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

Pending Publication Date: 2021-08-10
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] (3) There are fewer degrees of freedom in finger movement, and t

Method used

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  • Multi-joint rigid-flexible coupling bionic soft finger
  • Multi-joint rigid-flexible coupling bionic soft finger
  • Multi-joint rigid-flexible coupling bionic soft finger

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Embodiment Construction

[0034] In order to illustrate the embodiments of the present invention more clearly, the specific implementation manners of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other accompanying drawings based on these drawings and obtain other implementations.

[0035] like Figure 1-6 As shown, the multi-joint rigid-flexible coupling bionic soft finger of the embodiment of the present invention includes a proximal phalangeal joint 1, a middle phalanx joint 2, a distal phalanx joint 3, a rigid sealing end cap 4, a proximal phalanx rigid connector 5, and a finger joint. Rigid connecting frame 6 and rigid fingertip 7 between.

[0036] Among them, the proximal phalanx joint 1 is independently controlled, and as an independent drive joint, it adopts a four-cavity cylindrical structure...

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PUM

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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.

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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Application Information

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IPC IPC(8): B25J15/00B25J15/12
CPCB25J15/0009B25J15/12
Inventor 陈昌王龙孙继腾孙伟杰周瑞
Owner HANGZHOU DIANZI UNIV
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