Humanoid finger inflatable soft three-finger gripper

A gripper and inflatable technology, which is applied in the field of inflatable soft robot fingers, can solve the problem of low load capacity and achieve the effects of strong impact resistance, large lifting capacity, and strong deformation ability

Inactive Publication Date: 2018-06-22
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of low load capacity of the existing soft gripper, the present invention further provides a human-like inflatable soft three-finger gripper

Method used

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  • Humanoid finger inflatable soft three-finger gripper
  • Humanoid finger inflatable soft three-finger gripper
  • Humanoid finger inflatable soft three-finger gripper

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0028] Specific implementation mode one: as Figure 1~5 As shown, the humanoid finger inflatable soft three-finger gripper of this embodiment includes a bottom plate 1, three module bases 2, three soft finger modules 3 and three elastic bandages 4, and each soft finger module 3 includes a soft finger Module body, first air cavity 5, second air cavity 7, first interphalangeal joint trachea 6, second interphalangeal joint trachea 8, restrictive layer 10 and elastic body 9; each soft finger module 3 passes through a module base 2 Installed on one end surface of the bottom plate 1, the body of the soft finger module is provided with a first air chamber 5 and a second air chamber 7 in sequence, the first air chamber 5 communicates with one end of the first interphalangeal joint trachea 6, and the second air chamber 7 communicates with one end of the second interphalangeal joint trachea 8. The back of the soft finger module body is processed with at least two knuckle gap grooves alo...

specific Embodiment approach 2

[0032] Specific implementation mode two: as figure 1 and image 3 As shown, the elastic bandage 4 of the present embodiment is bonded to the finger back and both sides of the soft finger module body. The elastic bandage 4 has a certain degree of elasticity, and the elastic bandage 4 is stretched to a certain extent and no longer stretches. Such a design can limit the expansion volumes of the first air chamber 5 and the second air chamber 7, and continuing to inflate the air chamber after the volume of the air chamber expands to a certain extent will increase the pressure in the air chamber, thereby increasing the driving force of the air chamber. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0033] Specific implementation mode three: as figure 2 and Figure 4As shown, the number of knuckle gap grooves in this embodiment is three, the first air cavity 5 is set corresponding to the first knuckle and the second knuckle, and the second air cavity 7 is set corresponding to the third knuckle. With this design, the body of the soft finger module is controlled by two air chambers and two air circuits, in which the first air chamber 5 is used to realize the linkage between the two interphalangeal joints, and the second air chamber 7 is used to realize the independent movement of the metacarpophalangeal joints. The soft humanoid finger is easy to bend at the joint, and the air cavity expands to drive the joint to bend, realizing the human-like finger bending action. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention discloses a humanoid finger inflatable soft three-finger gripper, and relates to a three-finger gripper. The problem that existing soft grippers are low in load capacity is solved. Eachsoft finger module is installed on one end face of a bottom plate through a module base, a soft finger module body is internally provided with a first air cavity and a second air cavity in sequence, the first air cavity communicates with one end of a first interphalangeal joint air pipe, and the second air cavity communicates with one end of a second interphalangeal joint air pipe. The finger backof each soft finger module body is provided with at least two phalangeal joint clearance grooves through machining in the length direction of the finger back, the positions, except the finger prominence side, of the soft finger module body is wrapped with an elastic bandage, the finger prominence of the soft finger module body is provided with an elastic body, and a limiting layer is arranged between the finger prominence and the elastic body of the soft finger module body and made of a material which is easy to bend and cannot be stretched. The humanoid finger inflatable soft three-finger gripper is applied to manufacturing of a soft gripper, a robot hand, an artificial limb, a rehabilitation hand and the like.

Description

technical field [0001] The invention relates to an inflatable soft robot finger, in particular to a soft humanoid finger gripper which can realize humanoid finger-like gripping of objects in a working space by driving a soft humanoid finger module through air pressure. Background technique [0002] In recent years, with the development of new materials and rapid prototyping technology, there has been an upsurge of research on soft robots worldwide. Soft robots involve the disciplines of bionics, robotics, soft materials, and control, and are inspired by imitating molluscs and structures in nature. Soft grippers, because they can adapt to various shapes of object surfaces, and perform safe and compliant target grasping and manipulation tasks, are currently one of the most popular research directions in soft robots. Although the traditional rigid gripper has the characteristics of high rigidity, high precision, fast speed, and good repeatability, it is widely used in the fiel...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCB25J15/0009B25J15/0023
Inventor 张新彬闫继宏石培沛张海容杨璎珞赵杰
Owner HARBIN INST OF TECH
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