CN217669436U

CN217669436U - Flexible finger

Info

Publication number: CN217669436U
Application number: CN202220598930.1U
Authority: CN
Inventors: 王乾
Original assignee: Beijing Qinniu Chuangzhi Technology Co ltd
Current assignee: Beijing Qinniu Chuangzhi Technology Co ltd
Priority date: 2022-03-18
Filing date: 2022-03-18
Publication date: 2022-10-28
Anticipated expiration: 2032-03-18

Abstract

The utility model provides a flexible finger, which comprises a finger base and a finger joint, wherein the finger joint is arranged on the finger base, and a power cavity is formed between the finger joint and the finger base; the finger joint comprises a plurality of wave crests, the wave crests extend along the length direction of the flexible finger, and wave troughs are arranged between every two adjacent wave crests; the top of the wave crest is a plane, two sides of the top are fillets, a first cavity is formed in the wave crest in a surrounding mode, and the first cavity is communicated with the power cavity; the width of the cross section of the wave trough is more than twice of that of the wave crest. The flexible finger provided by the utility model has the advantages that the section width of the wave trough is larger than that of the wave crest, the deformation capacity of the wave trough is stronger than that of the wave crest, and the wave trough is easier to deform than the wave crest; the whole finger has larger deformation curvature and larger grabbing force; simple structure, the processing of being convenient for can carry out accurate shaping control.

Description

Flexible finger

Technical Field

The utility model belongs to the arm field, concretely relates to flexible finger.

Background

In the field of robotic arms, particularly table top robotic arms, the end effector is typically a rigid gripper. However, the rigid mechanical gripper is easy to scratch or damage the surface integrity of a gripped object, effective coating is difficult to form, and because the force is difficult to control, soft and fragile objects are difficult to grip without damage, so that the application scenes of the rigid mechanical gripper are limited.

The flexible end effector consisting of flexible fingers is already available in the prior art, the flexible fingers are made of flexible materials and are actuated and deformed by air pressure, the capability of adapting to the grabbed object is strong, and the flexible materials can grab soft and fragile objects without damaging the objects. However, the flexible fingers in the prior art still have small deformation and small grasping force due to imperfect structural design, so that the load of the mechanical arm is small; and the structure is complex, which causes difficulty in manufacturing, high cost and inconvenience in use.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one of the above technical problems, the utility model adopts the technical scheme that a flexible finger is provided, which has simple structure, large bending deformation and large grabbing force; the installation is convenient, and the processing and the manufacturing are convenient.

In order to at least realize one of the above-mentioned purpose, the utility model discloses a technical scheme be:

the utility model provides a flexible finger, which comprises a finger base and a finger joint, wherein the finger joint is arranged on the finger base, and a power cavity is formed between the finger joint and the finger base; the finger joint comprises a plurality of wave crests, the wave crests extend along the length direction of the flexible finger, and wave troughs are arranged between every two adjacent wave crests; the top of the wave crest is a plane, two sides of the top are fillets, a first cavity is formed in the wave crest in a surrounding mode, and the first cavity is communicated with the power cavity; the wave trough is in a concave circular ring shape; in the cross section in the longitudinal direction, the cross-sectional width of the valley is more than twice the cross-sectional width of the peak.

Further, a plurality of grooves are arranged on the outer side of the finger substrate at intervals and are used for increasing the friction force of the flexible fingers for grabbing the object.

Furthermore, a plurality of first bulges extending along the width direction of the flexible finger are arranged on the finger substrate in the flexible finger at intervals; the first protrusion maintains the finger base at the first protrusion flat after the flexible finger is bent.

Further, a second bulge is arranged at the wave crest inside the flexible finger; the second protrusion serves to increase the structural strength and load carrying capacity of the flexible finger.

The power cavity is formed by the surrounding of the finger substrate, the finger front end and the finger joint.

Furthermore, a second cavity is formed between the finger front end and the finger substrate in an enclosing manner, and the second cavity is communicated with the power cavity; the wave crest, the wave trough and the finger front end are the same in thickness.

Further, the finger joint further comprises a finger tail end, the finger tail end is connected with the wave crest at the other end of the finger joint, and a ventilation cavity is formed between the finger base and the finger tail end.

Further, an installation part extends from the outer side of the tail end of the finger; the ventilation cavity penetrates through the finger tail end and the mounting part and is communicated with the power cavity.

Further, the outside of installation department is provided with mounting groove, mounting groove is used for the location of flexible finger is connected.

The utility model provides a flexible finger compares with prior art, the beneficial effects of the utility model reside in that:

in the flexible finger provided by the utility model, the section width of the wave trough is larger than that of the wave crest, the section width of the preferred wave trough is more than twice of that of the wave crest, the deformation capability of the wave trough is stronger than that of the wave crest, and the wave trough is easier to deform than the wave crest; compared with the flexible finger with the wave crest at the deformed part in the prior art, the whole finger has larger deformation curvature and larger grabbing force.

In the flexible finger provided by the utility model, the top of the wave crest is a plane, and the two sides are fillets; the wave trough is in a concave circular ring shape, the structure is simple, the thicknesses of the front end, the wave crest and the wave trough are the same, and the die sinking processing and the batch production are facilitated.

In the flexible finger provided by the utility model, a plurality of grooves are arranged at intervals outside the finger base, so that the friction force of the flexible finger when grabbing articles can be increased, and the stability of grabbing articles is improved; the first arch that the inside finger basement interval of flexible finger was provided with a plurality of edges flexible finger width direction extension on the basement, and a plurality of first archs can guarantee to point the basement crooked back, make the finger basement of first protruding department still keep planar, have bionic design, can with the better laminating of article, realize better snatching.

In the flexible finger provided by the utility model, a second bulge is arranged at each wave crest inside the flexible finger; the second protrusion can improve the structural strength and the load capacity of the flexible finger without affecting the flow of the pressure medium.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the invention, as claimed.

Drawings

Fig. 1 is a schematic structural diagram of a flexible finger in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of another view angle of the flexible finger according to the embodiment of the present invention;

fig. 3 is a schematic view of an internal structure of a flexible finger in an embodiment of the present invention;

fig. 4 is a schematic structural diagram of another view angle of the flexible finger in the embodiment of the present invention;

fig. 5 is a schematic view illustrating the installation of the flexible finger according to the embodiment of the present invention;

the device comprises a base 10, a groove 101, a first bulge 102, a front end 20, a knuckle 30, a wave crest 301, a second bulge 3011, a first cavity 3012, a wave trough 302, a tail end 40, a mounting part 50, a mounting groove 501, a vent cavity 502 and a mounting seat 60.

Detailed Description

In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the following specific embodiments. It should be noted that the following described embodiments are exemplary only and are not to be construed as limiting the invention. The examples, where specific techniques or conditions are not indicated, are to be construed according to the techniques or conditions described in the literature in the art or according to the product specifications.

In the description of the present invention, it is to be understood that the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection or electrical connection; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Hereinafter, the flexible finger provided by the present invention will be described in detail by specific embodiments:

as shown in fig. 1 to 5, the present embodiment provides a flexible finger mainly including a finger base 10, a finger tip 20, a knuckle 30, a finger tip 40, and a mounting portion 50.

The finger base 10 is in a sheet shape, a finger front end 20, a finger joint 30 and a finger tail end 40 are arranged on the finger base 10 in a surrounding mode, and a power cavity is formed among the finger base 10, the finger front end 20 and the finger joint 30; a vent cavity 502 is formed between the finger base 10 and the finger tip 40.

The knuckle 30 comprises four wave crests 301, a wave trough 302 is arranged between every two adjacent wave crests 301, the tops of the wave crests 301 are flat, the two sides of the wave crests 301 are rounded corners, a first cavity 3012 is formed by enclosing the interior of the wave crests 301, and the first cavity 3012 is communicated with a power cavity. The trough 302 is concave ring-shaped relative to the peak 301, the cross section of the trough 302 along the length of the flexible finger is semicircular, and the cross section width of the trough 302 is larger than that of the peak 301, preferably, the cross section width of the trough 302 is more than twice of that of the peak 301.

The finger tip 20 and the finger tip 40 are disposed on both sides of the knuckle 30 and are connected to the wave crests 301 at both ends of the knuckle 30, respectively. A second cavity 201 is formed between the finger front end 20 and the finger base 10 in an enclosing mode, and the second cavity 201 is communicated with the power cavity. A mounting part 50 extends from the outer side of the finger tip 40; the vent lumen 502 is a circular through-hole that extends through the finger tip 40 and the mounting portion 50 and communicates with the power lumen.

A plurality of grooves 101 are arranged at intervals on the outer side of the finger substrate 10; a plurality of first protrusions 102 extending in the width direction of the flexible finger are provided at intervals on the finger base 10 inside the flexible finger.

When a plurality of flexible fingers provided by the utility model are arranged at the tail end of the mechanical arm as a flexible end effector, the ventilation cavity 502 of each flexible finger is connected with an external power source (not shown in the figure); pressure media are added or discharged into the flexible finger through an external power source, so that positive pressure and negative pressure are generated in the power cavity, the first cavity and the second cavity of the flexible finger. The pressure medium is gas or liquid.

When positive pressure is generated inside the flexible finger, the finger tip 20 and the finger joint 30, which are folded integrally, are more likely to expand and deform than the sheet-shaped finger base 10, so that the flexible finger is bent toward the finger base 10, and the finger base 10 is brought into contact with an object to grip or hold the object.

The plurality of grooves 101 can increase the friction force for grabbing the articles, and improve the stability for grabbing the articles. The plurality of first protrusions 102 can ensure that the finger substrate 10 at the first protrusions 102 still keeps a plane shape after the finger substrate 10 is bent, and the finger substrate has a bionic design, namely, the finger substrate is more similar to a plane between finger joints when fingers of a person are bent, so that the finger substrate can be better attached to an article, and better grabbing is realized. When negative pressure is generated in the flexible finger, the finger front end 20 and the finger joint 30 contract, so that the flexible finger is continuously bent towards one side of the finger joint 30 after being restored to the straightened state, the finger base 10 is separated from the object, and the operation of releasing the object is formed.

The utility model provides a flexible finger, when knuckle 30 received malleation or negative pressure to warp, because the cross-sectional width of trough 302 is greater than crest 301's cross-sectional width, trough 302's deformability is stronger than crest 301, and trough 302 compares crest 301 to change promptly and produces the deformation. This structural design of the knuckles 30 is a substantial difference over prior art flexible fingers, which typically have peaks that are more deformable than valleys.

The utility model provides a flexible finger is provided with the second arch 3011 in inside each crest 301 department of flexible finger. The second protrusion 3011 can increase the structural strength and load-bearing capacity of the flexible finger without affecting the flow of the pressure medium.

The utility model provides a flexible finger, the quantity of crest and trough can carry out the reasonable selection according to actual need in the knuckle 30. The length, width, height and thickness of each peak 301 are the same, and the length, width, height and thickness of each valley 302 are the same to ensure that the flexible finger deforms uniformly at each location. Preferably, the thickness of the wave crest 301 and the wave trough 302 is the same, and the thickness of the finger tip 20 and the two parts is also the same, so that the mold opening process is facilitated.

Of course the utility model provides a flexible finger, length, width, height and the thickness of each crest 301 to and the length, width, height and the thickness of each trough 302 are all inequality, thereby make flexible finger realize different bending ability to the different application scenes, realize that better article snatch etc..

The utility model provides a 50 outsides of installation department of flexible finger are provided with mounting groove 501, and mounting groove 501 is convenient for flexible finger location and connects. The flexible finger passes through mount pad 60 to be installed at the arm end, is provided with the boss with mounting groove 501 looks adaptation on the mount pad 60, because the installation department 50 atress of flexible finger is deformable, stretches into back in the mount pad 60, after installation department 50 reconversion, mounting groove 501 card is in on the boss, realize that flexible finger is connected with the location of mount pad 60. The connection mode can realize the quick installation and replacement of the flexible fingers and is convenient to use.

The utility model provides a flexible finger can adopt flexible material preparation such as rubber or silica gel to through the mode integrated into one piece of moulding plastics or mould pressing, the processing of being convenient for, the cost is lower, the mass production of being convenient for.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Claims

1. A flexible finger is characterized by comprising a finger base and a finger joint, wherein the finger joint is arranged on the finger base, and a power cavity is formed between the finger joint and the finger base; the finger joint comprises a plurality of wave crests, the wave crests extend along the length direction of the flexible finger, and wave troughs are arranged between every two adjacent wave crests; the top of the wave crest is a plane, two sides of the top are fillets, a first cavity is formed in the wave crest in a surrounding mode, and the first cavity is communicated with the power cavity; the wave trough is in a concave circular ring shape; in the section in the longitudinal direction, the width of the trough section is more than twice the width of the crest section.

2. The flexible finger according to claim 1, wherein a plurality of grooves are spaced on the outside of the finger base for increasing the friction of the flexible finger in gripping an article.

3. The flexible finger according to claim 1, wherein a plurality of first protrusions extending along the width direction of the flexible finger are arranged on the finger substrate at intervals inside the flexible finger; the first protrusion maintains the finger base at the first protrusion flat after the flexible finger is bent.

4. The flexible finger according to claim 1, characterized in that at said peaks inside the flexible finger there are provided second protuberances; the second protrusion serves to increase the structural strength and load carrying capacity of the flexible finger.

5. The flexible finger of claim 1, further comprising a finger tip, wherein the finger tip is connected to a peak at one end of the knuckle, and the finger base, the finger tip and the knuckle together enclose the power cavity.

6. The flexible finger of claim 5, wherein a second cavity is enclosed between the finger tip and the finger base, the second cavity being in communication with the power cavity; the wave crest, the wave trough and the finger front end are the same in thickness.

7. The flexible finger of claim 1 further comprising a finger tip connected to a peak at the other end of the knuckle, the finger base and the finger tip forming a vent cavity therebetween.

8. The flexible finger of claim 7, wherein a mounting portion extends from the outside of the distal end of the finger; the ventilation cavity penetrates through the finger tail end and the mounting part and is communicated with the power cavity.

9. The flexible finger according to claim 8, wherein the outer side of the mounting portion is provided with a mounting groove for positioning connection of the flexible finger.