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Pneumatic flexible finger prosthesis

An artificial and finger technology, applied in the field of artificial fingers, can solve the problems of less freedom, narrow working range, and can only complete simple movements, etc., and achieve the effect of strong adaptability and high flexibility.

Inactive Publication Date: 2005-09-07
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies of the existing pneumatic artificial fingers with few degrees of freedom, narrow working range, and only simple actions, the present invention provides a pneumatic flexible artificial finger with multiple degrees of freedom, wide working range, and more complex actions.

Method used

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  • Pneumatic flexible finger prosthesis

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0014] refer to figure 1 , this embodiment is a five-degree-of-freedom pneumatic flexible artificial finger, which has three rigid bodies 1, two thick rubber tubes 2 and an end cap 3, the thick rubber tubes 2 and rigid bodies 1 are arranged alternately in sequence, and the two ends of the thick rubber tubes 2 pass through The superglue is tightly connected with the rigid body 1. A side wall of the thick rubber tube 2 is provided with a restraint steel wire 4, and the restraint steel wire 4 in each thick rubber tube 2 is located on the same side, and the restraint steel wire 4 can be fixed on the rigid body 1 by screws. The sealed space formed by each thick rubber tube 2 and the rigid body 1 forms a working chamber 5 . The end face of the rigid body at the end is evenly equipped with three first joints 6 (only one is drawn in the figure), and the end face of the end cover 3 is evenly equipped with three second joints 7 (only one is drawn in the figure). The two ends of the pi...

Embodiment 2

[0018] refer to figure 1 A helical wire 11 is nested in the wall of the thick rubber tube 2 , and the restraining steel wire 4 is wound with each turn of the helical wire 11 . A helical wire is embedded in the wall of the thin rubber tube. When the compressed gas is fed into the working chamber 5, the spiral wire 11 can limit the radial expansion of the thick rubber tube wall and avoid the radial deformation of the fingers. The tube wall of the thin rubber tube 8 is also nested with a helical wire 11, so that the thin rubber tube 8 has a certain rigidity, and avoids difficulty in controlling the thin rubber tube 8 because it is too soft.

Embodiment 3

[0020] This embodiment is a four-degree-of-freedom pneumatic flexible artificial finger, which has two rigid bodies, a thick rubber tube and an end cap. The thick rubber tube and the rigid body are arranged alternately in sequence, and the two ends of the thick rubber tube are sealed and connected to the rigid body by superglue. One side of the thick rubber tube is provided with restraining steel wires, and the restraining steel wires in each thick rubber tube are located on the same side, and the restraining steel wires can be fixed on the rigid body by screws. The sealed space formed by each thick rubber tube and the rigid body constitutes a working chamber. The rigid body at one end has three first joints evenly installed on its end surface, and three second joints are evenly installed on the end surface of the end cover. The two ends of the three thin rubber tubes are respectively sealed with the respective first and second joints by superglue connect. The sealed space fo...

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Abstract

The invention discloses a pneumatic flexible artificial finger, which comprises the rigid body, the thick robber tube and the restraint wires on one wall of the thick robber tube. A plurality of thick robber tubes and the rigid body are in checker, the two ends of the robber tube tight couple the rigid body, and the seal space formed by each robber tube and the rigid body creates the working chamber; the end rigid body connects the end cover through the thin robber tube, the end faces of the end rigid body and the end cover are equipped with the interfaces, the two ends of the thin robber tube tight couple the interface, and the seal space formed by the thin tube and the interface create the second working chamber; the said two working chambers connect the airing tubes separately. The invention can finish more complicated work, and based on the pneumatic technology design, it adopts the robber tubes as the implementing pieces so as to have higher flexibility and better adaptability to the target.

Description

(1) Technical field [0001] The invention relates to an artificial finger, in particular to a flexible artificial finger based on pneumatic technology, which is suitable for the design of a robotic multi-fingered dexterous hand. (2) Background technology [0002] The design of the robot's dexterous hand is the main content and the most critical difficulty in robot design. The performance of the robot's dexterous hand directly determines the performance of the robot. Before the present invention was made, most of the traditional dexterous hands were designed with a purely mechanical structure, using motor or hydraulic drive, and using mechanical parts as the execution end. The soft performance is poor, it cannot actively adapt to the shape of the target, and it is easy to cause damage to the grasping target and affect the implementation effect. [0003] There are also people who have proposed pneumatic flexible joints. For example, the Chinese invention patent application num...

Claims

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Application Information

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IPC IPC(8): B25J15/10B25J15/12
Inventor 张立彬杨庆华鲍官军阮健
Owner ZHEJIANG UNIV OF TECH
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