Flexible bionic finger

Abstract

The utility model provides a flexible bionic finger which comprises a flexible body with an air cavity and a plurality of annular air bags arranged on the flexible body in a sleeved mode, and the flexible body is provided with air bag air guide pipes leading to the annular air bags. And a plurality of elastic miniature hemispherical structures are arranged on the annular air bag. When the bionic finger is in contact with a grabbed object, compressed air is filled into the air cavity, so that the bionic finger generates elastic deformation similar to bending of the finger of a human body in the axial direction, and the grabbing function is achieved; the annular air bag is arranged on the flexible body, the stress area and the friction force between the flexible body and a grabbed object are increased, and therefore the grabbing stability is improved, particularly for the flexible or fragile grabbed object, the friction force can be obviously improved, grabbing is more stable, and safe grabbing is achieved; and the pressure between the fingers and the grabbed object is changed by changing the expansion degree of the air bag, so that the friction force between the fingers and the grabbed object can be changed, and the grabbing process is more controllable.

Description

Technical Field

[0001] This utility model relates to the field of bionics, and in particular to a bionic finger. Background Technology

[0002] With the rapid development of economy and technology, fields such as artificial intelligence have shown enormous development potential and application prospects. The emergence of robotic arms has greatly improved social productivity and the quality of human life, offering significant advantages in increasing work efficiency, reducing production costs, and mitigating work risks. However, traditional rigid robotic arms have poor flexibility during the grasping process. When grasping soft and fragile objects, due to their low adhesion and friction, excessive or insufficient force can affect the grasping effect and pose certain risks. Furthermore, when grasping objects with complex shapes, the limited contact area between the robotic arm and the object may lead to unstable grasping and difficulty in achieving safe holding.

[0003] Chinese utility model patent application CN 220593180 U, published on March 15, 2024, discloses a pneumatically controlled flexible bionic finger, comprising a finger, a base plate, and a tympanic membrane arranged sequentially from top to bottom. The finger surface has knuckle air chambers and joint air chambers, and the interior has knuckle air cavities, joint air cavities, and connecting channels. All knuckle air cavities and joint air cavities are connected through the connecting channels. The base plate has several air holes, and the tympanic membrane has a tympanic membrane air cavity. The knuckle air cavities and tympanic membrane air cavities are connected through the air holes. When pneumatic pressure drives the bionic finger, all joint air cavities and knuckle air cavities expand under pressure, generating axial tension in all air chambers. Simultaneously, the tympanic membrane expands under pressure, causing the bionic finger to undergo elastic deformation in the axial direction similar to the bending of a human finger. By changing the position and size of the tympanic membrane, the bionic finger can produce functions such as continuous bending, maintaining a bending angle, and rebounding from a bending angle, enabling precise and stable grasping of objects of different shapes. However, when this pneumatically controlled flexible bionic finger is used to grasp soft or fragile items, it has low friction and poor adhesion, which may lead to unstable gripping and difficulty in achieving safe holding. Summary of the Invention

[0004] To address the aforementioned technical problems, this utility model proposes a flexible bionic finger to solve the issues in the prior art. The flexible bionic finger has low friction and poor adhesion, which may lead to unstable gripping and difficulty in achieving safe holding when using it to grasp soft or fragile items.

[0005] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0006] A flexible bionic finger includes a flexible body with an air cavity and several annular air bladders fitted on the flexible body. The flexible body is provided with air bladder guide tubes leading to the annular air bladders. The annular air bladders are provided with multiple elastic micro-hemispherical structures.

[0007] Furthermore, the outer contour of the annular airbag is a "C" shaped structure, with the opening of the "C" shaped structure facing the back of the finger; the inner side of the "C" shaped structure is in close contact with the flexible body, and the outer side is an arc-shaped structure.

[0008] Furthermore, the radius of the micro-hemispherical structure is less than 0.05 mm, and multiple micro-hemispherical structures are arranged in an array on the outer surface of the annular airbag.

[0009] Furthermore, the flexible body includes a flexible support skeleton and a flexible finger sleeve fitted on the flexible support skeleton, with multiple annular airbags arranged on the flexible finger sleeve along the length of the finger.

[0010] Furthermore, the airbag air guide tube is disposed inside the flexible finger sleeve, and the base of the flexible finger sleeve is provided with an external interface for the air guide tube.

[0011] Furthermore, the inner sides of both ends of the annular airbag are provided with air guide holes, and the two sides of the flexible finger sleeve are each provided with multiple air vents for communicating with the air guide holes of multiple annular airbags, and the air vents are connected to the air guide tube of the airbag.

[0012] Furthermore, the fingertip of the flexible finger sleeve is provided with an elastic fingertip hemispherical structure, the radius of which is less than 0.1 mm.

[0013] Furthermore, the flexible support bone has at least two V-shaped grooves on the side near the back of the finger, and the openings of the V-shaped grooves face the back of the finger.

[0014] Furthermore, a torsion spring is provided in the V-shaped groove; each V-shaped groove has a slot on one side and an insertion hole on the other side for installing the torsion spring.

[0015] Furthermore, the flexible support bone has a cavity inside to form a hand-guided airway, and the base of the flexible support bone has an airway nozzle that communicates with the hand-guided airway.

[0016] The beneficial effects of this utility model are:

[0017] 1. When the skin of the bionic finger of this utility model comes into contact with the object being grasped, compressed gas is introduced through the air duct of the flexible support bone. The interior of the flexible support bone is immediately filled with gas, so that the bionic finger produces an elastic deformation in the axial direction similar to the bending of a human finger, thereby realizing the grasping function.

[0018] 2. This utility model sets a ring-shaped airbag on the bionic finger, and changes the pressure between the finger and the object being grasped by changing the degree of expansion of the airbag, thereby changing the friction between the two.

[0019] 3. This utility model further increases the friction between the fingers and the object being grasped by setting an elastic micro-hemispherical structure on the outer surface of the annular airbag, thereby improving the grasping stability and achieving safe gripping.

[0020] 4. The annular airbag of this utility model can also deform according to the shape of the surface of the object being grasped, so as to better fit irregular objects. The cushioning effect of the annular airbag can protect the object from damage during the grasping process. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0023] Figure 2 This is a schematic diagram of the flexible finger sleeve structure of this utility model;

[0024] Figure 3 This is a cross-sectional view of the flexible finger sleeve of this utility model;

[0025] Figure 4 This is a schematic diagram of the annular airbag structure of this utility model;

[0026] Figure 5 This is a schematic diagram of the flexible support skeleton structure of this utility model;

[0027] Figure 6 A partial enlargement of the flexible support skeletal structure of this utility model. Figure 1 ;

[0028] Figure 7 A partial enlargement of the flexible support skeletal structure of this utility model. Figure 2 ;

[0029] Figure 8 This is a schematic diagram of the torsion spring of this utility model;

[0030] Figure 9 This is a schematic diagram illustrating the inflatable bending principle of the flexible support skeleton of this utility model.

[0031] In the diagram: 1. Flexible finger sleeve; 101. Hemispherical elastic structure; 102. Vent hole; 103. External interface; 2. Flexible support skeleton; 201. Torsion spring; 202. V-groove; 203. Air duct nozzle; 204. Insertion hole; 205. Slot; 3. Annular airbag; 301. Vent hole; 302. Micro-hemispherical elastic structure. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] like Figure 1 As shown in Embodiment 1 of this utility model, a flexible bionic finger includes a flexible body and several annular airbags 3 sleeved on the flexible body. The flexible body has several notches near the back of the finger; the interior of the flexible body has an air cavity for gas introduction, and the portion of the air cavity near the notches is closed to prevent gas from entering the notches. By introducing air into the air cavity, the flexible bionic finger can bend towards the palm under the tension of the gas. The flexible body has an air duct leading to the annular airbags 3, through which air is introduced into the annular airbags 3. Simultaneously, the air duct is relatively independent from the aforementioned air cavity; that is, the air duct is not connected to the air cavity, and gas will not directly enter the annular airbags 3 from the air cavity through the air duct. The annular airbags 3 have separate air intakes, facilitating control of the airbag's expansion degree. Because multiple annular airbags 3 are spaced apart on the flexible body, the contact area and friction between the flexible bionic finger and the object being grasped are increased. Especially when grasping soft objects, the annular airbag 3, acting as a raised structure on the flexible bionic finger, increases the contact area with the object being grasped, thereby improving the stability of the grasp. When grasping fragile objects, the annular airbag 3 also increases friction for a safer grip. The annular airbag 3 features multiple elastic micro-hemispherical structures 302. These elastic micro-hemispherical structures 302 mimic the surface structure of a gecko's foot, not only increasing the friction of the annular airbag 3 but also enhancing the adhesion of the flexible bionic finger, resulting in a more stable and secure grasp.

[0034] Example 2 differs from Example 1 in that, as Figure 4As shown, the outer contour of the annular airbag 3 is a "C" shape, with the opening of the "C" shape facing the back of the finger. The main part of the annular airbag 3 is located on the side of the flexible bionic finger near the palm, increasing the friction for gripping without affecting the bending of the flexible bionic finger. The "C" shape is hollow, meaning it has an internal cavity that forms an inflatable airbag. This cavity is filled with compressed gas, causing the annular airbag to inflate. Changing the degree of airbag expansion alters the friction between the finger and the object being grasped. Simultaneously, the elastic micro-hemispherical structure 302 on the outer surface of the annular airbag further increases the friction between the finger and the object.

[0035] Furthermore, the annular airbag can deform according to the shape of the object being grasped, allowing it to better conform to irregular objects. The airbag's cushioning effect protects the object from damage during the grasping process. In this embodiment, as... Figure 4 As shown, the inner side of the "C"-shaped structure is tightly attached to the flexible body, while the outer side is an arc-shaped structure. The arc-shaped structure can further increase the force-bearing area, thereby increasing the friction. Furthermore, in this embodiment, the inner side of the "C"-shaped annular airbag 3 is attached to the outer side of the flexible body by bonding.

[0036] Example 3 differs from Example 2 in that the airbag wall of the annular airbag 3 has a certain thickness, which is less than 0.2 mm when the size of a human finger is used as a reference. The size of the micro-hemispherical structure 302 can be changed according to the actual size of the machine finger. In this example, the radius of the micro-hemispherical structure 302 is less than 0.05 mm. Multiple micro-hemispherical structures 302 are arranged in an array on the outer surface of the annular airbag 3. In one embodiment, the annular airbag 3 and the micro-hemispherical structure 302 are made of an elastic polymer material.

[0037] Example 4 differs from Example 2 in that, as Figure 1 , Figure 2 and Figure 5 As shown, the flexible body includes a flexible support skeleton 2 and a flexible finger sleeve 1 fitted on the flexible support skeleton 2. Multiple annular airbags 3 are evenly distributed on the flexible finger sleeve 1 along the length of the finger.

[0038] Furthermore, such as Figure 4 As shown, air guide holes 301 are provided on the inner sides of both ends of the annular airbag 3, that is, on both ends of the surface of the annular airbag 3 that contacts the flexible body. The air guide holes 301 communicate with the internal cavity of the annular airbag 3. Figure 3 As shown, the airbag inlet tube is installed inside the flexible finger sleeve 1, and the airbag inlet tube is positioned along the length of the finger. Figure 2As shown, the flexible finger sleeve 1 has multiple ventilation holes 102 on both sides along the length of the finger, and the ventilation holes 102 correspond to the air guide holes 301 of each annular airbag 3. One end of the ventilation hole 102 communicates with the air guide tube of the airbag and the other end communicates with the air guide hole 301, for introducing gas into each annular airbag 3. In one embodiment, the annular airbag 3 is bonded to the flexible finger sleeve 1, and the multiple ventilation holes 102 are aligned with the air guide holes 301 of each annular airbag 3, with the edges of the ventilation holes 102 sealingly connected to the edges of the air guide holes 301.

[0039] Furthermore, the number of ventilation holes 102 on one side of the flexible finger sleeve 1 is determined according to the specific finger size, and the number of ventilation holes 102 on one side should be the same as the number of annular airbags 3. In this embodiment, the spacing between the ventilation holes 102 on one side is less than the thickness of the annular airbag 3.

[0040] Furthermore, such as Figure 3 As shown, the flexible finger sleeve 1 has an external interface 103 for the air duct of the airbag at the base of the finger for separate air intake of the annular airbag.

[0041] Example 5 differs from Example 4 in that, as Figure 2 As shown, the flexible finger sleeve 1 has a fingertip with a finger pad. The finger pad has an elastic fingertip hemispherical structure 101. With reference to the size of a human finger, the radius of the fingertip hemispherical structure 101 is less than 0.1 mm. The elastic fingertip hemispherical structure 101 increases the friction between the fingertip of the flexible bionic finger and the object being grasped.

[0042] Example 6 differs from Example 4 in that, as Figure 5 As shown, the flexible support bone 2 has at least two V-shaped grooves 202, i.e., notches, on the side near the back of the finger. In this embodiment, three V-shaped grooves 202 are provided to simulate a finger joint. The openings of the V-shaped grooves 202 face the back of the finger, and the bottom tip of the V-shaped groove 202 is located at two-thirds of the overall thickness of the flexible support bone 2, that is, the opening depth of the V-shaped groove 202 is two-thirds of the overall thickness of the flexible support bone 2. Figure 5 As shown. This ensures a normal degree of bending, such as... Figure 9 As shown.

[0043] Furthermore, such as Figure 5 As shown, the flexible support bone 2 has an internal cavity, namely the air cavity, which extends along the length of the finger to form a finger-guided air tube. The base of the flexible support bone has an air inlet 203 that communicates with the finger-guided air tube to introduce air into it.

[0044] In addition, the wall thickness of the flexible support bone 2 is determined by the finger size and the type of elastic material; the thickness cannot be too small, and it provides support.

[0045] In this embodiment, the V-shaped groove 202 includes two parts: the lower part is a "V"-shaped groove and the upper part is a rectangular groove with open top and bottom. That is, the upper ends of the two sides of the "V"-shaped groove in the lower part extend parallel upwards to the opening of the V-shaped groove 202.

[0046] Example 7 differs from Example 6 in that, as Figure 5 , Figure 6 and Figure 7 As shown, a torsion spring 201 is provided inside the V-shaped groove 202, so that after the grasping is completed, the elastic force of the torsion spring 201 can return the flexible support bone 2 to its initial state. The elastic force of the torsion spring 201 is less than the tension formed when gas is injected into the endotracheal tube of the hand.

[0047] like Figure 8 As shown, the two ends of the torsion spring 201 extend to the same side. The two ends of the torsion spring 201 mate with one side wall of the V-shaped groove 202. A pressing part extends from the middle of the torsion spring 201, and this pressing part mates with the other side wall of the V-shaped groove 202. Figure 6 As shown, two insertion holes 204 are provided on one side wall of the V-shaped groove 202 to mate with the two ends of the torsion spring 201. Figure 7 As shown, a slot 205 is provided on the other side wall of the V-groove 202 to mate with the pressing part. Two insertion holes 204 are provided for the two ends of the torsion spring 201 to be inserted. The slot 205 is provided for the pressing part to be inserted.

[0048] Furthermore, the width of the torsion spring 201 is less than the width of the V-groove 202 in the finger-length direction. The length of the torsion spring 201 is less than the length of the V-groove 202 in the finger-width direction plus twice the thickness of the flexible support bone wall.

[0049] The implementation process of this utility model is as follows:

[0050] When this flexible bionic finger is in use, air is injected into the flexible support skeleton 2 and the annular airbag 3 through the air inlet 203 and the external interface 103 of the airbag inlet. The flexible support skeleton 2 undergoes axial bending deformation under air pressure. The torsion spring 201 twists in the bending direction, creating a continuous bending effect. Simultaneously, the annular airbag 3 expands under air pressure, increasing the gripping force and the area of ​​contact. The micro-hemispherical structure 302 on the outer surface of the annular airbag 3 increases the friction between the mechanical finger and the object being grasped. Furthermore, by changing the inflation intensity of the air inlet 103, the contact strength between the mechanical hand and the object being grasped can be altered, thereby changing the friction between them and achieving the goal of improving stable and safe object grasping. In the non-grasping state, the flexible support skeleton 2 maintains the finger's upright position under the action of the torsion spring 201. And after grasping, the elastic force of the torsion spring 201 allows the flexible support skeleton 2 to return to its initial state.

[0051] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any modifications to the technical solutions described in the foregoing embodiments, or equivalent substitutions of some or all of the technical features thereof, within the spirit and principles of the present invention, do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A flexible bionic finger, characterized in that: It includes a flexible body and several annular airbags (3) fitted on the flexible body. The flexible body is provided with an airbag duct leading to the annular airbags (3). The annular airbags (3) are provided with multiple elastic micro-hemispherical structures (302).

2. The flexible bionic finger of claim 1, wherein: The outer contour of the annular airbag (3) is a "C" shaped structure, with the opening of the "C" shaped structure facing the back of the finger; the inner side of the "C" shaped structure is in close contact with the flexible body, and the outer side is an arc surface structure.

3. The flexible bionic finger of claim 2, wherein: The radius of the micro-hemispherical structure (302) is less than 0.05 mm, and multiple micro-hemispherical structures (302) are arranged in an array on the outer surface of the annular airbag (3).

4. The flexible bionic finger according to claim 2 or 3, characterized in that: The flexible body includes a flexible support skeleton (2) and a flexible finger sleeve (1) fitted on the flexible support skeleton (2). Multiple annular airbags (3) are arranged on the flexible finger sleeve (1) along the length of the finger.

5. The flexible bionic finger of claim 4, wherein: The airbag air guide tube is set inside the flexible finger sleeve (1), and the base of the flexible finger sleeve (1) is provided with an external interface (103) for the airbag air guide tube.

6. The flexible bionic finger of claim 5, wherein: The inner sides of both ends of the annular airbag (3) are provided with air guide holes (301), and the flexible finger sleeve (1) is provided with multiple air vents (102) on both sides for communicating with the air guide holes (301) of the multiple annular airbags (3), and the air vents (102) are connected to the airbag air guide tube.

7. The flexible bionic finger according to claim 5 or 6, characterized in that: The flexible finger sleeve (1) has an elastic fingertip hemispherical structure (101) at the fingertip, and the radius of the fingertip hemispherical structure (101) is less than 0.1 mm.

8. The flexible bionic finger according to claim 5 or 6, characterized in that: The flexible support bone (2) has at least two V-shaped grooves (202) on the side near the back of the finger, and the openings of the V-shaped grooves (202) face the back of the finger.

9. The flexible bionic finger of claim 8, wherein: The V-groove (202) is provided with a torsion spring (201); each V-groove (202) has a slot (205) on one side and an insertion hole (204) on the other side for installing the torsion spring (201).

10. The flexible bionic finger of claim 8, wherein: The flexible support bone (2) has a cavity inside to form a hand-guided airway, and the base of the flexible support bone (2) has an airway nozzle (203) that communicates with the hand-guided airway.

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