CN217046465U - Flexible finger, manipulator and robot - Google Patents

Abstract

The utility model discloses a flexible finger, including fingerboard and fingerboard, the fingerboard is located the top of fingerboard, form the chamber of ventilating between fingerboard and the fingerboard, the fingerboard is from going to the back including pointing point portion, knuckle portion and finger root, the knuckle portion includes more than two, and is a plurality of the knuckle portion arrange from going to the back interval, the knuckle portion includes the knuckle portion in the forefront, the knuckle portion in the forefront with fingertip portion link up, the bottom surface of fingerboard is equipped with the antifriction plate, the antifriction plate is located point portion's below. The utility model discloses an increase the antifriction plate in the bottom surface of fingerboard, utilize the antifriction plate reinforcing with the frictional force of article for it is more firm when snatching article, simultaneously, because the back edge of antifriction plate does not exceed the knuckle in the forefront, therefore this antifriction plate does not influence the normal bending of finger. And simultaneously, the utility model also discloses a manipulator and the robot of using above-mentioned flexible finger.

Description

Flexible finger, manipulator and robot

Technical Field

The utility model relates to an end-to-end actuating mechanism of robot especially relates to a flexible finger.

Background

In the field of industrial automation, the grabbing action at the tail end of the mechanical arm is mainly completed by a rigid mechanical claw or a vacuum chuck. However, the rigid mechanical gripper is difficult to control the force, so that soft and fragile objects are difficult to realize nondestructive grabbing. The vacuum chuck is difficult to adapt to the irregular object with rough surface and holes in the carrying process. This results in limitations for both application scenarios.

At present, a soft actuating unit and an actuator made of elastic materials such as silicon rubber realize deformation and actuation by using internal and external pressure differences, and generally use fluid (for example, gas) as a driving medium to change the internal pressure of the soft actuating unit so as to realize pressure difference driving. As an example of the soft actuating unit or the actuator, a flexible finger has many application scenarios in industry and commerce, and generally includes an interface for air intake, a plurality of knuckles connected to the interface, air bags corresponding to the knuckles one by one, an air passage for communicating the air bags and the interface, and an internode for connecting two adjacent knuckles.

However, the friction coefficient of the material of the existing flexible clamp is small, so that when the object is grabbed, the grabbing effect is often unstable, the object is easy to fall off, and particularly when the object with small roughness or fragility of the outer surface is grabbed, the defect is more obvious. Moreover, when the air bag structure of the existing flexible finger structure applies air pressure, the stress distribution in the structure is uneven, and the local stress concentration condition exists, so that the service life of the flexible finger is not long, and the conversion efficiency of converting the expansion effect of each air bag into the integral bending deformation of the flexible finger is not high.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is: it is an object to provide a flexible finger that solves one or more of the problems of the prior art, and at least provides a useful alternative or creation.

The utility model provides a solution of its technical problem is: the utility model provides a flexible finger, includes fingerboard and finger face, the finger face is located the top of fingerboard, form the chamber of ventilating between finger face and the fingerboard, the finger face is from including pointing sharp portion, finger section and indicating the root after going to, finger section includes more than two, and is a plurality of finger section arrange from going to the back interval, finger section includes the finger section in the forefront, the finger section in the forefront with fingertip portion link up, the bottom surface of fingerboard is equipped with the antifriction plate, the antifriction plate is located indicate the below of sharp portion, just the back edge of antifriction plate is no longer than the finger section in forefront.

The beneficial effects of the utility model are that: the utility model discloses an increase the antifriction plate in the bottom surface of fingerboard, utilize the frictional force of antifriction plate reinforcing and article for more firm when snatching article, simultaneously, because the back edge of antifriction plate is not more than the knuckle in the forefront, consequently this antifriction plate does not influence the normal bending of finger.

As a further improvement of the technical scheme, the wear-resisting plate is an iron plate with the thickness not exceeding 4 mm. The wear-resisting plate is made of the thin iron plate, so that the durability of the wear-resisting plate can be improved, the thin iron plate is good in elasticity, and when fingers bend, the movement is smooth, and the iron plate can be in contact with a grabbed object better.

As a further improvement of the technical scheme, the back surface of the wear-resisting plate is provided with anti-skidding grains. The back surface of the wear-resisting plate is a plate with patterns, and after the surface is provided with the anti-skidding patterns, the contact area between the wear-resisting plate and a grabbed object can be increased.

As a further improvement of the above technical solution, the wear-resistant plate is embedded on the fingerboard, and the back surface of the wear-resistant plate is flush with the back surface of the fingerboard. The wear-resisting plates are inlaid on the finger plates, so that the mounting reliability of the wear-resisting plates can be improved, and the wear-resisting plates cannot fall off in the using process.

As a further improvement of the above technical solution, the fingerboard includes a first area corresponding to the fingertips and the foremost knuckle, and the wear-resistant plate is distributed over the first area. After adopting this scheme for the superficial area of antifriction plate is as big as possible, increases the reliability of snatching article.

As a further improvement of the above technical solution, the knuckle portion includes an upper wall, a lower wall, a front wall, a rear wall, a left wall and a right wall, the thicknesses of the front wall and the rear wall are the same, and the thicknesses of the front walls are all smaller than the thicknesses of the upper wall, the lower wall, the left wall and the right wall. The thickness of the front wall is set to be smaller than the thicknesses of the upper wall, the lower wall, the left wall and the right wall, so that the flexible finger can be bent in a better oriented mode when inflated, the conversion efficiency of the whole bending deformation of the finger is improved, and the service life of the finger is prolonged.

As a further improvement of the above technical solution, the front wall of the knuckle located behind is joined to the lower wall of the knuckle located in front thereof, the lower wall includes a first arc-shaped segment, the upper wall includes a second arc-shaped segment, and the radius of the second arc-shaped segment is greater than the radius of the first arc-shaped segment. By optimizing the shape of the knuckle, the conversion rate of the bending deformation of the finger is higher.

To further improve the structural strength of the flexible finger, the fingerboard is integrally formed with the fingerboard. Compare in prior art, link together fingerboard and finger face through the mode of bonding, combine fingerboard and finger face together through integrated into one piece's mode, can obviously improve the structural strength of flexible finger, simultaneously, knuckle portion hang in on the fingerboard for the cross-section in chamber of ventilating can be bigger, and when ventilating, the resistance is littleer, more is favorable to the bending deformation of flexible finger.

The utility model also provides a manipulator, including at least one flexible finger, flexible finger be above-mentioned arbitrary one flexible finger. The utility model provides a manipulator is through using foretell flexible finger, can be flexible and snatch article under the heavy load, has huge promotion on the executive capability.

The utility model relates to a robot, including at least one manipulator, the manipulator is the aforesaid the manipulator.

Drawings

In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures represent only some embodiments of the invention, not all embodiments, and that a person skilled in the art, without inventive effort, can also derive other designs and figures from them.

Fig. 1 is a schematic perspective view of a flexible finger of the present invention;

FIG. 2 is a front cross-sectional view of a flexible finger of the present invention;

fig. 3 is a cross-sectional view of the upper surface of the flexible finger of the present invention.

Detailed Description

The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive labor based on the embodiments of the present invention all belong to the protection scope of the present invention. The preferred embodiment of the present invention is shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that people can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but it cannot be understood as the limitation of the protection scope of the present invention.

In the description of the present invention, it should be understood that the directional descriptions, such as the directions or positional relationships indicated by upper, lower, front, rear, left, right, etc., are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but not for indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.

In the description of the present invention, a plurality of meanings are one or more, a plurality of meanings are two or more, and the terms greater than, smaller than, exceeding, etc. are understood as excluding the number, and the terms greater than, lower than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the terms such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the terms in the present invention by combining the specific contents of the technical solution. Meanwhile, all technical characteristics in the invention can be interactively combined on the premise of not conflicting with each other.

The flexible finger 100 is used to perform a target action under the action of an external driving source. The flexible fingers 100 are mostly applied to a manipulator (not shown), and the mutual cooperation of the flexible fingers 100 can be competent for and complete actions of grabbing, holding and the like of the manipulator; the flexibility of the flexible finger 100 can make the manipulator applying the flexible finger 100 more adaptive to the external complex environment when performing the task.

The contact area of the manipulator and an environmental object during fitting can be increased through the flexibility of the flexible finger 100 in the task execution process, so that the environmental action stress born by the manipulator is greatly reduced, and meanwhile, the flexibility of the manipulator is improved due to the multiple degrees of freedom and the deformation capability of the flexible finger 100. The application of the flexible finger 100 to the manipulator greatly improves the overall safety of the manipulator and the interaction capability with the external environment. In this embodiment, the manipulator to which the flexible finger 100 is applied is suitable for an industrial automation line, and the manipulator realizes actions such as placing and processing a workpiece by the flexible finger 100. It can be understood that the manipulator applied to the flexible finger 100 can be applied to other fields besides industrial manufacturing, such as detection, emergency rescue, rehabilitation, and the like, according to different functional purposes.

Specifically, referring to fig. 1 to 3, the flexible finger 100 includes a finger board 200 and a finger surface 300 which are integrally formed, wherein the finger board 200 and the finger surface 300 are made of a silicone material, the finger surface 300 is located above the finger board 200, the finger surface 300 includes a finger tip portion 310, a finger joint portion 320 and a finger base portion 330 from front to back, the plurality of finger joint portions 320 are arranged at intervals from front to back, the plurality of finger joint portions 320 form a similar organ shape, among the plurality of finger joint portions 320, the finger joint portion 320 located at the front is connected to the finger tip portion 310, and the finger joint portion 320 located at the back is connected to the finger base portion 330. Referring to fig. 2 and 3, the knuckle 320 includes an upper wall 321, a lower wall 322, a front wall 323, a rear wall 324, a left wall 325 and a right wall 326, wherein the thicknesses of the front wall 323 and the rear wall 324 are the same, and the thicknesses of the front walls are smaller than the thicknesses of the upper wall 321, the lower wall 322, the left wall 325 and the right wall 326. Specifically, the connection relationship between the plurality of knuckles 320 is as follows: the front wall 323 of the posterior knuckle 320 is joined 322 to the lower wall of the posterior knuckle 320, which includes a first curved segment 3221, and the upper wall 321 includes a second curved segment 3211, and the radius of the second curved segment 3211 is greater than the radius of the first curved segment 3221. Due to the presence of the first arcuate segment 3221, a gap α is formed between the rear wall 324 of the forward knuckle 320 and the front wall 323 of the rearward knuckle 320, while due to the presence of the second arcuate segment 3211, a gap β is formed between the front wall 323 and the rear wall 324 in the same knuckle 320, where β is greater than α. In addition, the lower wall 322 of the finger joint 320 is vertically separated from the inner surface of the finger board 200 in a staggered manner, a channel γ is formed, the channel γ and the gaps β of the plurality of finger joints 320 constitute a ventilation chamber 400, and an air inlet 331 communicating with the ventilation chamber 400 is provided on the finger base 330.

Meanwhile, a wear plate 500 is disposed on the bottom surface of the fingerboard 200, the wear plate 500 is located right below the fingertips 310, and the rear edge of the wear plate 500 does not exceed the forefront knuckle 320. The wear-resisting plate 500 is an iron plate with the thickness not exceeding 4 mm.

When the finger plate is in operation, the finger plate 200 is matched with the finger surface 300 to realize inward bending and outward expansion of the flexible finger 100; the finger base 330 is used to communicate with an external drive source. The external driving source is communicated with the ventilation cavity 400 through an air inlet 331 formed in the finger root part 330, and the external driving source injects or exhausts driving media into the driving cavity 400, so that positive pressure or negative pressure is formed in the ventilation cavity 400; due to the difference in shape and structure between the finger board 200 and the finger surface 300, the degree of deformation response of the finger board to the positive pressure and the negative pressure is different, and thus the external driving source controls the flexible finger 100 to bend inward and unfold outward by adjusting the pressure state in the ventilation cavity 400. In this embodiment, the external driving source drives the flexible finger 100 by pneumatic control, that is, the driving medium contained in the ventilation cavity 400 is a gas medium. It is understood that the external driving source may also achieve the power driving of the flexible finger 100 by means of hydraulic control, that is, the driving medium contained in the ventilation cavity 400 may be a liquid medium.

When the flexible finger 100 is flexed inward to grasp an article, the front end of the fingerboard 200 comes into contact with the surface of the article. Since the wear plate 500 is provided at the front end of the bottom surface of the fingerboard 200, the wear plate 500 comes into contact with the surface of the object when the object is gripped. Since the cavity structure is not disposed in the finger tip portion 310, the deformation of the finger plate 200 at this position is not significant when the flexible finger 100 is bent inward, and therefore, the bending deformation of the wear-resistant plate 500 is not significant, and the wear-resistant plate 500 is substantially kept flat as a whole, and meanwhile, the wear-resistant plate 500 is a metal plate with a relatively thin thickness and has a certain elasticity, so that the wear-resistant plate 500 can also deform within a reasonable range when the flexible finger 100 is bent inward. Compared with the silicon rubber material of the fingerboard 200, the wear-resistant plate 500 made of metal iron has better rigidity and better friction performance when the articles are in contact with each other, and can more stably hold the articles.

Meanwhile, in this embodiment, since the front wall 323 and the rear wall 324 of the knuckle 320 are the thinnest wall of the entire knuckle 320, when the flexible finger 100 is inflated to bend inward, the flexible finger is more likely to bend and deform in the downward and rearward directions, so that the conversion efficiency of the overall bending deformation of the flexible finger 100 is improved, and the service life of the flexible finger 100 is prolonged.

Further, in a preferred embodiment, the wear plate 500 is provided with an anti-slip pattern on the back surface. The shape of the antiskid veins can be diamond, ring or other common shape structures. Compared with a smooth surface, after the anti-slip patterns are arranged on the surface of the wear plate 500, the contact area between the wear plate 500 and the grabbed object can be increased, so that the grabbing of the object is firmer.

Further, in order to make the combination of the wear plate 500 and the fingerboard 200 more compact, the wear plate 500 is embedded on the fingerboard 200. The inlay may be performed by placing the wear plate 500 in a mold cavity of a molding die during the injection molding of the flexible finger 100. When the flexible finger 100 is formed, the wear plate 500 can be well combined with the fingerboard 200, and the back surface of the wear plate 500 is flush with the back surface of the fingerboard 200 after the fingerboard 200 is formed by improving the cavity structure of the mold. The wear plate 500 is embedded in the fingerboard 200, which not only is more attractive, but also is more durable, and reduces the risk of accidental detachment of the wear plate 500 during use.

In some embodiments, to simplify the production of the flexible finger 100, the finger plate 200 and the finger surface 300 may be molded separately and then the finger plate 200 may be bonded to the finger surface 300 by adhesive.

In other embodiments, the knuckle 320 may have a constant wall thickness to simplify manufacturing.

The utility model also provides a manipulator (not seen in the figure), including at least one flexible finger 100, flexible finger 100 be above-mentioned arbitrary one flexible finger. The utility model provides a manipulator is through using foretell flexible finger 100, can be flexible and snatch article under the heavy load, has huge promotion on the executive ability.

The utility model relates to a robot (not seen in the figure), including at least one manipulator, the manipulator is above-mentioned the manipulator.

While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the details of the embodiments shown, but is capable of various modifications and substitutions without departing from the spirit of the invention.

Claims (10)

1. The utility model provides a flexible finger, includes fingerboard and finger face, the finger face is located the top of fingerboard, form the chamber of ventilating between finger face and the fingerboard, the finger face is from including pointing the point portion, knuckle portion and indicating the root portion to the back, its characterized in that: the knuckle includes more than two, and is a plurality of the knuckle arrange from going to back interval, the knuckle includes the knuckle of a forefront, the knuckle of forefront with fingertip portion link up, the bottom surface of fingerboard is equipped with the antifriction plate, the antifriction plate is located indicate the below of point portion, just the back edge of antifriction plate is not more than the knuckle of forefront.

2. The flexible finger according to claim 1, characterized in that: the wear-resisting plate is an iron plate with the thickness not exceeding 4 mm.

3. The flexible finger according to claim 2, characterized in that: the back of the wear-resistant plate is provided with anti-skid grains.

4. The flexible finger according to claim 2, characterized in that: the wear-resisting plate is embedded on the finger plate, and the back surface of the wear-resisting plate is flush with the back surface of the finger plate.

5. The flexible finger according to claim 1, characterized in that: the fingerboard includes first region, first region corresponds indicate the point portion and the knuckle portion of forefront, the wear-resisting plate is covered with first region.

6. The flexible finger according to claim 1, characterized in that: the knuckle part comprises an upper wall, a lower wall, a front wall, a rear wall, a left wall and a right wall, the thicknesses of the front wall and the rear wall are the same, and the thicknesses of the front wall are all smaller than the thicknesses of the upper wall, the lower wall, the left wall and the right wall.

7. The flexible finger according to claim 6, characterized in that: the antetheca that is located the knuckle of rear links up with the lower wall of the knuckle of its place ahead, the lower wall includes first segmental arc, the upper wall includes the second segmental arc, the radius of second segmental arc is greater than the radius of first segmental arc.

8. The flexible finger according to any one of claims 1-7, characterized in that: the fingerboard and the fingerboard are integrally formed, and the knuckle part is suspended on the fingerboard.

9. A manipulator, includes at least one flexible finger, its characterized in that: the flexible finger is as claimed in any one of claims 1 to 8.

10. A robot comprising at least one manipulator, characterized in that: the robot is the robot of claim 9.

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