three layers, the inner layer of the bionic skin 4, and the middle layer of the bionic skin 3 , the outermost layer of the bionic skin 2; the inner layer of the bionic skin 4, the surface of which is evenly wound with a copper electromagnetic coil 5, and ...

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Abstract

The invention relates to a bionic finger with controllable flexibility. The flexible and controllable bionic finger includes bionic skin poured into finger shape, electromagnetic coil, strain gauge sensor, magnetorheological fluid, sealing boss, rigid support body, finger control box, nail seat, sealant, sealing gasket, set screw; the bionic finger with controllable compliance The control circuit is mainly composed of three operational amplifiers with high common-mode rejection ratio amplifier circuit, digital-to-analog conversion and single-chip microcomputer chip principle circuit, crystal oscillator circuit, reset circuit, and power supply circuit; The flexible and controllable bionic finger It is a soft and controllable finger based on magnetorheological fluid, which can realize the continuous and controllable "liquid-solid" state transition of magnetorheological fluid; when applying force to the bionic finger, it can ensure that the deformation of the finger is within a certain range Inside, it will not be too large to damage, nor too small to be flexible. In order to improve the ability of the robot to coordinate with the outside world.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a bionic finger with controllable flexibility. Background technique [0002] At present, if the multi-fingered dexterous hand at the end of the robotic arm adopts a rigid structure, it is likely to cause two problems: one is not in line with the actual situation of human fingers, and it cannot meet the requirements of bionics; the other is that it is easy to damage the surface of some objects. causing damage and making it difficult to achieve a smooth grip. However, with the usual flexible and uncontrollable structure, the deformation of the finger cannot be guaranteed. Excessive deformation will cause damage and cannot protect itself. With the development of intelligent robot technology, it is one of the key technologies for the development of robot technology to develop and develop practical compliant and controllable tactile sensors, that is, compliant and controlla...

Claims

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Application Information

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IPC IPC(8): B25J15/08B25J9/18
Inventor 唐玮张建凯朱华程新景毛杨明陈思刘佳奇
Owner CHINA UNIV OF MINING & TECH
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