阅读说明：本技术 多气动肌肉协同驱动的仿甲壳类节肢动物手指 (Multi-pneumatic muscle cooperatively driven crustacean-imitated arthropod finger ) 是由 章军 刘禹 吴玄易 许文凯 王立峰 吕兵 于 2021-09-13 设计创作，主要内容包括：本发明是一种多气动肌肉协同驱动的仿甲壳类节肢动物手指,涉及机器人、自动化和物流等装备,以及康复、假肢等医疗器材的相关技术领域。手指由二至十个甲壳状指节组成,手指指尖带有可拆卸的指甲；相邻指节之间的柔性关节转动靠气动肌肉驱动,同一手指上所有柔性关节轴心线相互平行,每根气动肌肉连接一个气路或者同一手指上多根的气动肌肉合并为一个气路或者所有手指上的气动肌肉合并为一个气路。每个所述气路均有一个驱动单元,所有单元均采用高速开关阀协同控制。本发明的手指接触点的位置和接触力大小均控制方便,灵活性高；柔性连接的指节及多指节的同时接触状态,能够降低接触力,实现柔性抓取效果；同时,手指的结构刚性好,抗扭转刚度大。(The invention discloses a multi-pneumatic muscle cooperatively driven crustacean arthropod-imitated finger, and relates to the related technical fields of equipment such as robots, automation and logistics, and medical equipment such as rehabilitation and artificial limbs. The finger consists of two to ten shell-shaped knuckles, and the finger tip is provided with a detachable fingernail; the flexible joints between adjacent knuckles are driven by pneumatic muscles, the axial leads of all the flexible joints on the same finger are parallel to each other, each pneumatic muscle is connected with one air passage or the pneumatic muscles on a plurality of fingers are combined into one air passage or the pneumatic muscles on all the fingers are combined into one air passage. Each air path is provided with a driving unit, and all the units are cooperatively controlled by high-speed switch valves. The position and the contact force of the finger contact point are both convenient to control, and the flexibility is high; the simultaneous contact state of the flexibly connected knuckles and the multiple knuckles can reduce the contact force and realize the flexible grabbing effect; meanwhile, the fingers have good structural rigidity and high torsional rigidity.)

1. A multi-pneumatic muscle synergistically driven crustacean-imitated arthropod finger, characterized in that: the finger consists of two to ten shell-shaped knuckles, and the finger tip is provided with a detachable fingernail (11); the flexible joints between adjacent knuckles are driven by pneumatic muscles (1) to rotate, the axial leads of all the flexible joints on the same finger are parallel to each other, each pneumatic muscle (1) is connected with one air passage or the pneumatic muscles (1) on a plurality of fingers on the same finger are combined into one air passage or the pneumatic muscles (1) on all the fingers are combined into one air passage.

2. The multi-pneumatic muscle-activated simulated crustacean arthropod finger of claim 1, wherein: in the finger, an end knuckle cover (3) and an end knuckle seat (4) are connected into an end knuckle by a screw, a long knuckle cover (7) and a long knuckle seat (8) are connected into a long knuckle by a screw, a short knuckle cover (9) and a short knuckle seat (10) are connected into a short knuckle by a screw, each knuckle cover and knuckle seat are respectively provided with a semi-annular rib plate, the longitudinal section shape of the semi-annular rib plate is completely matched with the longitudinal section shape of the wave node of the elastic corrugated pipe air bag (1a) of the pneumatic muscle (1), the assembled knuckle cover and two semi-annular rib plates of the knuckle seat form a whole annular rib plate, the axial lead of the whole annular rib plate is coaxial with the axial lead of the elastic corrugated pipe air bag (1a) of the pneumatic muscle (1), and therefore each knuckle is connected with the elastic corrugated pipe air bag (1 a); the end knuckle seats (4), the long knuckle seats (8) and the adjacent two knuckle seats in the short knuckle seats (10) are connected by hinges (5), and the elastic corrugated pipe air bag (1a) is restrained by the hinges (5) after being inflated, so that the adjacent two knuckle seats rotate relatively; soft rubber (6) is pasted on each knuckle seat to cache and contact a grabbed object, a root mounting plate (2) fixes fingers on an end knuckle seat (4) at the uppermost end, and the root mounting plate (2) is mounted on the tail end of a finger root of a palm or an actuator; the fingernail (11) is fixed on the end knuckle seat (4) at the lowest end of the finger and is used for pinching the grasped object.

3. A multi-pneumatic muscle-actuated simulated crustacean arthropod finger according to claim 2, wherein: the end knuckle cover (3), the end knuckle seat (4), the long knuckle cover (7), the long knuckle seat (8), the short knuckle cover (9) and the short knuckle seat (10) are respectively matched to form knuckles which are all plastic parts and are all processed by injection molding.

4. A multi-pneumatic muscle-actuated simulated crustacean arthropod finger according to claim 2, wherein: two ends of the elastic bellows air bag (1a) are respectively bonded with the end knuckle cover (3) and the end knuckle seat (4), or the long knuckle cover (7) and the long knuckle seat (8), or the short knuckle cover (9) and the short knuckle seat (10) into a whole.

5. A multi-pneumatic muscle-actuated simulated crustacean arthropod finger according to claim 2, wherein: in addition to the two ends of the elastic bellows air bag (1a) being fixed, the number of nodes of the elastic bellows air bag (1a) which is constrained by the living hinge (5) to be expanded and bent, and the width dimension of the corresponding living hinge (5) may be modified to adjust the maximum rotation angle of the knuckle.

6. A multi-pneumatic muscle-actuated simulated crustacean arthropod finger according to claim 2, wherein: and special-shaped holes are symmetrically distributed on all semi-annular rib plates of the end knuckle seat (4), the long knuckle seat (8) and the short knuckle seat (10) and are used for an air pipe of the elastic corrugated pipe air bag (1a) to penetrate through.

7. The multi-pneumatic muscle-activated simulated crustacean arthropod finger of claim 1, wherein: the pneumatic muscle (1) is identical in structural principle, the structural sizes of the pneumatic muscles (1) are different, in a specific structure, each pneumatic muscle (1) comprises an elastic corrugated pipe air bag (1a), a flat nut (1b) and an air pipe connector (1c), the elastic corrugated pipe air bag (1a) is made of rubber and is in a corrugated pipe shape, a flange end of the air pipe connector (1c) is plugged into an eccentric small hole in the end face of the elastic corrugated pipe air bag (1a), the flange end of the air pipe connector (1c) is fixed on the elastic corrugated pipe air bag (1a) through the flat nut (1b), rubber of the elastic corrugated pipe air bag (1a) is compressed and sealed, and the air pipe connector (1c) is connected with a hose of an air circuit.

8. The multi-pneumatic muscle-activated simulated crustacean arthropod finger of claim 7, wherein: the outer surface of the elastic corrugated pipe air bag (1a) is provided with sewn cloth or a woven net which plays a role in reinforcement, or the rubber shell of the elastic corrugated pipe air bag (1a) comprises the woven net which plays a role in reinforcement.

9. The multi-pneumatic muscle-activated simulated crustacean arthropod finger of claim 1, wherein: in the pneumatic system, a single air path of each pneumatic muscle (1) or a combined air path of a plurality of pneumatic muscles (1) is provided with a driving air path unit, the driving air path units adopt the principle of containing the same or different pneumatic elements and air paths, and each air path unit of a multi-knuckle finger and a multi-finger manipulator adopts a PWM (pulse width modulation) mode of a high-speed switch valve, so that cooperative control is realized, each knuckle of the pneumatic muscles (1) driving fingers rotates and coordinates with the pressure of the inner cavity of the elastic corrugated pipe air bag (1a), and the movement function and the grabbing effect are realized.

Technical Field

The invention discloses a multi-pneumatic muscle cooperatively driven crustacean arthropod-imitated finger, and relates to the related technical fields of equipment such as robots, automation and logistics, and medical equipment such as rehabilitation and artificial limbs.

Background

Aiming at grabbing objects such as raw materials, semi-finished products and finished products in the food and light industry and inner packaging goods in the field of e-commerce, the complexity of the grabbing objects is summarized into characteristics of object shape (large size change and large shape difference) and physical properties (soft, hard, tough and crisp). The object shape adaptability, the physical property reliability and the grabbing quickness are required, a flexible end effector is required, and the multi-degree-of-freedom mechanical arm is matched for the processes of sorting, packaging and the like, so that the requirements of unmanned production and supply of food and daily necessities are met as far as possible.

At present, the tail end clamp is generally used on equipment such as robots, automation, logistics and the like in industry and commerce, a clamping part is not in a finger structure, and no degree of freedom or few degree of freedom are provided, so that the flexibility is poor, the adaptability is low, and the requirements of complex object holding and universal application scenes cannot be met.

The existing soft pneumatic finger is made of a soft material capable of bearing large strain, has infinite multi-degree of freedom and continuous deformation capacity, and can freely change the shape and the size of the pneumatic finger in a large range, so that the pneumatic finger can change the configuration and reach any point in a working space. Due to low resistance to pressure, the soft robot can be compatible with a contact object in a flexible deformation mode, so that the contact force is greatly reduced, and the soft robot has good application potential in the aspect of grabbing soft and fragile objects. The soft pneumatic finger has poor structural rigidity and low torsional rigidity, is wrapped and contacted with a skin body, and is difficult to adjust contact force distribution.

Disclosure of Invention

Aiming at the defects in the prior art, the application provides a multi-pneumatic muscle cooperatively driven crustacean-imitated arthropod finger which consists of two to ten shell-shaped knuckles and a plurality of air channel units, wherein the finger tip is provided with a detachable fingernail, flexible joints between the adjacent knuckles are driven by the pneumatic muscle, and the axes of all the flexible joints are parallel; the pneumatic muscles are elastic bellows air bags with air pipe joints, each pneumatic muscle or a plurality of pneumatic muscles on the same finger are connected with one air path, or the pneumatic muscles on the fingers are connected with one air path. In the pneumatic system, a single air path of each pneumatic muscle or a combined air path of a plurality of pneumatic muscles is driven by an air path unit containing the same or different pneumatic elements and air path principles, the air path units are connected in parallel, each air path unit of the multi-knuckle finger and the multi-finger manipulator is cooperatively controlled by a high-speed switch valve, the position and the contact force of a contact point are conveniently controlled, and the flexibility and the adaptability are high.

The technical scheme adopted by the invention is as follows:

a multi-pneumatic muscle synergistically driven crustacean-imitating arthropod finger consisting of two to ten crustacean-like knuckles, each knuckle having a detachable fingernail; the flexible joints between adjacent knuckles are driven by pneumatic muscles, the axes of all the flexible joints on the same finger are parallel to each other and are on the same plane, and each pneumatic muscle is connected with one air channel or a plurality of pneumatic muscles on the same finger are combined into one air channel or the pneumatic muscles on all the fingers are combined into one air channel.

Furthermore, in the finger, an end knuckle cover and an end knuckle seat are connected into an end knuckle by a screw, a long knuckle cover and a long knuckle seat are connected into a long knuckle by a screw, a short knuckle cover and a short knuckle seat are connected into a short knuckle by a screw, each knuckle cover and the knuckle seat are provided with a semi-annular rib plate, the longitudinal section shape of the semi-annular rib plate is completely matched with the longitudinal section shape of the elastic bellows air bag node of the pneumatic muscle, the two semi-annular rib plates of the knuckle cover and the knuckle seat form a whole annular rib plate after assembly, and the axial lead of the whole annular rib plate is coaxial with the axial lead of the elastic bellows air bag of the pneumatic muscle, so that each knuckle and the elastic bellows air bag are connected together; the end knuckle seats, the long knuckle seats and the adjacent two knuckle seats in the short knuckle seats are hinged by the hinge, and the elastic corrugated pipe air bag is restrained by the hinge after being inflated and expanded, so that the adjacent two knuckle seats are rotated relatively; the soft rubber is stuck on each knuckle seat to cache and contact a grasped object, the root mounting plate fixes fingers on the uppermost end knuckle seat, and the root mounting plate is mounted on the tail end of the finger root of the palm or the actuator; the fingernail is fixed on the end knuckle seat at the lowest end of the finger and is used for pinching the grasped object.

Furthermore, the end knuckle cover and the end knuckle seat, the long knuckle cover and the long knuckle seat, and the short knuckle cover and the short knuckle seat are respectively matched to form knuckles which are all plastic parts and are all processed by injection molding.

Furthermore, two ends of the elastic bellows air bag are respectively bonded with the end knuckle cover and the end knuckle seat, or the long knuckle cover and the long knuckle seat, or the short knuckle cover and the short knuckle seat into a whole.

Further, the number of nodes of the elastic bellows air bag, which is restrained by the hinge to be expanded and bent, and the width size of the corresponding hinge may be changed to adjust the maximum rotation angle of the knuckle, except that both ends of the elastic bellows air bag are fixed.

Furthermore, special-shaped holes are symmetrically distributed on all semi-annular rib plates of the end knuckle seat, the long knuckle seat and the short knuckle seat, and are used for air pipes of the elastic corrugated pipe air bag to penetrate through.

Furthermore, the structure principle of pneumatic muscles is the same, the structural sizes of the pneumatic muscles are different, in the concrete structure, the pneumatic muscles comprise elastic corrugated pipe airbags, flat nuts and air pipe connectors, the elastic corrugated pipe airbags are rubber seals in corrugated pipe shapes, the flange ends of the air pipe connectors are plugged into eccentric small holes in the end faces of the elastic corrugated pipe airbags, the flange ends of the air pipe connectors are fixed on the elastic corrugated pipe airbags through the flat nuts, rubber of the elastic corrugated pipe airbags is compressed to be sealed, and the air pipe connectors are connected with hoses of air channels.

Furthermore, the outer surface of the elastic bellows air bag is provided with sewn cloth or a woven net for strengthening, or the rubber shell of the elastic bellows air bag comprises the woven net for strengthening.

Furthermore, a single air path of each pneumatic muscle or a combined air path of a plurality of pneumatic muscles in the pneumatic system is provided with a driving air path unit, the driving air path units adopt the principle of containing the same or different pneumatic elements and air paths, and the air path units of the multi-knuckle and multi-finger manipulators adopt the PWM (pulse width modulation) mode of a high-speed switch valve, so that cooperative control is realized, and the rotation coordination of the knuckles of the pneumatic muscle driving fingers is coordinated with the pressure coordination of the inner cavity of the elastic corrugated pipe air bag, so that the motion function and the grabbing effect are realized.

The invention has the following beneficial effects:

the invention has compact and reasonable structure and convenient operation, the air path units of all the action parts are cooperatively controlled by adopting the high-speed switch valve, the position of the finger contact point and the contact force are both conveniently controlled, and the flexibility is high; the simultaneous contact state of the flexibly connected knuckles and the multiple knuckles can reduce the contact force and realize the flexible grabbing effect; meanwhile, the fingers have good structural rigidity and high torsional rigidity.

Drawings

FIG. 1 is a front cross-sectional view of the present invention.

Fig. 2 is a front view of the present invention.

Fig. 3 is a sectional view taken along line a-a of fig. 1.

Fig. 4 is a sectional view taken along line B-B in fig. 1.

Fig. 5 is a cross-sectional view of the pneumatic muscle of the present invention.

Wherein: 1. a pneumatic muscle; 1a, an elastic bellows air bag; 1b, flat nuts; 1c, a gas pipe joint; 2. Mounting a root mounting plate; 3. a nail end cover; 4. a nail-holding seat; 5. a hinge; 6. a soft rubber; 7. a long knuckle cap; 8. a long knuckle seat; 9. a short knuckle cap; 10. a short knuckle mount; 11. a nail.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings.

The first embodiment is as follows:

the embodiment discloses a multi-pneumatic muscle cooperatively driven crustacean-imitated arthropod finger, which comprises two to ten shell-shaped knuckles, wherein the finger tip is provided with a detachable fingernail 11, flexible joints between the adjacent knuckles are driven by pneumatic muscles 1 to rotate, and the axial leads of all the flexible joints on the same finger are parallel to each other; each pneumatic muscle 1 is connected with one air path or a plurality of pneumatic muscles 1 on the same finger are combined into one air path or the pneumatic muscles 1 on all fingers are combined into one air path, the fingers are controlled by a plurality of knuckles or a plurality of fingers in a coordinated manner, the position and the contact force of the contact point are controlled conveniently, and the pneumatic muscle device is high in flexibility and adaptability.

As shown in fig. 1-4, the end knuckle cover 3 and the end knuckle seat 4 are connected into an end knuckle by screws, the long knuckle cover 7 and the long knuckle seat 8 are connected into a long knuckle by screws, the short knuckle cover 9 and the short knuckle seat 10 are connected into a short knuckle by screws, each knuckle cover and the knuckle seat are provided with semi-annular rib plates, the longitudinal section shape of each semi-annular rib plate is completely matched with the longitudinal section shape of the wave node of the elastic corrugated pipe air bag 1a of the pneumatic muscle 1, the two semi-annular rib plates of the knuckle cover and the knuckle seat form a whole annular rib plate after assembly, the axial lead of the whole annular rib plate is coaxial with the axial lead of the elastic corrugated pipe air bag 1a of the pneumatic muscle 1, and therefore, each knuckle and the elastic corrugated pipe air bag 1a are connected together; the end knuckle seats 4, the long knuckle seats 8 and the adjacent two knuckle seats in the short knuckle seat 10 are hinged by the hinge 5, and the elastic bellows air bag 1a is restrained by the hinge 5 after being inflated and expanded, so that the adjacent two knuckle seats rotate relatively; soft rubber 6 is pasted on each knuckle seat to cache and contact a grasped object, a root mounting plate 2 fixes fingers on an uppermost end knuckle seat 4, and the root mounting plate 2 is mounted on the tail end of a finger root of a palm or an actuator; the fingernail 11 is fixed on the end knuckle seat 4 at the lowest end of the finger and is used for pinching the object to be grabbed.

As shown in fig. 5, the pneumatic muscle 1 includes an elastic bellows air bag 1a, a flat nut 1b, and a pipe joint 1c, the elastic bellows air bag 1a is a rubber sealing body in a bellows shape, a flange end of the pipe joint 1c is inserted into an eccentric small hole on an end surface of the elastic bellows air bag 1a, the pipe joint 1c is fixed to the elastic bellows air bag 1a by the flat nut 1b, the rubber of the elastic bellows air bag 1a is compressed and sealed, and the pipe joint 1c is connected to a hose of the air passage.

The outer surface of the elastic bellows air bag 1a is provided with sewn cloth or a woven net for reinforcement, or the rubber shell of the elastic bellows air bag 1a includes a woven net for reinforcement.

A single air path of each pneumatic muscle or a combined air path of a plurality of pneumatic muscles in the pneumatic system is provided with a driving air path unit, the driving air path units adopt the principle of containing the same or different pneumatic elements and air paths, and the air path units of the multi-knuckle finger and the multi-finger manipulator adopt the PWM (pulse width modulation) mode of a high-speed switch valve, so that cooperative control is realized, the rotation coordination of the knuckles of the pneumatic muscles 1 driving fingers is coordinated with the pressure coordination of the inner cavity of the elastic corrugated pipe air bag 1a, and the movement function and the grabbing effect are realized.

The end knuckle cover 3, the end knuckle seat 4, the long knuckle cover 7, the long knuckle seat 8, the short knuckle cover 9 and the short knuckle seat 10 are respectively matched to form knuckles which are all plastic parts and are all processed by injection molding.

Preferably, two ends of the elastic bellows air bag 1a are respectively bonded with the end knuckle cover 3 and the end knuckle seat 4, or the long knuckle cover 7 and the long knuckle seat 8, or the short knuckle cover 9 and the short knuckle seat 10 into a whole, so as to prolong the service life of the elastic bellows air bag 1 a.

In addition to the elastic bellows bag 1a having both ends fixed, the number of nodes of the elastic bellows bag 1a, which is constrained by the living hinge 5 to be expanded and bent, and the width dimension of the corresponding living hinge 5 may be modified to adjust the maximum rotation angle of the knuckle. For example, if the rotation angle of the hinge 5 near the finger tip is large, the number of nodes of the expandable and bendable elastic bellows airbag 1a is large, and the width of the hinge 5 is correspondingly increased (in the three elastic bellows airbags 1a in fig. 1 and 2, the width of the uppermost hinge 5 is small, the number of nodes of the expandable and bendable elastic bellows airbag 1a is only two circles, and the total number of nodes of the elastic bellows airbag 1a is one circle less).

The end knuckle seats 4, the long knuckle seats 8 and the short knuckle seats 10 are all provided with special-shaped holes symmetrically distributed on all semi-annular rib plates for air pipes of the elastic bellows air bags 1a to pass through.

The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.