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Novel flexible finger

A flexible finger and finger technology, applied in the field of flexible fingers, can solve the problems such as the inability of flexible fingers to adapt to fast grasping, the limitation of service life and compressive strength, and the limitation of flexible fingers arrangement, so as to achieve accurate and reliable grasping action and sealing. Good sex, little shaking effect

Active Publication Date: 2017-11-24
SUZHOU ROROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004]1. Flexible fingers have limited service life and compressive strength due to the limitation of the strength of the flexible material itself
[0005]2. Since the tail of the current flexible finger is a tapered air intake nozzle, a special fixing seat is required to clamp the flange edge of the air intake nozzle, so that the flexible manipulator The installation is more complicated, and the arrangement of flexible fingers is limited, and it cannot be closely arranged to grab small items
[0006]3. Since the air intake nozzle is tapered, the joint between the air intake nozzle and the knuckle is a closed neck. During the use of flexible fingers, due to The existence of the neck neck makes the flexible fingers shake a lot during the deformation process, which makes the flexible fingers unable to adapt to fast grasping

Method used

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Examples

Experimental program
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Effect test

Embodiment 1

[0033] Such as Figure 1 to Figure 6 As shown, a novel flexible finger 100 includes a finger bottom plate 2 and a finger surface 1, the finger surface 1 is connected to one side of the finger bottom plate 2, and the elastic modulus of the finger bottom plate 2 is greater than that of the finger bottom plate. The modulus of elasticity of the surface 1, wherein the difference of the modulus of elasticity can be realized by using materials with different moduli of elasticity, and can also be realized by other physical methods. A material with a high elastic modulus is embedded in the finger base 2 , thereby changing the overall elastic modulus of the finger base 2 . The flexible finger 100 is generally made of elastic material or synthetic fiber material, such as rubber material.

[0034] Such as figure 1 , figure 2 , Figure 4 and Figure 6 As shown, the finger surface 1 includes a fingertip segment 13, a finger segment 12 and a heel segment 11, and the finger segment 12 i...

Embodiment 2

[0041] Such as Figure 7 As shown, the structure of this embodiment is basically the same as that of Embodiment 1, and the bottom of the trough 122 of the finger segment 12 is embedded with a reinforcing sheet 18 . Likewise, a reinforcing sheet 18 is embedded in the groove bottom of the transition groove 14 . The reinforcing sheet 18 is a fiber sheet, of course, the reinforcing sheet 18 and the rib sheet in Embodiment 1 can exist at the same time, so that the service life is longer.

[0042] Working principle of the present invention is: as Figure 6 As shown, the flexible finger 100 is first fixed on the mounting base 300, Figure 6 Among them, a standard air inlet and outlet joint 400 is installed on the installation base 300, and the air outlet 22 of the flexible finger 100 is set on the air inlet and outlet joint 400, and then the cover 200 is placed on the heel section 11 of the flexible finger 100, and the cover is buckled. The side wall of the cover is in the transit...

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Abstract

The invention discloses a novel flexible finger. The novel flexible finger comprises a finger bottom board and a finger face connected to one side board face of the finger bottom board; the elasticity modulus of the finger bottom board is larger than that of the finger face; the finger face comprises a fingertip section, a knuckle section and a finger root section; the knuckle section comprises at least one crest and at least one trough; the crests and the troughs are sequentially connected to form a wavy structure; a drive cavity is defined by the knuckle section and the finger bottom board; transition grooves are formed between the knuckle section and the finger root section; the finger root section is internally provided with an expansion communication cavity communicating with the drive cavity; an air port communicating with the expansion communication cavity is formed in the finger bottom board or the finger root section; and when the air port is formed in the finger bottom board, the air port corresponds to the finger root section in position. The flexible finger is more reasonable in structure and more convenient to install.

Description

technical field [0001] The invention relates to a flexible finger, in particular to a flexible finger with chambers, which can change the deformation of the flexible finger through positive pressure or negative pressure. Background technique [0002] In the field of industrial automation, the grasping action at the end of the robotic arm is mainly completed by rigid mechanical grippers or vacuum suction cups. However, due to the difficulty in controlling the strength of rigid mechanical grippers, it is difficult to achieve non-destructive grasping of soft and fragile objects. It is difficult for vacuum suction cups to adapt to irregular objects with rough surfaces and holes during handling. This leads to limitations in both application scenarios. [0003] Flexible robotic fingers are made of elastic materials, which can grasp soft and fragile objects without causing damage to the objects themselves. Current flexible fingers include fingertips and knuckles. The tail of the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00
CPCA61F5/10A61H1/0218A61H1/0288B25J15/0023A61H2201/1238A61H2201/165A61H2205/067
Inventor 张帆刘璐
Owner SUZHOU ROROBOT TECH CO LTD
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