CN112338945A

CN112338945A - Industrial soft finger capable of being quickly connected and detached

Info

Publication number: CN112338945A
Application number: CN202011211487.XA
Authority: CN
Inventors: 金国庆; 杨梦柯; 周建民; 符友军
Original assignee: Suzhou Rouxing Intelligent Technology Co ltd
Current assignee: Suzhou Rouxing Intelligent Technology Co ltd
Priority date: 2020-11-03
Filing date: 2020-11-03
Publication date: 2021-02-09

Abstract

The invention discloses an industrialized soft finger capable of being quickly connected and disassembled, which comprises an embedded part, a knuckle, a finger belly, a bearing shell and a mounting part, wherein an air inlet is formed in the embedded part, the knuckle comprises a knuckle body and a plurality of communicated air cavities arranged on the knuckle body, the knuckle body is arranged on the embedded part, the air cavities are communicated with the air inlet, the finger belly is arranged on the knuckle body and seals the air cavities, the bearing shell is arranged on the embedded part, and the mounting part is connected with the bearing shell. The invention realizes faster and more accurate installation or disassembly, can easily realize connection with the flange plate, obviously improves the working efficiency and has low cost; the arrangement of the bearing shell can enhance powerful constraint for the knuckle, and effectively prevent the air leakage caused by loose connection of the embedded part; the soft fingers are integrally and quickly mounted and moved, so that different soft fingers can be matched with each other to grab objects at a proper distance conveniently, and the working efficiency is obviously improved; the grabbing capacity for objects with different sizes is enhanced.

Description

Industrial soft finger capable of being quickly connected and detached

Technical Field

The invention relates to the technical field of soft robots, in particular to an industrial soft finger capable of being quickly connected and detached.

Background

The soft robot is an emerging hotspot of the robot technology and the development front in the future, shows unprecedented adaptability, sensitivity and agility compared with the traditional rigid robot, continuously expands the application field of the robot, and is one of the main trends of the future development of the robot.

Researchers at home and abroad design a plurality of soft hand grips different from the traditional rigid hand grips according to the characteristics of soft materials and driving. The soft hand grips have good environmental interactivity and man-machine safety, can gently grip a plurality of fragile objects, and have good application prospects. However, the existing soft gripper is usually an integrated flexible single finger due to the limitation of air tightness during pneumatic driving, and is assembled through fastening parts such as bolts and the like, so that the manufacturing of the soft gripper is difficult in the aspects of installation and disassembly; meanwhile, the integrated soft gripper is very high in cost and is not beneficial to application and popularization.

Therefore, in order to solve the above technical problems, it is necessary to provide an industrial soft finger capable of being quickly connected and detached.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an industrial soft finger capable of being quickly connected and detached.

In order to achieve the above object, an embodiment of the present invention provides the following technical solutions:

the utility model provides a but soft finger of industrialization of high-speed joint dismantlement, includes built-in fitting, knuckle, finger abdomen, bears shell and installed part, be provided with the inlet port in the built-in fitting, the knuckle includes the knuckle body, sets up a plurality of air cavities that are linked together on the knuckle body, the knuckle body is installed on the built-in fitting, the air cavity with the inlet port is linked together, the finger abdomen is installed on the knuckle body and with a plurality of the air cavity seals, it installs to bear the shell on the built-in fitting, the installed part with bear the shell and be connected.

As a further improvement of the invention, the upper parts of the embedded parts sequentially penetrate through the bearing shell and the mounting part from bottom to top and are locked by nuts, and the upper parts of the knuckle bodies are matched with the bearing shell.

As a further improvement of the invention, the upper peripheral wall of the embedded part is provided with a stop block, and the lower peripheral wall of the embedded part is provided with a first annular step and a second annular step.

As a further improvement of the invention, the mounting part comprises a pinch plate and a fixing plate connected with the pinch plate, a first through hole is formed in the bearing shell, a second through hole is formed in the pinch plate, and the first through hole and the second through hole are correspondingly arranged.

As a further improvement of the invention, the bottom of the bearing shell is provided with at least one first hook, the bottom of the pinch plate is provided with at least one second hook, and the first hook is clamped with the second hook.

As a further improvement of the invention, at least one first channel is connected between adjacent air cavities.

As a further development of the invention, at least one side of each air chamber extends with a reinforcing structure.

As a further improvement of the invention, the outer side surface of the finger abdomen is provided with a first convex structure and a second convex structure which have different densities.

As a further improvement of the present invention, the first protrusion structure includes a plurality of stripe structures, and the second protrusion structure includes a plurality of dot structures.

As a further improvement of the invention, the top of the embedded part is connected with a pneumatic joint.

The invention has the beneficial effects that:

(1) the buckle structure that the arc shell and the buckle of setting are connected has realized quick accurate installation or dismantlement more, and buckle and fixed plate cooperation can easily be realized being connected with the ring flange simultaneously, are showing improvement work efficiency, low cost.

(2) The bearing shell can strengthen powerful constraint for the knuckle, and effectively prevents the gas leakage caused by loose connection of the embedded parts.

(3) The fixed plate can be moved on the flange plate to adjust the position, so that the soft finger is integrally and quickly installed and moved, the different soft fingers can be matched with each other conveniently to grab objects at a proper distance, and the working efficiency is obviously improved.

(4) The convex structures with different densities are arranged on the outer side surfaces of the finger abdomens, so that the grabbing capacity to objects with different sizes is enhanced, and the application range is wide.

(5) The arranged air cavity is in a complete ellipsoid shape, and the oval angle structure extending out of the side surface can enhance the working capacity of the soft finger in a negative pressure state.

(6) Two ventilation channels are arranged between the adjacent air cavities, so that the soft finger can be ensured to be stable in posture during working, and the bending amount of the soft finger is enhanced.

(7) The pneumatic connector is arranged on the embedded part, so that the air tightness of a joint between an external air source and the soft finger is ensured, and the capacity of quickly connecting the air source is realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a perspective view of a preferred embodiment of the present invention;

FIG. 2 is a schematic front view of the embedment, knuckle and finger belly mounting of the preferred embodiment of the present invention;

FIG. 3 is a schematic rear view of the installation structure of the embedment, the knuckle and the finger pulp of the preferred embodiment of the invention;

FIG. 4 is a partial cross-sectional view of an embedment and knuckle mounting of the preferred embodiment of the present invention;

FIG. 5 is a schematic diagram of the finger pulp and knuckle mounting structure of the preferred embodiment of the present invention;

FIG. 6 is a schematic structural view of a load-bearing shell of a preferred embodiment of the present invention;

FIG. 7 is a schematic view of the construction of the gusset of the preferred embodiment of the present invention;

FIG. 8 is a bottom view of the gusset of the preferred embodiment of the present invention;

FIG. 9 is a schematic structural view of a fixing plate according to a preferred embodiment of the present invention;

FIG. 10 is a schematic structural view of a pneumatic fitting of the preferred embodiment of the present invention;

in the figure: 1. the structure comprises an embedded part, 11, air inlet holes, 12, a stop block, 13, a first annular step, 14, a second annular step, 2, a knuckle, 21, a knuckle body, 22, an air cavity, 23, a first channel, 24, a second channel, 25, a cavity, 26, a third channel, 27, a reinforcing structure, 3, a finger web, 31, a strip-shaped structure, 32, a point-shaped structure, 4, a bearing shell, 41, a first through hole, 42, a first hook, 43, a supporting platform, 5, a nut, 6, a buckle plate, 61, a second through hole, 62, a second hook, 63, a boss, 64, a first mounting hole, 7, a fixing plate, 71, a second mounting hole, 72, a support plate, 73, a groove, 8, a bolt, 9, a pneumatic connector, 91, 92, a connecting part, a movable part 93 and a movable part.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-3 and 5, the industrialized soft finger capable of being quickly connected and disassembled comprises an embedded part 1, a knuckle 2, a finger web 3, a bearing shell 4 and a mounting part, wherein an air inlet 11 is arranged in the embedded part 1, the knuckle 2 comprises a knuckle body 21 and a plurality of communicated air cavities 22 arranged on the knuckle body 21, the air cavities 22 are arranged at intervals along the length direction of the knuckle body 21, the knuckle body 21 is arranged on the embedded part 1, the air cavities 22 are communicated with the air inlet 11, the finger web 3 is arranged on the knuckle body 21 and seals the air cavities 22, the bearing shell 4 is arranged on the embedded part 1, and the mounting part is connected with the bearing shell 4.

According to the invention, the upper part of the embedded part 1 preferably penetrates through the bearing shell 4 and the mounting part from bottom to top in sequence and is locked through the nut 5, the nut 5 is in threaded connection with the upper part of the embedded part 1 to lock the bearing shell 4 and the mounting part, and the upper part of the knuckle body 21 is matched with the bearing shell 4. It is further preferred that the upper part of the knuckle body 21 is located inside the carrying case 4.

According to the invention, the lower parts of the embedded parts 1 are embedded in the knuckles 2, and the knuckles 2 are formed by injection molding. The preferred mode of the invention is to heat bond the knuckles 2 to the pulp 3.

According to the invention, the embedded part 1 is preferably made of copper, but is not limited to the copper, and can be made of aluminum alloy or stainless steel. In the invention, the knuckle 2 and the finger pad 3 are preferably made of silica gel, but the invention is not limited to the silica gel and can also be made of antistatic or corrosion-resistant materials.

As shown in fig. 4, according to the invention, preferably, the stop 12 is arranged on the upper peripheral wall of the embedded part 1, the stop 12 can be positioned in the bearing shell 4 and cannot rotate relative to the bearing shell 4, so that the rotation of the knuckle 2 is avoided, and the grabbing capability is improved, the first annular step 13 and the second annular step 14 are arranged on the lower peripheral wall of the embedded part 1, the first annular step 13 is abutted to the bearing shell 4, the stability of the bearing shell 4 on the embedded part 1 is improved, and the second annular step 14 can be arranged to avoid the embedded part 1 from falling off, so that the assembling efficiency is improved. It is further preferred that the stop 12 is in contact with the first annular step 13 to improve the stability of the stop 12 on the embedment 1.

As shown in fig. 6-8, the preferred mounting member of the present invention includes a buckle 6 and a fixing plate 7 connected to the buckle 6, wherein a first through hole 41 is formed in the bearing shell 4, a second through hole 61 is formed in the buckle 6, the first through hole 41 and the second through hole 61 are correspondingly arranged, the upper portion of the embedded part 1 passes through the first through hole 41 and the second through hole 61, and the stopper 12 is located in the first through hole 41 and the second through hole 61. More preferably, the stopper 12 has a square shape, and the first through hole 41 and the second through hole 61 have both square shapes.

In order to facilitate the connection and the disconnection of the bearing shell 4 and the buckle plate 6, the bottom of the bearing shell 4 is preferably provided with at least one first hook 42, the bottom of the buckle plate 6 is provided with at least one second hook 62, and the first hook 42 and the second hook 62 are clamped and locked with each other.

According to the invention, the bottom of the bearing shell 4 is preferably provided with the supporting platform 43, and the upper part of the knuckle body 21 is positioned in the bearing shell 4 and supported on the supporting platform 43, so that the limitation on the knuckle 2 is further realized, and the knuckle 2 is prevented from shaking.

According to the invention, at least one boss 63 is arranged on the optimized buckle 6, when the buckle 6 is arranged on the bearing shell 4, the boss 63 limits the bearing shell 4, meanwhile, the bearing shell 4 limits the boss 63, and the boss 63 and the bearing shell 4 generate interactive resistance so as to avoid the bearing shell 4 and the buckle 6 from swinging in the horizontal direction.

It is further preferred that the bearing shell 4 is circular arc shaped to fit the upper portion of the knuckle body 21.

As shown in fig. 7 and 9, it is further preferable that the buckle plate 6 is provided with at least one first mounting hole 64, the fixed plate 7 is provided with at least one second mounting hole 71, and when the buckle plate is mounted on the flange, the flange is sandwiched between the buckle plate 6 and the fixed plate 7, and the buckle plate 6, the flange and the fixed plate 7 are fixed by screwing the bolts 8 into the second mounting holes 71 and the first mounting holes 64.

In order to facilitate the adjustment of the position of the fixing plate 7 and facilitate the mutual cooperation of different soft fingers to grasp an object at a proper distance, it is preferable that the two end parts of the fixing plate 7 are provided with the support plates 72. In order to reserve a sufficient position for avoiding interference when screwing the nut 5 on the embedded part 1, the fixing plate 7 is preferably provided with a groove 73.

It is preferred according to the present invention that at least one first channel 23 is connected between the adjacent air chambers 22, and that inflation or deflation is performed through the channel 23. Further preferably, two first channels 23 are connected between the adjacent air cavities 22, so that the bending amount of the soft finger is increased while the posture stability of the soft finger in work is ensured. In the preferred embodiment of the present invention, the knuckle body 21 is provided with a second channel 24 and a cavity 25 communicating with the second channel 24, the second channel 24 is aligned with the air inlet hole 11, and the cavity 25 communicates with the air cavity 22 through at least one third channel 26.

The present invention preferably extends a reinforcing structure 27 to at least one side portion of each air chamber 22 to reduce the resistance of the side portion when the soft finger is operated in a negative pressure state, so that the soft finger can be more easily contracted. It is further preferred that each air cavity 22 is ellipsoidal. It is further preferred that the reinforcing structure 27 is oval-rounded.

In order to facilitate the grabbing capacity for objects with different sizes, the outer side surface of the finger abdomen 3 is preferably provided with a first protruding structure and a second protruding structure which are different in density.

It is further preferred that the first protruding structure comprises a plurality of strip-shaped structures 31, and the second protruding structure comprises a plurality of dot-shaped structures 32, so that the grabbing capacity of the soft fingers for objects with different sizes is enhanced. It is further preferred that the second bump structures are denser than the first bump structures, the first bump structures being provided on the upper part of the finger pulp 3, and the second bump structures being provided at the fingertip positions of the finger pulp. It is further preferred that the strip-like structures 31 are elongated and the dot-like structures 32 are dot-like.

As shown in fig. 1 and 4, the top of the embedded part 1 is preferably connected with a pneumatic connector 9, and the pneumatic connector 9 is connected with an external air source quickly through the pneumatic connector 9 by adopting the technology commonly used in the art. Specifically, a sufficient compression distance is reserved between the pneumatic connector 9 and the embedded part 1, the interface 91 of the pneumatic connector 9 is connected with the external air pipe, the air inlet 11 is a threaded hole, the connecting portion 92 of the pneumatic connector 9 is in threaded connection with the embedded part 1, and the external air pipe can be detached by pressing the moving member 93 of the pneumatic connector 9.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The industrial soft finger capable of being quickly connected and disassembled is characterized by comprising an embedded part, finger joints, finger bells, a bearing shell and a mounting part, wherein an air inlet is formed in the embedded part, each finger joint comprises a finger joint body and a plurality of air cavities communicated with one another and arranged on the finger joint body, the finger joint body is arranged on the embedded part, the air cavities are communicated with the air inlet, the finger bells are arranged on the finger joint body and seal the air cavities, the bearing shell is arranged on the embedded part, and the mounting part is connected with the bearing shell.

2. The industrial soft finger capable of being quickly connected and disassembled according to claim 1, wherein the upper part of the embedded part sequentially penetrates through the bearing shell and the mounting part from bottom to top and is locked through a nut, and the upper part of the knuckle body is matched with the bearing shell.

3. The industrial soft finger capable of being quickly connected and disassembled according to claim 2, wherein the upper peripheral wall of the embedded part is provided with a stop block, and the lower peripheral wall of the embedded part is provided with a first annular step and a second annular step.

4. The industrial soft finger capable of being quickly connected and disassembled according to claim 2 or 3, wherein the mounting part comprises a buckle plate and a fixing plate connected with the buckle plate, a first through hole is formed in the bearing shell, a second through hole is formed in the buckle plate, and the first through hole and the second through hole are correspondingly arranged.

5. The industrial soft finger capable of being quickly connected and disassembled according to claim 4, wherein at least one first hook is arranged at the bottom of the bearing shell, at least one second hook is arranged at the bottom of the buckle plate, and the first hook is clamped with the second hook.

6. The industrial flexible finger capable of being quickly connected and disassembled according to claim 1, wherein at least one first channel is connected between adjacent air cavities.

7. The quick connect disconnect industrial soft finger of claim 1 or 6, wherein at least one side of each air cavity extends a reinforcing structure.

8. The industrial soft finger capable of being quickly connected and disassembled according to claim 1, wherein the outer side surface of the finger web is provided with a first protruding structure and a second protruding structure which are different in density.

9. The industrial soft finger capable of being quickly connected and disassembled according to claim 8, wherein the first protruding structure comprises a plurality of strip-shaped structures, and the second protruding structure comprises a plurality of point-shaped structures.

10. The industrial soft finger capable of being quickly connected and disassembled according to claim 1, wherein a pneumatic connector is connected to the top of the embedded part.