Flexible clamping finger provided with microchannels

Abstract

A flexible clamping finger provided with microchannels comprises an elastic finger part used for adapting to the shape of a clamped part through self-deformation and providing clamping force, and a microflow control part used for controlling pressure of air chambers in an elastic finger. In the elastic finger part, a finger body in the elastic finger part is cuboid, and made of elastic materials, and shaping strips are arranged at both sides of the finger body longitudinally; the upper and lower parts of each side of the finger body are each provided with one shaping strip; the air chambers are arranged in the middle of the finger body, and comprise straight quadrangular prism air chambers and straight triangular prism air chambers; the air chambers are arranged symmetrically up and down from the view of the horizontal cross section, and in the upper layer of air chambers or the lower layer of air chambers, the straight quadrangular prism air chambers and the straight triangular prism air chambers are alternately arranged; the straight quadrangular prism air chambers and the straight triangular prism air chambers in the same row are arranged equidistantly front and back from the view of the longitudinal cross section; and in the microflow control part, the microchannels penetrate through the finger body and communicate with the straight quadrangular prism air chambers and the straight triangular prism air chambers. The flexible clamping finger provided by the invention is high in flexibility, and physical damage is avoided.

Description

technical field [0001] The invention relates to a soft body clamping finger, in particular to a soft body clamping finger of a microchannel. Background technique [0002] Robots in the industrial field are mostly based on rigid structures, including metal skeletons, motors, traditional mechanical grippers, and mechanical joints. Tasks that require high precision, fast motion, or high intensity can be efficiently performed. However, these rigid robots tend to be heavy, expensive, and complicated to control. Although some lightweight robotic gripper designs have emerged in recent years and are capable of fine manipulation, they are still prone to impact or crush damage to the gripped parts. Neither the development of mechanical joints nor the efficient application of sensors can fundamentally solve the problem that grippers are prone to mechanical damage. [0003] Common manipulator grippers are widely used and have various types. The exquisite mechanism design can make the...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the poor flexibility of existing mechanical clamping methods and the shortcomings of physical damage caused by mechanical impact, the present invention provides a soft clamping finger for micro-pipes that has better flexibility and avoids physical damage

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