Flexible finger of robot
By using a soft-hard surface conversion block mounting bracket and a conversion block locking mechanism, the problem of robot fingers being unable to quickly switch between soft and hard states is solved, realizing a flexible finger design that allows for rapid switching and convenient replacement.
Patent Information
- Application Number
- CN202422601463.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-28
- Publication Date
- 2025-11-04
- Estimated Expiration
- 2034-10-28
AI Technical Summary
Existing robotic fingers have difficulty switching quickly between soft and hard states, and their complex structure makes it difficult to achieve rapid switching between soft and hard states.
The system employs a soft/hard surface conversion block mounting bracket and a conversion block locking mechanism. By rotating the soft/hard surface conversion block, the system can quickly switch the soft/hard state of the clamping surface, and the conversion block locking mechanism can fix the flipped soft/hard surface conversion block.
It enables rapid switching between soft and hard states for robotic fingers, has a simple structure, and facilitates the replacement of soft and hard surfaces, thereby improving the flexibility and adaptability of the fingers.
Smart Images
Figure CN223507199U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic finger technology, specifically a flexible robotic finger. Background Technology
[0002] In recent years, robotics technology has seen rapid development in both industrial and civilian applications. The robotic arm is the final actuator of a robot, and its performance directly determines the robot's capabilities. Currently, robot fingers achieve contraction movements through mechanical structures, which are quite complex. Therefore, the finger parts are typically either flexible or rigid, and it is difficult to quickly switch between the two. Utility Model Content
[0003] The purpose of this invention is to provide a flexible finger for robots to solve the problems in the prior art.
[0004] To achieve the above objectives, this utility model provides the following technical solution: a flexible finger for a robot, comprising a finger joint one and a finger joint two, wherein the finger joint one and the finger joint two are rotatably connected, and the finger joint two is composed of a soft-hard surface conversion block mounting frame and a soft-hard surface conversion block, wherein the soft-hard surface conversion block is mounted on the inner side of the soft-hard surface conversion block mounting frame, and the softness or hardness of the clamping surface is selected by rotating the soft-hard surface conversion block, wherein a conversion block locking mechanism is provided on the inner side of the soft-hard surface conversion block mounting frame, and the conversion block locking mechanism can fix the soft-hard surface conversion block after it has been flipped.
[0005] Preferably, the soft-hard surface conversion block mounting bracket consists of a mounting bracket body and connecting arms. One connecting arm is fixedly connected to each side of one end of the mounting bracket body. A through waist hole is opened in the middle of the connecting arm. A joint connecting groove is provided at the other end of the mounting bracket body. The soft-hard surface conversion block is rotatably mounted between the two connecting arms. The conversion block locking mechanism is set between the two connecting arms.
[0006] Preferably, the conversion block locking mechanism consists of a locking rod and auxiliary rods located on both sides of the locking rod. Both ends of the soft-hard conversion block are provided with locking holes that cooperate with the locking rod and auxiliary holes that cooperate with the auxiliary rods.
[0007] Preferably, the soft-hard surface conversion block is composed of a conversion block body, a soft surface, and a hard surface. The soft surface and the hard surface are respectively fixed on the two sides of the conversion block body, and a rotating shaft is fixed on each side of the middle part of the conversion block body.
[0008] Preferably, a T-shaped slot is provided on the side of the main body of the conversion block for installing the soft and hard surfaces, and T-shaped clips are provided on the back of both the soft and hard surfaces. A through auxiliary slots are provided at equal intervals on the side of the soft surface.
[0009] Compared with the prior art, the beneficial effects of this utility model are as follows: The finger joint of this utility model is composed of a soft-hard surface conversion block mounting frame and a soft-hard surface conversion block. The soft-hard surface conversion block and the soft-hard surface conversion block mounting frame are rotatably connected. By rotating the soft-hard surface conversion block, the softness and hardness of the clamping surface can be quickly switched. The soft-hard surface conversion block mounting frame is provided with a conversion block locking mechanism on its inner side. The conversion block locking mechanism can fix the soft-hard surface conversion block after it has been flipped.
[0010] When switching between soft and hard surfaces, the present invention first pulls the soft and hard surface conversion block out of the conversion block locking mechanism and moves the soft and hard surface conversion block to the end of the waist hole. Then, the soft and hard surface conversion block is rotated to select the soft and hard surface. After the selection is completed, the soft and hard surface conversion block is reinserted into the conversion block locking mechanism.
[0011] The soft-hard surface conversion block consists of a conversion block body, a soft surface, and a hard surface. The soft surface and the hard surface are connected to the conversion block body in a detachable installation manner, making it easy to replace the soft surface and the hard surface.
[0012] The soft surface has through-grooves at equal intervals on its sides. These grooves make the soft surface more easily deformable, thus making it softer. Attached Figure Description
[0013] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:
[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0015] Figure 2 This is a schematic diagram of the mounting bracket for the soft and hard surface conversion block of this utility model;
[0016] Figure 3 This is a schematic diagram of the structure of the soft-hard surface conversion block of this utility model;
[0017] Figure 4 This is a schematic diagram of the main structure of the conversion block of this utility model;
[0018] Figure 5 This is a schematic diagram of the hard surface structure of this utility model;
[0019] Figure 6 This is a schematic diagram of the structure of the soft surface of this utility model.
[0020] In the diagram: 1. Finger joint one; 2. Finger joint two; 3. Soft / hard surface conversion block mounting bracket; 4. Mounting bracket body; 5. Connecting arm; 6. Thickened part; 7. Waist hole; 8. Locking rod; 9. Auxiliary rod; 10. Joint connecting groove; 11. Soft / hard surface conversion block; 12. Conversion block body; 13. Soft surface; 14. Hard surface; 15. Rotating shaft; 16. T-shaped slot; 17. Locking hole; 18. Auxiliary hole; 19. T-shaped locking strip; 20. Auxiliary groove. Detailed Implementation
[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.
[0022] Please see Figure 1-6 In this embodiment of the present invention, a flexible finger of a robot includes a first finger joint 1 and a second finger joint 2. The first finger joint 1 and the second finger joint 2 are rotatably connected. The second finger joint 2 is composed of a soft-hard surface conversion block mounting frame 3 and a soft-hard surface conversion block 11. The soft-hard surface conversion block 11 is installed on the inner side of the soft-hard surface conversion block mounting frame 3. The softness and hardness of the clamping surface can be selected by rotating the soft-hard surface conversion block 11. A conversion block locking mechanism is provided on the inner side of the soft-hard surface conversion block mounting frame 3. The conversion block locking mechanism can fix the soft-hard surface conversion block 11 after it is flipped.
[0023] The mounting bracket 3 for converting soft and hard surfaces consists of a mounting bracket body 4 and connecting arms 5. One connecting arm 5 is fixedly connected to each side of one end of the mounting bracket body 4. A through waist hole 7 is opened in the middle of the connecting arm 5. The other end of the mounting bracket body 4 is provided with a joint connecting groove 10. The convertible block 11 is rotatably mounted between the two connecting arms 5. The conversion block locking mechanism is set between the two connecting arms 5. A thickened part 6 is provided in the middle of the connecting arm 5. The conversion block locking mechanism consists of a locking rod 8 and auxiliary rods 9 located on both sides of the locking rod 8. Locking holes 17 that cooperate with the locking rod 8 and auxiliary holes 18 that cooperate with the auxiliary rods 9 are opened on both end faces of the convertible block 11.
[0024] The soft-hard surface conversion block 11 consists of a conversion block body 12, a soft surface 13, and a hard surface 14. The soft surface 13 and the hard surface 14 are fixed on the two sides of the conversion block body 12 respectively. A rotating shaft 15 is fixed on each side of the middle part of the conversion block body 12. A T-shaped slot 16 is provided on the side of the conversion block body 12 for installing the soft surface 13 and the hard surface 14. A T-shaped strip 19 is provided on the back of both the soft surface 13 and the hard surface 14. A through auxiliary groove 20 is provided at equal intervals on the side of the soft surface 13.
[0025] The working principle of this utility model is as follows: The finger joint 2 of this utility model is composed of a soft-hard surface conversion block mounting frame 3 and a soft-hard surface conversion block 11. The soft-hard surface conversion block 11 and the soft-hard surface conversion block mounting frame 3 are rotatably connected. By rotating the soft-hard surface conversion block 11, the softness and hardness of the clamping surface can be quickly switched. The soft-hard surface conversion block mounting frame 3 is provided with a conversion block locking mechanism on its inner side. The conversion block locking mechanism can fix the soft-hard surface conversion block 11 after it is flipped.
[0026] When switching between soft and hard surfaces, the present invention first pulls the soft and hard surface conversion block 11 out of the conversion block locking mechanism, moves the soft and hard surface conversion block 11 to the end of the waist hole 7, then rotates the soft and hard surface conversion block 11 to select the soft and hard surface, and after the selection is completed, reinserts the soft and hard surface conversion block 11 into the conversion block locking mechanism.
[0027] The soft-hard surface conversion block 11 consists of a conversion block body 12, a soft surface 13, and a hard surface 14. The soft surface 13 and the hard surface 14 are connected to the conversion block body 12 by a detachable installation method, which makes it easy to replace the soft surface 13 and the hard surface 14.
[0028] The soft surface 13 has through auxiliary grooves 20 at equal intervals on its side surface. The auxiliary grooves 20 make the soft surface 13 easier to deform, thereby making the soft surface 13 softer.
[0029] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A flexible finger for a robot, comprising a first finger joint (1) and a second finger joint (2), wherein the first finger joint (1) and the second finger joint (2) are rotatably connected, characterized in that: The second finger joint (2) consists of a soft-hard surface conversion block mounting bracket (3) and a soft-hard surface conversion block (11). The soft-hard surface conversion block (11) is installed on the inner side of the soft-hard surface conversion block mounting bracket (3). The soft-hard surface conversion block (11) can be rotated to select the softness or hardness of the clamping surface. The soft-hard surface conversion block mounting bracket (3) is provided with a conversion block locking mechanism, which can fix the soft-hard surface conversion block (11) after it has been flipped.
2. The flexible finger of a robot according to claim 1, characterized in that: The soft-hard surface conversion block mounting bracket (3) consists of a mounting bracket body (4) and connecting arms (5). One connecting arm (5) is fixedly connected to each side of one end of the mounting bracket body (4). A through waist hole (7) is opened in the middle of the connecting arm (5). A joint connecting groove (10) is provided at the other end of the mounting bracket body (4). The soft-hard surface conversion block (11) is rotatably installed between the two connecting arms (5). The conversion block locking mechanism is set between the two connecting arms (5).
3. The flexible finger of a robot according to claim 2, characterized in that: The conversion block locking mechanism consists of a locking rod (8) and auxiliary rods (9) located on both sides of the locking rod (8). The soft and hard surface conversion block (11) has a locking hole (17) that cooperates with the locking rod (8) and an auxiliary hole (18) that cooperates with the auxiliary rod (9) on both end faces.
4. The flexible finger of a robot according to claim 1, characterized in that: The soft-hard surface conversion block (11) is composed of a conversion block body (12), a soft surface (13) and a hard surface (14). The soft surface (13) and the hard surface (14) are respectively fixed on the two sides of the conversion block body (12). A rotating shaft (15) is fixed on each side of the middle part of the conversion block body (12).
5. The flexible finger of a robot according to claim 2, characterized in that: The main body (12) of the conversion block for installing the soft surface (13) and the hard surface (14) has a T-shaped slot (16) on its side. The back of the soft surface (13) and the back of the hard surface (14) are both provided with T-shaped strips (19). The side of the soft surface (13) is provided with through auxiliary grooves (20) at equal intervals.