Fluid-driven miniature three-finger soft gripper

Abstract

The utility model discloses a fluid-driven miniature three-finger soft gripper which comprises a sealing cover and a soft finger body, an air exhaust hole is formed in the sealing cover, a driving cavity is formed in the soft finger body and communicated with the air exhaust hole, three finger bodies are arranged on the bottom face of the soft finger body in the circumferential direction, driving channels are formed in the finger bodies, and the driving channels are communicated with the air exhaust hole. And the driving channel is communicated with the driving cavity. Due to the fact that the three finger bodies and the driving cavity are arranged into a whole, a clamping area is formed between the finger bodies, all the soft finger parts are circumferentially arrayed relative to the symmetrical center line, when an air exhaust hole is externally connected with an air exhaust device, air is exhausted, the soft gripper can contract, and at the moment, a frame at the root of the finger plays a role in stabilizing and reinforcing; the reinforcing ribs draw the soft fingers and contract inwards at the same time, and the grabbing action is achieved. The soft finger parts are large in size, can provide larger clamping force, and are more suitable for clamping objects in narrow areas. Therefore, the three-finger soft gripper is wider in adaptability.

Description

Technical Field

[0001] The utility model relates to the technical field of soft grippers, in particular to a fluid-driven micro three-finger soft gripper. Background Art

[0002] Traditional grippers are usually made of rigid structures, such as metal or plastic. Since ordinary rigid grippers cannot grasp fragile objects, flexible grippers are born. These grippers are usually made of soft materials, such as rubber, silicone or other elastic materials. They can adapt to the shape and size of objects, thereby achieving stable grasping of objects. In addition, flexible grippers can also adapt to the irregular surface of objects by deformation, so they can better adapt to various complex working environments.

[0003] In practical applications, flexible grippers have broad application prospects in the fields of automated production lines, robots, logistics and transportation. For example, in automated production lines, flexible grippers can be used to grasp and assemble various parts; in the field of robots, flexible grippers can be used to carry and handle various objects. Utility Model Content

[0004] The utility model aims to provide a fluid-driven miniature three-finger soft gripper to solve the problem of clamping objects in a narrow area and to achieve the effect of increasing the volume range of objects that can be clamped.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a fluid-driven micro three-finger soft gripper, comprising a sealing cover and a soft finger body, the sealing cover is provided with an exhaust hole, the soft finger body is provided with a driving cavity, and the driving cavity is connected to the exhaust hole, three fingers are circumferentially arranged on the bottom surface of the soft finger body, a driving channel is provided in the finger body, and the driving channel is connected to the driving cavity.

[0006] Compared with the prior art, the beneficial effects of the utility model are:

[0007] Because the three fingers are integrated with the drive chamber, a clamping area is formed between the fingers. The soft fingers are arranged circumferentially relative to the symmetrical center line. When the air is extracted by the external suction device, the soft gripper will shrink. The frame at the root of the fingers plays a stabilizing and reinforcing role at this time. The reinforcing ribs pull the soft fingers and shrink inwards to achieve the grasping action. The soft fingers are larger in size, can provide greater clamping force, and are more suitable for clamping objects in a small area. Therefore, the three-finger soft gripper has a wider adaptability.

[0008] Since the soft finger is a solid finger, the clamping force on the object is greatly increased, and the inner edge on the finger body can play an anti-slip role.

[0009] The arrangement of the arc groove and the triangular groove makes the soft finger body cast on the sealing cover more firm. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a three-dimensional diagram of the fluid-driven micro three-finger soft gripper of the present utility model.

[0011] Figure 2 It is a schematic diagram of the sealing cover of the utility model.

[0012] Figure 3 This is a cross-sectional view of the fluid-driven micro three-finger soft gripper of the present invention.

[0013] 1. Sealing cover; 11. Top cover; 12. Connecting column; 13. Bottom edge; 14. Exhaust hole; 15. Triangular groove; 16. Arc groove; 2. Soft finger body; 21. Driving cavity; 3. Finger body; 31. Driving channel; 32. Finger body inner edge; 33. Frame; 34. Inner concave wall; 35. Reinforcing rib. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0015] See also Figure 1-3 The utility model provides a technical solution: a fluid-driven micro three-finger soft gripper, comprising a sealing cover 1 and a soft finger body 2, wherein the sealing cover 1 is provided with an air extraction hole 14, the soft finger body 2 is provided with a driving cavity 21, and the driving cavity 21 is connected to the air extraction hole 14, and three fingers 3 are circumferentially arranged on the bottom surface of the soft finger body 2, the sealing cover 1 is made of a hard material, such as metal or plastic, and the soft finger body 2 and the finger 3 are made of organic silicone.

[0016] The finger body 3 is provided with a driving channel 31, and the driving channel 31 is connected to the driving cavity 21. The thickness of the side surface of the soft finger body 2 where the driving cavity 21 is located is greater than the thickness of the bottom surface. When the vacuum device is vacuuming, the elastic deformation of the bottom surface will be greater than that of the side surface. The inner side of the bottom of the finger body 3 is provided with a finger inner edge 32 to achieve an anti-slip effect.

[0017] The sealing cover 1 includes a top cover 11, a connecting column 12 and a lower edge 13, and an air extraction hole 14 runs through the top cover 11, the connecting column 12 and the lower edge 13. A circular arc groove 16 is opened on the lower edge 13 in the circumferential direction, and the soft finger body 2 is cast in the circular arc groove 16. Figure 1 As shown, the top cover 11 is triangular, and the top cover 11 matches the shape of the soft finger body 2. A triangular groove 15 is provided on the top surface of the top cover 11, and the soft finger body 2 is cast in the triangular groove 15. By providing the arc groove 16 and the triangular groove 15, the soft finger body 2 cast on the sealing cover 1 is more secure.

[0018] A frame 33 is provided inside the finger body 3, and a concave wall 34 is provided between the frame 33. The driving channel 31 is provided inside the concave wall 34. The digging depth of the concave wall 34 is 1 / 5 to 1 / 2, and its wall thickness is smaller than the wall thickness at other positions, so that the concave wall 34 is more likely to deform, thereby driving the finger body 3 to complete the grasping. The longest edge length of the frame 33 is less than 1 / 4 of the length of the finger body 3, and the fillet radius of the frame 33 is 0.2 to 0.3 mm. A reinforcing rib 35 is provided between the concave wall 34 at the lower end and the inner side of the finger body 3. The finger body 3 shrinks inwards while pulling the reinforcing rib 35 to achieve the grasping action.

[0019] Working principle: Since the side thickness of the driving cavity 1 is greater than the bottom thickness, and the inner concave wall 34 is set, when the vacuum hole is connected to a vacuum device, the vacuum device performs vacuuming, and the elastic deformation of the bottom side wall will be greater than the deformation of the side side wall. In this way, the soft gripper will be tilted and twisted toward the bottom side wall during the contraction process, so that the lower ends of the fingers 3 are close to each other. When the vacuum pressure is greater, the three fingers can be closer, the gap between the fingertips of the finger body 3 is smaller, and the object that can be clamped is also smaller.

[0020] The cross-sectional area of ​​the driving channel 21 gradually decreases from top to bottom, and different elastic moduli are achieved through different wall thicknesses. The cavity wall thickness is reduced by digging grooves on the outside, which is smaller than the surrounding wall thickness. Therefore, the elastic modulus of the cavity wall is smaller than the elastic modulus of the surrounding wall. Therefore, the shrinkage of the cavity after air extraction is greater than the shrinkage of the surrounding wall, thereby achieving closure. The extension direction of the driving cavity is the same as the extension direction of the soft finger 2.

[0021] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A fluid-driven micro three-finger soft gripper, characterized in that: The invention comprises a sealing cover (1) and a soft finger body (2), wherein the sealing cover (1) is provided with an air extraction hole (14), the soft finger body (2) is provided with a driving cavity (21), and the driving cavity (21) is connected to the air extraction hole (14), and three finger bodies (3) are arranged in the circumferential direction of the bottom surface of the soft finger body (2), a driving channel (31) is provided in the finger body (3), and the driving channel (31) is connected to the driving cavity (21).

2. The fluid-driven micro three-finger soft gripper according to claim 1, characterized in that: The sealing cover (1) comprises a top cover (11), a connecting column (12) and a bottom edge (13), and the air extraction hole (14) penetrates the top cover (11), the connecting column (12) and the bottom edge (13).

3. The fluid-driven micro three-finger soft gripper according to claim 2, characterized in that: The top cover (11) is triangular in shape, and the shape of the top cover (11) matches that of the soft finger body (2).

4. The fluid-driven micro three-finger soft gripper according to claim 2, characterized in that: A triangular groove (15) is provided on the top surface of the top cover (11), and the soft finger body (2) is cast in the triangular groove (15).

5. The fluid-driven micro three-finger soft gripper according to claim 2, characterized in that: A circular arc groove (16) is provided on the circumferential direction of the lower edge (13), and the soft finger body (2) is cast in the circular arc groove (16).

6. The fluid-driven micro three-finger soft gripper according to claim 1, characterized in that: The inner side of the bottom of the finger body (3) is provided with a finger body inner edge (32).

7. The fluid-driven micro three-finger soft gripper according to claim 1, characterized in that: The thickness of the side surface of the soft finger body (2) where the driving cavity (21) is located is greater than the thickness of the bottom surface.

8. The fluid-driven micro three-finger soft gripper according to claim 1, characterized in that: A frame (33) is provided on the inner side of the finger body (3), an inner concave wall (34) is provided between the frame (33), and the driving channel (31) is arranged on the inner side of the inner concave wall (34).

9. The fluid-driven micro three-finger soft gripper according to claim 8, characterized in that: The excavation depth of the inner concave wall (34) is 1 / 5 to 1 / 2 of the entire wall thickness, the longest edge length of the frame (33) is less than 1 / 4 of the length of the finger body (3), and the fillet radius of the frame (33) is 0.2 to 0.3 mm.

10. The fluid-driven micro three-finger soft gripper according to claim 8, characterized in that: A reinforcing rib (35) is provided between the inner concave wall (34) at the lower end and the inner side of the finger body (3).

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