CN108381578A - A kind of flexible finger with anti-slipping mechanism - Google Patents
A kind of flexible finger with anti-slipping mechanism Download PDFInfo
- Publication number
- CN108381578A CN108381578A CN201810336726.0A CN201810336726A CN108381578A CN 108381578 A CN108381578 A CN 108381578A CN 201810336726 A CN201810336726 A CN 201810336726A CN 108381578 A CN108381578 A CN 108381578A
- Authority
- CN
- China
- Prior art keywords
- fingers
- cavity
- flexible finger
- slipping mechanism
- face
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000009434 installation Methods 0.000 claims description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention discloses a kind of flexible fingers with anti-slipping mechanism, including Fingers face, the Fingers back of the body that is connected to Fingers face side, the first cavity between Fingers face and the Fingers back of the body, the air inlet that is connected to the first cavity, flexible finger further includes at least one the second cavity being connected to the first cavity set on the semicircle donor of Fingers back, in semicircle donor, the dilatancy amount of the Fingers back of the body is more than the dilatancy amount in Fingers face, anti-slipping mechanism includes the lug boss for being convexly equipped in the Fingers face other side, and the lower surface of lug boss is inclined-plane.A kind of flexible finger with anti-slipping mechanism of the present invention, the side setting by being used to capture article in Fingers face considerably increase frictional force when crawl article, improve the stability of crawl article in the lug boss on inclined-plane.
Description
Technical field
The present invention relates to a kind of flexible fingers with anti-slipping mechanism.
Background technology
With mechanical arm coordinate in capturing the gripper of article, since rigid finger has larger grasp force,
It is most of to be made of rigid finger.But rigid finger is difficult to realize the lossless crawl to flexible objects, needs flexible finger
It realizes.And flexible finger, friction is small with the contact surface of article, during gripping, article often occurs and falls off
The phenomenon that.
Invention content
The object of the present invention is to provide a kind of flexible finger with anti-slipping mechanism, rubbing when can greatly increase crawl article
Power is wiped, the stability of crawl article is improved.
In order to achieve the above objectives, the technical solution adopted by the present invention is：
A kind of flexible finger with anti-slipping mechanism, including Fingers face, be connected to Fingers face side Fingers the back of the body,
The first cavity, the air inlet that is connected to first cavity between the Fingers face and the Fingers back of the body, it is described
Flexible finger further include it is at least one it is set on the semicircle donor of the Fingers back, in the semicircle donor with it is described
The dilatancy amount of second cavity of the first cavity connection, the Fingers back of the body is more than the dilatancy amount in the Fingers face,
Anti-slipping mechanism includes the lug boss for being convexly equipped in the Fingers face other side, and the lower surface of the lug boss is inclined-plane.
Preferably, the lug boss is V-shaped, and the opening of the lug boss is backwards to finger fingertip, the following table of the lug boss
Face tilts gradually downward along the direction far from the finger fingertip.
It is highly preferred that the lug boss has multiple, length extending direction of multiple lug bosses along the Fingers face
It is evenly spaced to be arranged on the Fingers face.
Preferably, the semicircle donor has multiple, and multiple semicircle donors are along the length extension side that the Fingers are carried on the back
It is arranged in the Fingers back to evenly spaced.
It is highly preferred that the circle center line connecting of multiple semicircle donors is parallel to the length extending direction of the Fingers back of the body.
Preferably, the flexible finger further includes being connected to the connector at Fingers root, in the connector
The third cavity being connected to first cavity, the air inlet are set on the connector, are connected to the third cavity.
It is highly preferred that offering the sliding slot for installation on the connector.
Preferably, the Fingers face, the Fingers back of the body, the semicircle donor are made of silica gel material.
It is highly preferred that the semicircle donor is integrally formed with the Fingers back of the body, the Fingers back of the body ultrasonic bond is set to institute
State the side in Fingers face.
Due to the application of the above technical scheme, the present invention has following advantages compared with prior art：A kind of band of the present invention
The flexible finger for having anti-slipping mechanism, the side setting by being used to capture article in Fingers face work as object in the lug boss on inclined-plane
When product are subjected to displacement from a direction with Fingers face, inclined-plane and the article of the lug boss contradict, and increase contact area, to
Increase frictional force；When object is subjected to displacement from another direction and Fingers face, the bottom edge contact of the inclined-plane outwardly convex
Article forms back-off state with article, also increases frictional force；By the way that the anti-slipping mechanism is arranged, crawl article is considerably increased
When frictional force, improve crawl article stability.
Description of the drawings
Attached drawing 1 is the structural schematic diagram one of flexible finger of the present invention；
Attached drawing 2 is the side view of attached drawing 1；
Attached drawing 3 is the upward view of attached drawing 1；
Attached drawing 4 is the structural schematic diagram two of flexible finger of the present invention.
Wherein：1, Fingers face；2, Fingers are carried on the back；3, the first cavity；4, semicircle donor；5, the second cavity；6, inclined-plane；7、
Connector；8, third cavity；9, sliding slot.
Specific implementation mode
The technical solution of the present invention will be further described below with reference to the accompanying drawings.
Referring to shown in Fig. 1-4, a kind of above-mentioned flexible finger with anti-slipping mechanism, including Fingers face 1, it is connected to finger
The Fingers back of the body 2 of 1 one side of finger face, Fingers face 1 are distributed planar, and the Fingers back of the body 2 is convexly equipped on Fingers face 1, finger
Refer to and enclosed equipped with the first cavity 3 between the back of the body 2 and Fingers face 1, which further includes the air inlet being connected to first cavity 3
（It is not shown in figure）, expansion is inflated by first cavity of air inlet pair 3 and air-breathing is shunk.
Flexible finger further include it is at least one set on Fingers the back of the body 2 on semicircle donor 4, in semicircle donor 4 with
Second cavity 5 of the first cavity 3 connection.In the present embodiment, semicircle donor 4 has multiple, and multiple semicircle donors 4 are carried on the back along Fingers
2 length extending direction is evenly spaced to be arranged on the Fingers back of the body 2；The circle center line connecting of multiple semicircle donors 4 is parallel to finger
Refer to the length extending direction of the back of the body 2.Shunk for inflation and air-breathing by the way that semicircle donor 4 is arranged so that the Fingers back of the body 2 it is swollen
Bulging deformation amount is more than the dilatancy amount in Fingers face 1, and when being inflated to the first cavity 3 and the second cavity 5, semicircle donor 4 expands,
Make flexible finger to 1 curving of Fingers face, for coordinating remaining flexible finger to capture article；To the first chamber
When body 3 and the second 5 air-breathing of cavity, semicircle donor 4 is shunk so that flexible finger carries on the back 2 curvings to Fingers, for coordinating it
Remaining flexible finger decontrols article.By the way that semicircle donor 4 is arranged, for flexible finger in bending, bending force is to semicircle donor 4
Circle centre position is concentrated, to increase the dynamics of bending.
Anti-slipping mechanism includes the lug boss for being convexly equipped in 1 other side of Fingers face, and the lower surface of lug boss is inclined-plane 6.At this
In embodiment, lug boss is V-shaped, and the opening of lug boss is backwards to finger fingertip, and the lower surface of lug boss is along separate finger fingertip
Direction tilts gradually downward（With reference to figure 2, the lower section in Fig. 2 is lower section here, and the left end in Fig. 2 is finger fingertip）.
Lug boss has multiple, and length extending direction of multiple lug bosses along Fingers face 1 is evenly spaced to be arranged on Fingers face 1.
By the way that the lower surface of lug boss is arranged to inclined-plane 6 so that the area summation of the lower surface of multiple lug bosses is more than Fingers face 1
Area, increase the contact area with article.Obviously, the orthographic projection of the inclined-plane 6 on Fingers face 1 is V-shaped.Pass through setting
The lower surface is the lug boss on inclined-plane 6, when article is subjected to displacement from a direction with Fingers face 1, the inclined-plane 6 of the lug boss
It is contradicted with article, contact area is increased, to increase frictional force；When object occurs from another direction and Fingers face 1
When displacement, the bottom edge of 6 outwardly convex of inclined-plane contacts article, forms back-off state with article, also increases frictional force；By setting
The anti-slipping mechanism is set, frictional force when crawl article is considerably increased, improves the stability of crawl article.
Flexible finger further includes being connected to the connector 7 at Fingers root, connecting with the first cavity 3 in connector 7
Logical third cavity 8, air inlet are set on connector 7, are connected to third cavity 8.It is offered for installation on the connector 7
Sliding slot 9.The sliding slot 9 is I-shaped, by the way that the sliding slot 9 is arranged, is not only convenient for modularization installation, moreover it is possible to be slided in installation site
It is dynamic to adjust, to adapt to the crawl of different size article.
In the present embodiment, Fingers face 1, the Fingers back of the body 2, semicircle donor 4 pass through 3D printing technique by silica gel material
It is made.Semicircle donor 4 is integrally formed with the Fingers back of the body 2, and ultrasonic bond is set on the side in Fingers face 1 again for the Fingers back of the body 2, by adopting
With ultrasonic welding technique, makes the complete gluing, sealing of the two, ensure that the air-tightness of the first cavity 3 and the second cavity 5.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and be implemented, and it is not intended to limit the scope of the present invention, all according to the present invention
Equivalent change or modification made by Spirit Essence should all cover within the scope of the present invention.
Claims (9)
1. a kind of flexible finger with anti-slipping mechanism, including Fingers face, the Fingers for being connected to Fingers face side
The back of the body, the first cavity between the Fingers face and the Fingers back of the body, the air inlet being connected to first cavity,
It is characterized in that：The flexible finger further includes at least one semicircle donor set on the Fingers back, is set to the semicircle
The dilatancy amount of the second cavity being connected to first cavity in donor, the Fingers back of the body is more than the Fingers face
Dilatancy amount, anti-slipping mechanism includes the lug boss for being convexly equipped in the Fingers face other side, the lower surface of the lug boss
For inclined-plane.
2. a kind of flexible finger with anti-slipping mechanism according to claim 1, it is characterised in that：The lug boss is in V
Shape, the opening of the lug boss backwards to finger fingertip, the lower surface of the lug boss along the direction far from the finger fingertip by
Gradually tilt down.
3. a kind of flexible finger with anti-slipping mechanism according to claim 2, it is characterised in that：The lug boss has more
A, length extending direction of multiple lug bosses along the Fingers face is evenly spaced to be arranged on the Fingers face.
4. a kind of flexible finger with anti-slipping mechanism according to claim 1, it is characterised in that：The semicircle donor has
Multiple, multiple semicircle donors are arranged in the Fingers back of the body along the length extending direction that the Fingers are carried on the back is evenly spaced
On.
5. a kind of flexible finger with anti-slipping mechanism according to claim 4, it is characterised in that：Multiple semicircular arches
The circle center line connecting of body is parallel to the length extending direction of the Fingers back of the body.
6. a kind of flexible finger with anti-slipping mechanism according to claim 1, it is characterised in that：The flexible finger is also
Connector including being connected at Fingers root, the third cavity being connected to first cavity in the connector,
The air inlet is set on the connector, is connected to the third cavity.
7. a kind of flexible finger with anti-slipping mechanism according to claim 6, it is characterised in that：It is opened on the connector
Equipped with the sliding slot for installation.
8. a kind of flexible finger with anti-slipping mechanism according to claim 1, it is characterised in that：The Fingers face,
The Fingers back of the body, the semicircle donor are made of silica gel material.
9. a kind of flexible finger with anti-slipping mechanism according to claim 8, it is characterised in that：The semicircle donor with
The Fingers back of the body is integrally formed, and the Fingers back of the body ultrasonic bond is set to the side in the Fingers face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810336726.0A CN108381578A (en) | 2018-04-16 | 2018-04-16 | A kind of flexible finger with anti-slipping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810336726.0A CN108381578A (en) | 2018-04-16 | 2018-04-16 | A kind of flexible finger with anti-slipping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381578A true CN108381578A (en) | 2018-08-10 |
Family
ID=63064704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810336726.0A Pending CN108381578A (en) | 2018-04-16 | 2018-04-16 | A kind of flexible finger with anti-slipping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108381578A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909991A (en) * | 2019-04-25 | 2019-06-21 | 苏州柔性智能科技有限公司 | Software clamping limb for internal medicine operation |
| CN109968386A (en) * | 2019-05-17 | 2019-07-05 | 江南大学 | A kind of flexible gripper with surface micro-structure |
| CN111745668A (en) * | 2019-03-26 | 2020-10-09 | 新加坡国立大学 | Modularization manipulator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204599528U (en) * | 2015-05-13 | 2015-09-02 | 台州斯美特鞋业有限公司 | A kind of Antiskid sole |
| US9533419B1 (en) * | 2015-11-02 | 2017-01-03 | Google Inc. | Robotic finger and hand |
| CN107160424A (en) * | 2017-05-24 | 2017-09-15 | 成都众智优学教育咨询有限公司 | A kind of wrist part structure of manipulator |
| CN107378980A (en) * | 2017-02-24 | 2017-11-24 | 苏州柔触机器人科技有限公司 | A kind of novel flexible finger |
| CN208034702U (en) * | 2018-04-16 | 2018-11-02 | 苏州迪天机器人自动化有限公司 | A kind of flexible finger with anti-slipping mechanism |
-
2018
- 2018-04-16 CN CN201810336726.0A patent/CN108381578A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204599528U (en) * | 2015-05-13 | 2015-09-02 | 台州斯美特鞋业有限公司 | A kind of Antiskid sole |
| US9533419B1 (en) * | 2015-11-02 | 2017-01-03 | Google Inc. | Robotic finger and hand |
| CN107378980A (en) * | 2017-02-24 | 2017-11-24 | 苏州柔触机器人科技有限公司 | A kind of novel flexible finger |
| CN107160424A (en) * | 2017-05-24 | 2017-09-15 | 成都众智优学教育咨询有限公司 | A kind of wrist part structure of manipulator |
| CN208034702U (en) * | 2018-04-16 | 2018-11-02 | 苏州迪天机器人自动化有限公司 | A kind of flexible finger with anti-slipping mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 徐波、李波: "革制品人机工学", 北京：中国轻工业出版社, pages: 208 - 211 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745668A (en) * | 2019-03-26 | 2020-10-09 | 新加坡国立大学 | Modularization manipulator |
| CN109909991A (en) * | 2019-04-25 | 2019-06-21 | 苏州柔性智能科技有限公司 | Software clamping limb for internal medicine operation |
| CN109968386A (en) * | 2019-05-17 | 2019-07-05 | 江南大学 | A kind of flexible gripper with surface micro-structure |
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