Fluid-driven miniature soft gripper

Abstract

The utility model discloses a fluid-driven miniature soft gripper which comprises a soft finger main body and a sealing cover, the soft finger main body is poured on the sealing cover, and a driving cavity is formed in the inner wall of the soft finger main body; the soft finger body is provided with a first vent hole, the first vent hole is communicated with the driving cavity, the sealing cover is provided with a second vent hole, and the second vent hole is matched with the first vent hole. According to the device, objects can be better grabbed, the soft finger main body is formed by pouring a soft silica gel rubber material on the sealing cover, so that the air tightness between the soft finger main body and the sealing cover is better guaranteed, and the connection between the soft finger main body and the sealing cover is further reinforced. The design of the concave structure outside the expansion wall is more reasonable, the stability and reliability of the soft gripper can be improved, the service life of the gripper is prolonged, the grooves are formed in the finger backs, reinforcing pieces with relatively high hardness can be placed in the grooves, excessive deformation in the gripping process can be effectively avoided, objects can be better gripped, the structure is more reasonable, and use is convenient.

Description

Technical Field

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

[0002] In the field of industrial automation, the grasping action at the end of the robot arm is mainly completed by a rigid robot claw or a vacuum suction cup. However, since the force of a rigid robot claw is difficult to control, it is difficult to achieve non-destructive grasping of soft and fragile objects. The vacuum suction cup is difficult to adapt to irregular objects with rough surfaces and holes during the handling process. This leads to limitations in the application scenarios of both.

[0003] Flexible mechanical fingers are made of elastic materials and can grasp soft and fragile objects without damaging the objects themselves. The current flexible fingers include fingertips and knuckles. The tail of the knuckles is set as a conical air inlet nozzle, and the conical air inlet nozzle is provided with a flange structure. This structure has the following disadvantages:

[0004] 1. Due to the strength limitations of the flexible material itself, the service life and compressive strength of flexible fingers are limited.

[0005] 2. Due to the strength limitation of the material of the current flexible fingers, the airtightness is poor when connected to metal, and a special fixing seat is required to clamp the flange edge of the air inlet nozzle, which makes the installation of the flexible manipulator more complicated.

[0006] 3. Due to the strength limitation of the flexible material itself, the flexible fingers are prone to eversion when grasping objects. During the use of the flexible fingers, the flexible fingers will shake significantly during the deformation process, which makes the flexible fingers unable to adapt to fast grasping. Utility Model Content

[0007] The purpose of the utility model is to provide a fluid-driven micro soft gripper to solve the problem of better grasping objects and achieve the effect of convenient installation.

[0008] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a fluid-driven micro soft gripper, comprising a soft finger body and a sealing cover, wherein the soft finger body is cast on the sealing cover, and a driving chamber is opened on the inner wall of the soft finger body; the soft finger body is provided with a first air vent, and the first air vent is connected to the driving chamber, and the sealing cover is provided with a second air vent, and the second air vent cooperates with the first air vent.

[0009] Compared with the prior art, the beneficial effects of the utility model are:

[0010] This device can better grasp objects. The soft finger body is a soft silicone rubber material cast on the sealing cover and the mold, which better ensures the airtightness between the soft finger body and the sealing cover, and further strengthens the connection between the soft finger body and the sealing cover. At the same time, the concave structure outside the expansion wall is reasonably designed to improve the driving performance of the soft finger and increase the service life of the soft finger. A relatively high hardness reinforcement sheet is set at the back of the fingertip to avoid excessive deformation during the grasping process. It can better grasp objects, and the structure is more reasonable and easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the fluid-driven micro soft gripper sealing cover of the utility model.

[0012] Figure 2 It is a schematic diagram of the soft finger body of the fluid-driven micro soft gripper of the utility model.

[0013] Figure 3 This is a cross-sectional view of the soft finger body of the fluid-driven micro soft gripper of the utility model.

[0014] Figure 4 This is a schematic diagram of a fluid-driven micro soft gripper of the present utility model.

[0015] Figure 5 This is a cross-sectional view of the fluid-driven micro soft gripper of the present utility model.

[0016] 1. Soft finger body; 101. First vent hole; 102. Casting groove; 103. Finger tip section; 104. Finger cavity section; 105. Finger heel section; 2. Sealing cover; 201. Second vent hole; 202. Casting positioning groove; 203. Protrusion at the lower end of the sealing cover; 204. Limiting through hole; 3. Driving chamber; 4. Groove; 5. Rough groove; 6. Inner concave wall. DETAILED DESCRIPTION

[0017] 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.

[0018] See also Figure 1-5The utility model provides a technical solution: a fluid-driven micro soft gripper, comprising a soft finger body 1 and a sealing cover 2, wherein the soft finger body 1 is cast on the sealing cover 2, the sealing cover 2 is generally made of metal material, and the soft finger body 1 is generally made of elastic material or synthetic fiber material, preferably a soft silicone rubber material. The inner wall of the soft finger body 1 is provided with a driving chamber 3, the soft finger body 1 is provided with a first vent hole 101, and the first vent hole 101 is connected to the driving chamber 3, the sealing cover 2 is provided with a second vent hole 201, and the second vent hole 201 cooperates with the first vent hole 101 to achieve gas conduction.

[0019] The soft finger body 1 includes an integrally formed fingertip section 103, a finger cavity section 104 and a finger heel section 105. Such a design can imitate the finger pad of a person. The driving chamber 3 is arranged in the finger cavity section 104, which is U-shaped as a whole. Such a design can improve the degree of deformation, and the two ends of the driving chamber 3 are arranged in the finger cavity section 104. A groove 4 is arranged on the outside of the fingertip section 103, and a reinforcing sheet can be arranged in the groove 4 according to the actual operation situation, and the reinforcing sheet can avoid excessive deformation during the grasping process. The shape of the groove 4 is a rectangular parallelepiped. As a rectangular parallelepiped shape, it is convenient to form, and the manufacturing difficulty is low. It can effectively prevent the finger from everting outward, and can better grasp the object. A rough groove 5 is arranged on the inner side of the fingertip section 103. The number of the rough grooves 5 is selected and designed according to the actual grasping requirements, which can increase the friction force when the flexible finger grasps. An inner concave wall 6 is arranged at the arch of the finger cavity section 104, and the inner concave wall 6 is connected to the driving chamber 3. The number of the inner concave walls 6 is 3, and the 3 inner concave walls 6 are distributed in a U shape. The thickness of the inner concave wall 6 is 0.6 to 0.8 times the thickness of the outer wall of the gripper. By designing the inner concave wall feature, the wall thickness of the deformation of the driving chamber 3 can be reduced. When the chamber is under negative pressure, the thin wall of the chamber is deformed, allowing the gripper to grasp the object. When the chamber is under positive pressure, the chamber is inflated and the gripper releases the object.

[0020] The bottom surface of the sealing cover 2 is integrally formed with a sealing cover lower end protrusion 203, and the finger heel section 105 is cast on the sealing cover lower end protrusion 203. The sealing cover lower end protrusion 203 is provided with limiting through holes 204 on both sides, and the finger heel section 105 is cast in the limiting through holes 204. The sealing cover 2 is provided with a casting positioning groove 202, and the finger heel section 105 is cast in the casting positioning groove 202 through the casting protrusion 102.

[0021] Working principle: The positive pressure and negative pressure introduced into the driving chamber 3 through the second vent hole 201 and the first vent hole 101, as well as the deformation at the inner concave wall 6 can cause the soft finger to deform, thereby completing the grasping of the target object by the fingertip segment 103.

[0022] The fluid-driven micro soft gripper can imitate fingers to achieve better grasping. The soft finger body 1 is made of soft silicone rubber material to increase friction and reduce the damage caused by bumps on the inner side of the finger, thereby extending its service life.

[0023] 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.

[0024] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A fluid-driven micro soft gripper, characterized in that: It comprises a soft finger body (1) and a sealing cover (2), wherein the soft finger body (1) is cast on the sealing cover (2), and a driving chamber (3) is provided on the inner wall of the soft finger body (1); The soft finger body (1) is provided with a first vent hole (101), and the first vent hole (101) is connected to the drive chamber (3); the sealing cover (2) is provided with a second vent hole (201), and the second vent hole (201) cooperates with the first vent hole (101).

2. The fluid-driven micro soft gripper according to claim 1, characterized in that: The soft finger body (1) comprises an integrally formed finger tip section (103), a finger cavity section (104) and a finger heel section (105), and the drive chamber (3) is arranged in the finger cavity section (104).

3. The fluid-driven micro soft gripper according to claim 2, characterized in that: The driving chamber (3) is U-shaped, and two ends of the driving chamber (3) are arranged on the finger chamber section (104).

4. The fluid-driven micro soft gripper according to claim 2, characterized in that: A groove (4) is provided on the outer side of the fingertip section (103), and a reinforcing sheet is provided in the groove (4).

5. The fluid-driven micro soft gripper according to claim 2, characterized in that: The inner side of the fingertip section (103) is provided with a rough groove (5).

6. The fluid-driven micro soft gripper according to claim 2, characterized in that: An inner concave wall (6) is provided at the arched portion of the finger cavity section (104), and the inner concave wall (6) is connected to the drive chamber (3), and the wall thickness of the inner concave wall (6) is 0.6 to 0.8 times the thickness of the outer wall of the gripper.

7. The fluid-driven micro soft gripper according to claim 6, characterized in that: The number of the inner concave walls (6) is 3, and the three inner concave walls (6) are distributed in a U shape.

8. The fluid-driven micro soft gripper according to claim 2, characterized in that: The bottom surface of the sealing cover (2) is integrally formed with a sealing cover lower end protrusion (203), and the finger heel section (105) is cast on the sealing cover lower end protrusion (203).

9. The fluid-driven micro soft gripper according to claim 8, characterized in that: Position limiting through holes (204) are provided on both sides of the protrusion (203) at the lower end of the sealing cover, and the finger heel section (105) is cast in the position limiting through holes (204).

10. The fluid-driven micro soft gripper according to claim 2, characterized in that: The sealing cover (2) is provided with a casting positioning groove (202), and the finger heel section (105) is cast in the casting positioning groove (202) through the casting protrusion (102).

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