Multi-joint rigid-flexible coupling bionic soft finger

A rigid-flexible coupling and multi-joint technology, applied in the field of robotics, can solve the problems of less freedom of finger movement and inability to control multi-degree-of-freedom movements of fingers, and achieve the effect of improving flexibility and bearing capacity
CN113232035APending Publication Date: 2021-08-10HANGZHOU DIANZI UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
HANGZHOU DIANZI UNIV
Publication Date
2021-08-10

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Abstract

The invention relates to a multi-joint rigid-flexible coupling bionic soft finger comprising a near phalanx soft joint, a middle phalanx soft joint, a far phalanx soft joint, a rigid sealing end cover, a near phalanx rigid connecting piece, an interphalanx rigid connecting frame and a rigid fingertip. The near phalanx soft joint is independently controlled. A plurality of first gas cavities extending in the length direction of the near phalanx soft joint are formed in the near phalanx soft joint, inflation ports of all the first gas cavities are located at the first end of the near phalanx soft joint, the rigid sealing end cover is installed at the first end of the near phalanx soft joint, and the rigid sealing end cover is provided with gas inlets corresponding to the inflation ports of the first gas cavities correspondingly. The near phalanx rigid connecting piece is provided with an inflation opening, the middle phalanx soft joint is provided with a second gas cavity, the far phalanx soft joint is provided with a third gas cavity, and the inflation opening communicates with the second gas cavity and the third gas cavity. The middle phalanx soft joint and the far phalanx soft joint are each provided with a gridding cloth fiber strain limiting layer. When the soft finger horizontally grabs objects, effective grabbing force is provided.
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Description

technical field

[0001] The invention belongs to the technical field of robots, and in particular relates to a multi-joint rigid-flexible coupling bionic soft finger. Background technique

[0002] With the continuous progress of industrial automation and the rise of intelligent manufacturing, higher requirements are placed on the end grippers of manufacturing equipment, especially for the safe clamping of irregular, fragile and small items. In recent years, soft robotic grippers have received extensive attention from researchers at home and abroad. For example, a multi-degree-of-freedom movement finger disclosed by the publication number CN108466276A is different from rigid robotic grippers. Soft grippers are mostly made of flexible materials. With good environmental adaptability, high flexibility, and interactive security, it is increasingly used in industrial automation, intelligent manufacturing, and life services. Soft grippers are driven by soft media, such as pneumatic...

Claims

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