Human finger simulating system based on pneumatic muscles

Human finger simulating system based on pneumatic muscles

  • CN 108,161,958 B
  • Filed: 12/29/2017
  • Issued: 08/24/2021
  • Est. Priority Date: 12/29/2017
  • Status: Active Grant
First Claim
Patent Images

1. A human finger-imitating system based on pneumatic muscles is characterized in that the finger system is in a bilateral symmetry structure, and is divided into a first section of bone, a second section of bone and a third section of bone, each section of bone of the first section of bone, the second section of bone and the third section of bone comprises a left fixing plate and a right fixing plate which are positioned at two sides, the left fixing plate and the right fixing plate at two sides of each section of bone are arranged in parallel, and the corresponding two ends are fixedly connected through a fixed rod, a first rotating shaft (8) can be rotatably connected between the upper ends of the left fixed plate of the first section of bone and the right fixed plate of the first section of bone, a belt wheel I (11), a left fixing plate (6) of a second section of bone, a belt wheel II (10) and a belt wheel III (9) are fixedly arranged on the left half part of the first rotating shaft (8) from left to right in sequence;

  • a second rotating shaft (3) can be rotatably connected between the upper ends of the left fixing plate (6) of the second section of bone and the right fixing plate of the second section of bone, and a belt wheel four (2), a belt wheel five (4) and a left fixing plate (1) of the third section of bone are fixedly arranged on the left half part of the second rotating shaft (3) from left to right in sequence;

    the left half part of the first section of bone further comprises a first pneumatic muscle (15), a second pneumatic muscle (16), a third pneumatic muscle (18), a fourth pneumatic muscle (19), a fifth pneumatic muscle (21) and a sixth pneumatic muscle (34), one ends of the first pneumatic muscle (15) and the second pneumatic muscle (16) are fixed at the lower end of a left fixing plate (14) of the first section of bone through fixing parts, the other ends of the first pneumatic muscle (15) and the second pneumatic muscle (16) are connected with a first belt (12), an antagonistic muscle is formed through the first belt (12) to drive a first belt wheel (11) to rotate forward and backward, the other ends of the third pneumatic muscle (18) and the fourth pneumatic muscle (19) are connected with a second belt (13), the second belt (13) is used for forming the antagonistic muscle to drive the second belt wheel (10) to rotate forward and backward, and the other ends of the fifth pneumatic muscle (21) and the sixth pneumatic muscle (34) are connected with a fourth belt (7), antagonistic muscles are formed through a belt IV (7) to drive the belt wheel IV (2) to rotate positively and negatively, and the belt wheel III (9) is connected with the belt wheel V (4) through a belt III (5);

    the right half part and the left half part of the first, the second and the third sections of bones have the same structure;

    the first rotating shaft (8) is composed of a plurality of sections, the left fixing plate (14) of the first section of bone is fixedly connected with the first belt wheel (11) through the first section (40) of the first rotating shaft, the first belt wheel (11) and the left fixing plate (6) of the second section of bone are fixedly connected, the left fixing plate (6) of the second section of bone is fixedly connected with the second belt wheel (10) through the second section (41) of the first rotating shaft, the second belt wheel (10) and the third belt wheel (9) are fixedly connected, and the third belt wheel (9) is fixedly connected with the right part of the first section of bone through the third section (42) of the first rotating shaft;

    the second rotating shaft (3) is composed of multiple sections, the left fixing plate of the second section of bone is fixedly connected with the belt pulley four (2) through the first section (37) of the second rotating shaft, the belt pulley four (2) is fixedly connected with the belt pulley five (4) through the second section (38) of the second rotating shaft, the belt pulley five (4) is fixedly connected with the left fixing plate (1) of the third section of bone, and the left fixing plate (1) of the third section of bone is fixedly connected with the right fixing plate (25) of the third section of bone through the third section (39) of the second rotating shaft.

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