A novel flexible finger and its preparation method
A flexible finger, a new type of technology, applied in the field of flexible fingers, can solve the problems of consuming gas or liquid source pressure, affecting the life of the soft robot, wasting energy, etc., to avoid wasting energy.
Active Publication Date: 2021-07-20
BEIJING SOFT ROBOT TECH CO LTD
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Problems solved by technology
However, there are some problems in the use of the existing soft actuators. For example, the soft actuators with long structures will produce many redundant parts when deformed, and when the pressure is too large, the airbags and other parts will be damaged. There will be local expansion and expansion in unnecessary directions. These expansions in unnecessary directions will consume additional gas or liquid source pressure, thereby wasting energy
Moreover, if the cavity wall thickness of the soft actuator is small and the bending degree of the soft actuator is large, the local expansion of the airbag under high pressure may also rupture these local expansion areas, thereby destroying the airtightness and affecting the softness of the soft body. robot lifespan
Method used
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[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.
[0027] It should be noted that like numerals and let...
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The embodiment of the present invention provides a new type of flexible finger, including a finger pad and an air bag part, the finger pad part is used to grasp components, the air bag part is used to inflate and deflate to change the curvature of the finger pad, and the air bag part includes a bag surface part and a side portion; the maximum cross-sectional shape of the side portion is a rectangular shape that lacks one long side; the finger pad is located on the side where the side portion lacks a long side, and the capsule surface is partially closed on the side In the portion; the hardness of the material of the side portion is greater than the hardness of the material of the capsular portion.
Description
technical field [0001] The invention relates to the field of flexible fingers, in particular to a flexible finger and a preparation method thereof. Background technique [0002] At present, soft actuating units and actuators made of elastic materials such as silicone rubber are deformed and actuated by using internal and external pressure differences. Generally, fluid (such as gas) is used as the driving medium to change the interior of the soft actuating unit. pressure to achieve differential pressure drive. [0003] As an example of a soft actuating unit or actuator, flexible fingers have many application scenarios in industry and commerce. Flexible fingers usually include an interface for air intake, multiple knuckles connected to the interface, and a one-to-one correspondence with the knuckles. The airbag, the double air channel connecting the multiple airbags and the interface, and the joint connecting two adjacent knuckles. [0004] However, the existing soft actuato...
Claims
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IPC IPC(8): B25J15/00B29C33/00B29C33/72
CPCB25J15/0023B29C33/00B29C33/72
Inventor 张凌峰赵元瑞景喜双邹家榕
Owner BEIJING SOFT ROBOT TECH CO LTD