A humanoid finger system based on pneumatic muscles

A pneumatic muscle and finger technology, applied in the field of bionic robots, can solve the problems of high joint friction, difficult to achieve pose control, large size, etc., and achieve the effects of good flexibility, compact structure, and high power/mass ratio

Active Publication Date: 2021-08-24
杭州久驰精密机械科技有限公司
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Problems solved by technology

Chinese patents 201210408685.4, 201520996639.X, 201610921761.X and 201621204358.7 use a motor plus a connecting rod mechanism to drive the imitation human hand, and Chinese patent 201210551850.1 uses a motor plus a gear to drive the imitation human hand. Size limit of generator size
Chinese patents 201710414708.5 and 201520315466.0 respectively use hydraulic cylinders and cylinders to design humanoid manipulators, but they are large in size and rigid
Chinese patents 201610690944.5 and 201710116913.3 respectively use rubber tubes and shape memory alloys to drive humanoid manipulators. Their flexibility has been greatly improved, but it is difficult to achieve precise pose control

Method used

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  • A humanoid finger system based on pneumatic muscles
  • A humanoid finger system based on pneumatic muscles

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Embodiment Construction

[0019] The present invention will be described in detail below according to the accompanying drawings and preferred embodiments, and the purpose and effect of the present invention will become clearer. The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0020] Such as figure 1 and 2 As shown, a humanoid finger system based on pneumatic muscles. The finger system has a left-right symmetrical structure and is divided into upper, middle and lower bones. Each bone includes a left fixed plate and a right fixed plate on both sides. , such as the left fixing plate 1 of the third bone, the right fixing plate 25 of the third bone, the left fixing plate 6 of the second bone, the right fixing plate of the second bone, and the left fixing plate 14 of the first b...

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Abstract

The invention discloses a humanoid finger system based on pneumatic muscles, which uses pneumatic muscles to simulate human muscles to drive the movement of finger joints, and has the function of completely simulating human finger and hand movements. The humanoid finger system is mainly composed of a fixed plate, a connecting shaft, a pulley, a V-belt, and pneumatic muscles. The combination of single-joint pair-pull pneumatic muscles and pulleys drives multiple joints simultaneously by a group of pair-pull muscles, so that the multi-joint angle and stiffness can be adjusted simultaneously by the pair-pull pneumatic muscles. Finger grip, grasp, flick and other actions switch. The invention is driven by pneumatic muscles, has the characteristics of compact structure, simple control, good flexibility, large output force, and adjustable rigidity, and can be used in fields such as object grasping, teaching demonstration, and parts handling.

Description

technical field [0001] The invention belongs to the technical field of bionic robots, and in particular relates to a humanoid finger system based on pneumatic muscles. Background technique [0002] The structure of the joints of the human hand is extremely intricate. Objects of different shapes can be grasped, grasped, and flicked. The unevenly distributed muscles coordinate with each other in these actions to achieve the above actions. Chinese patents 201210408685.4, 201520996639.X, 201610921761.X and 201621204358.7 use a motor plus a connecting rod mechanism to drive the imitation human hand, and Chinese patent 201210551850.1 uses a motor plus a gear to drive the imitation human hand. Size limit for generator size. Chinese patents 201710414708.5 and 201520315466.0 respectively use hydraulic cylinders and cylinders to design humanoid manipulators, but they are large in size and rigid. Chinese patents 201610690944.5 and 201710116913.3 respectively use rubber tubes and shap...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J9/10B25J15/08
CPCB25J9/104B25J9/1075B25J15/0009B25J15/08
Inventor 姜飞龙张海军沈剑英朱海滨朱荷蕾钱承宋玉来殷小亮刘睿莹陈晟周丽戴婷杨立娜
Owner 杭州久驰精密机械科技有限公司
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