Simple flexible finger

Abstract

The utility model discloses a simple flexible finger which comprises a finger body, the finger body comprises a finger bottom plate and a finger face, the finger face is connected to one side plate face of the finger bottom plate, the finger face comprises a fingertip section and a knuckle section, and the knuckle section comprises at least one wave crest and at least one wave trough. The flexible finger further comprises a finger heel block made of hard materials, a connecting hole used for being connected with an external connecting piece is formed in the finger heel block, a connecting end face connected with the tail portion of the finger body is arranged on the finger heel block, and the finger heel block is connected with the tail portion of the finger body. The connecting end face and the tail of the finger body are fixed through a reinforcing connecting structure, a vent hole used for being in butt joint with an external air channel is formed in the finger heel block, and an air channel communicating channel for communicating the vent hole with the driving cavity is further formed in the finger heel block. According to the simple flexible finger, the installation steps can be simplified, and the flexible installation and replacement efficiency can be improved.

Description

Technical Field

[0001] This utility model relates to a clamp for flexibly holding objects, and more particularly to a simple flexible finger. Background Technology

[0002] A flexible finger is a novel type of flexible gripper made of elastic material, capable of grasping soft and fragile objects without damaging them. For example, the applicant disclosed a novel flexible finger in a utility model patent application with authorization announcement number CN207027539U, which includes a finger base plate and a finger surface. The finger surface is connected to one side of the finger base plate. The elastic modulus of the finger base plate is greater than that of the finger surface. The finger surface includes a fingertip segment, a knuckle segment, and a base segment. The knuckle segment includes at least one crest and at least one trough, which are connected sequentially to form a wave-shaped structure. The knuckle segment and the finger base plate together form a driving chamber. A transition groove is provided between the knuckle segment and the base segment. An expansion communication chamber communicating with the driving chamber is provided in the base segment. A vent is provided on the finger base plate or the base segment, communicating with the expansion communication chamber. When the vent is provided on the finger base plate, the position of the vent corresponds to the position of the base segment.

[0003] However, the following technical defects exist in the actual use and installation of this flexible finger: since the entire flexible finger is made of elastic material, a base and a cover are required to fix the finger base. Since the flexible finger cannot be used alone, multiple flexible fingers require repeating the above installation action, making the installation and replacement of flexible fingers very inconvenient. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a simple flexible finger that can simplify the installation steps and improve the efficiency of flexible installation and replacement.

[0005] To solve the above-mentioned technical problems, the technical solution of this utility model is: a simple flexible finger, including a finger body, the finger body including a finger base plate and a finger surface, the finger surface being connected to one side of the finger base plate, the elastic modulus of the finger base plate being greater than the elastic modulus of the finger surface, or the thickness of the finger base plate being greater than the wall thickness of the finger surface, the finger surface including a fingertip segment and a phalanx segment, the phalanx segment including at least one crest and at least one trough, the crest and trough being connected in sequence to form a wave-shaped structure, the phalanx segment and the finger base plate together forming a driving chamber, the flexible finger also including a hard material finger heel block, the finger heel block being provided with a connection hole for connecting with an external connector, the finger heel block being provided with a connection end face for connecting with the tail of the finger body, the connection end face being fixed to the tail of the finger body by a reinforcing connection structure, the finger heel block being provided with a vent hole for connecting with an external air passage, the finger heel block also being provided with an air passage connecting the vent hole to the driving chamber.

[0006] As a preferred embodiment, the reinforced connection structure includes a plurality of first-type countersunk holes disposed on the connection end face, and correspondingly, a first-type insert is disposed on the finger body and embedded in the first-type countersunk holes.

[0007] As a preferred embodiment, the extension direction of the first type of countersunk hole is consistent with the length direction of the finger body, the first type of countersunk hole is arranged in a straight line in at least one column, the finger heel block is also provided with a through hole that connects the first type of countersunk holes arranged in a straight line, and the finger body is also provided with a through strip embedded in the through hole, the through strip and the first type of strip are connected as one piece.

[0008] As a preferred embodiment, the arrangement of each column of the first type of countersunk holes extends from the finger surface to the finger base plate.

[0009] As a preferred embodiment, a protrusion is provided on the connecting end face, the first type of countersunk hole is provided on the protrusion, and the finger body completely covers the protrusion.

[0010] As a preferred embodiment, the bottom of the heel block is provided with a first recessed groove that extends upwards, and the tail end of the finger base plate extends into the first recessed groove.

[0011] As a preferred embodiment, the through hole extends to the bottom into the first sink groove, and correspondingly, the through strip is connected to the finger base plate.

[0012] As a preferred embodiment, the upper wall of the first sinking groove is further provided with an upwardly recessed second sinking groove, and the finger base plate is further provided with an upwardly extending protrusion embedded in the second sinking groove.

[0013] As a preferred embodiment, the upper wall of the second sink is provided with a first type of blind hole extending in the vertical direction, and correspondingly, the finger base plate is provided with an upper extension strip embedded in the first type of blind hole.

[0014] As a preferred embodiment, the protrusion is further provided with a rearward recessed cavity, which forms part of the air passage connection channel. A second type of recessed hole is also provided on the front end face of the protrusion around the cavity. A second type of blind hole communicating with the second type of recessed hole is also provided on the upper wall of the first recessed groove. A second type of insert is provided on the finger body and embedded in the second type of recessed hole and the second type of blind hole.

[0015] After adopting the above technical solution, the effect of this utility model is as follows: Since the flexible finger also includes a hard material base block, the base block is provided with a connection hole for connecting with an external connector, the base block is provided with a connection end face for connecting with the tail of the finger body, the connection end face and the tail of the finger body are fixed by a reinforced connection structure, the base block is provided with a vent hole for connecting with an external air passage, and the base block is also provided with an air passage connecting the vent hole and the driving chamber. Therefore, since the base block is made of hard material, the base block can be directly fixed with the external connector without the need for a cover, making installation and fixing faster and simpler. At the same time, the base block is made of hard material, and the tail of the finger body is connected and fixed by a reinforced connection structure, thereby ensuring that the connection between the two is reliable and the connection strength meets the usage requirements. In actual use, the base block is fixed with the external connector, and the vent hole is connected with the external air passage to drive the flexible finger to bend or recover. Therefore, this simple flexible finger design simplifies the installation process while ensuring connection strength, making it convenient to install and replace the flexible finger during use.

[0016] Furthermore, since the reinforced connection structure includes a plurality of first-type countersunk holes disposed on the connection end face, and correspondingly, the finger body is provided with a first-type insert that is embedded in the first-type countersunk holes, the connection force between the finger body and the connection end face is increased after the first insert is embedded in the first-type countersunk holes, thereby further improving the connection firmness.

[0017] Furthermore, since the extension direction of the first type of countersunk hole is consistent with the length direction of the finger body, the first type of countersunk hole is arranged in a straight line in at least one column. The finger heel block is also provided with a through hole that connects the straight-arranged first type of countersunk holes. The finger body is also provided with a through strip that is embedded in the through hole. The through strip and the first type of strip are connected as one unit. In this way, the through strip and the first type of strip are connected to form an integral closed structure. This closed structure can better connect the finger heel block and the finger body tightly, and the connection force is greater.

[0018] Furthermore, since the connecting end face is provided with a protrusion, and the first type of countersunk hole is provided on the protrusion, the finger body completely wraps around the protrusion. In this way, the finger body completely wraps around the protrusion, which not only optimizes the shape of the finger body, but also increases the contact area between the finger body and the connecting end face, and the connection force is also greater.

[0019] Furthermore, since the bottom of the finger base block is provided with a first recessed groove that extends upwards, and the tail end of the finger base plate extends into the first recessed groove, the connection strength between the finger base plate and the finger base block can be further increased after the tail end of the finger base plate extends into the first recessed groove.

[0020] Furthermore, since the through hole extends to the bottom into the first sink groove, the corresponding through strip is connected to the finger base plate. In this way, the through strip will also extend to the first sink groove and connect with the finger base plate, further strengthening the connection strength between the finger body and the finger heel block.

[0021] Furthermore, since the upper wall of the first sinking groove is also provided with an upwardly recessed second sinking groove, and the finger base plate is also provided with an upwardly extending protrusion embedded in the second sinking groove, the upwardly extending protrusion can further increase the connection strength between the finger heel block and the finger base plate.

[0022] Furthermore, since the upper wall of the second sinking tank is also provided with a first type of blind hole extending in the vertical direction, the finger base plate is also provided with an upper extension strip embedded in the first type of blind hole. In this way, the connection area is further increased and the connection force is increased through the upper extension strip.

[0023] Furthermore, since the protrusion is also provided with a recessed cavity, which forms part of the air passage connection channel, a second type of recessed hole is also provided around the cavity on the front surface of the protrusion. A second type of blind hole communicating with the second type of recessed hole is also provided on the upper wall of the first recessed groove. A second type of insert is provided on the finger body, which is embedded in the second type of recessed hole and the second type of blind hole. Therefore, the second type of insert can be embedded in the second type of recessed hole to increase the connection force. In particular, the second type of insert can also be embedded in the second type of blind hole, thus forming a closed connection structure, which greatly increases the connection force. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Figure 1 This is a three-dimensional structural view of an embodiment of the present utility model;

[0026] Figure 2 This is a top view of an embodiment of the present utility model;

[0027] Figure 3 yes Figure 2 Partial sectional view at AA;

[0028] Figure 4 yes Figure 2 Partial sectional view at BB;

[0029] Figure 5 yes Figure 2 A partial sectional view at CC;

[0030] Figure 6 It refers to a three-dimensional diagram of the blocks;

[0031] Figure 7 It refers to a three-dimensional view of the block from another angle;

[0032] In the attached diagram: 1. Flexible finger; 11. Finger heel block; 111. Vent hole; 112. Connecting hole; 113. First type countersunk hole; 114. Protrusion; 115. Through hole; 116. First countersunk groove; 117. Second countersunk groove; 118. First type blind hole; 119. Second type countersunk hole; 1110. Countersunk cavity; 1111. Second type blind hole; 12. Finger body; 121. Finger surface; 122. Finger base plate; 123. Second type insert; 124. First type insert; 125. Through insert; 126. Upper extension protrusion. Detailed Implementation

[0033] The present invention will be further described in detail below through specific embodiments.

[0034] like Figures 1 to 7As shown, a simple flexible finger 1 includes a finger body 12, which includes a finger base plate 122 and a finger surface 121. The finger surface 121 is connected to one side of the finger base plate 122. The elastic modulus of the finger base plate 122 is greater than that of the finger surface 121, or the thickness of the finger base plate 122 is greater than the wall thickness of the finger surface 121. That is, the finger base plate 122 can be made of the same elastic material as the finger surface 121. In this case, as long as the finger base plate 122... The thickness of the finger base plate 122 is greater than the wall thickness of the finger surface 121, making the finger base plate 122 more difficult to deform than the finger surface 121. The finger surface 121 includes a fingertip segment and a knuckle segment. The knuckle segment includes at least one crest and at least one trough, which are connected sequentially to form a wave-shaped structure. The knuckle segment and the finger base plate 122 together form the driving chamber. The knuckle segment and fingertip segment in this embodiment are the same as the corresponding structure described in the patent announcement number CN207027539U mentioned in the background art. When the driving chamber is filled with positive pressure, because the elastic modulus of the finger surface 121 is greater than that of the finger base plate 122, or the thickness of the finger base plate 122 is greater than the wall thickness of the finger surface 121, the deformation of the finger surface 121 will be greater than the deformation of the finger base plate 122, thereby forcing the finger to bend and completing the clamping action.

[0035] like Figures 1 to 7 As shown, the flexible finger 1 also includes a hard finger base block 11, which can be made of metal or hard plastic.

[0036] The finger heel block 11 is provided with a connection hole 112 for connecting with an external connector. The connection hole 112 is a connection screw hole. The external connector can be the end of the robot arm. In this way, the finger can be fixedly connected to the end of the robot arm through the connection bolt, and thus be moved by the robot arm.

[0037] The finger heel block 11 is provided with a connecting end face that connects to the tail of the finger body 12. The connecting end face and the tail of the finger body 12 are fixed by a reinforcing connection structure. The finger heel block 11 is provided with a vent hole 111 for connecting to an external air passage. The finger heel block 11 is also provided with an air passage connecting the vent hole 111 to the drive chamber. In this embodiment, the finger heel block 11 is a rectangular finger heel block 11. Therefore, except for the connecting end face, the other end faces are provided with the vent hole 111 and the connecting hole 112. This allows for mechanical fixing and air passage connection at any position. When the corresponding vent hole 111 is connected, the other vent holes 111 can be sealed with a sealing head.

[0038] like Figure 4As shown, the reinforcing connection structure includes a plurality of first-type countersunk holes 113 disposed on the connection end face. Correspondingly, the finger body 12 is provided with a first-type insert 124 embedded in the first-type countersunk holes 113. In this embodiment, the extension direction of the first-type countersunk holes 113 is consistent with the length direction of the finger body 12. The fingertip is defined as the front, the base of the finger as the tail, which is also the rear; the end below the finger base plate 122 is also the bottom; and the end on the finger surface 121 is the top. Therefore, the extension direction of the first-type countersunk holes 113 is front-to-back.

[0039] The first type of countersunk holes 113 are arranged in a straight line in at least one column. In this embodiment, the first type of countersunk holes are arranged in two columns. The finger heel block 11 is also provided with a through hole 115 that connects the first type of countersunk holes 113 arranged in a straight line. The finger body 12 is also provided with a through strip 125 that is embedded in the through hole 115. The through strip 125 and the first type of strip 124 are connected as one unit.

[0040] In this embodiment, the arrangement and extension direction of each column of the first type of countersunk holes 113 extends from the finger surface 121 to the finger base plate 122. That is, the arrangement and extension direction of each column of the first type of countersunk holes 113 is vertical. Therefore, the through hole 115 also extends vertically.

[0041] like Figure 6 and Figure 7 As shown, a protrusion 114 is provided on the connecting end face, and a first type of countersunk hole 113 is provided on the protrusion 114. The finger body 12 completely wraps around the protrusion 114. In this way, the outer contour of the upper end and side wall of the finger body 12 can be consistent with the contour of the finger heel block 11, and the overall shape is more aesthetically pleasing. At the same time, the connection force can be further increased after the finger body 12 wraps around the protrusion 114.

[0042] In this embodiment, the finger body 12 is injection molded, and during injection molding, the first type of insert 124 and the through insert 125 can be formed in the first countersunk hole and the through hole 115.

[0043] In this embodiment, the bottom of the finger base block 11 is provided with a first recessed groove 116 that is recessed upwards, and the tail end of the finger base plate 122 extends into the first recessed groove 116. In this way, the bottom of the finger base plate 122 can also be flush with the bottom of the finger base block 11. Of course, the first recessed groove 116 also increases the contact area between the finger base plate 122 and the finger base block 11, thereby increasing the connection force.

[0044] The through hole 115 extends to the bottom and into the first recess 116. Correspondingly, the through strip 125 is connected to the finger base plate 122. In this way, the finger base plate 122 is also connected to the finger surface 121 through the through strip 125. At the same time, the through strip 125 and the first type of strip 124 form a whole, thereby strengthening the connection between the entire finger body 12 and the finger heel block 11.

[0045] like Figure 5 As shown, the upper wall of the first recessed groove 116 is further provided with an upwardly recessed second recessed groove 117, and the finger base plate 122 is further provided with an upwardly extending protrusion 126 embedded in the second recessed groove 117. The upwardly extending protrusion 126 is also reliably connected to each groove wall of the second recessed groove 117. Furthermore, the upper wall of the second recessed groove 117 is further provided with a first type of blind hole 118 extending in the vertical direction. Correspondingly, the finger base plate 122 is further provided with an upwardly extending insert (not shown in the figure) embedded in the first type of blind hole 118.

[0046] like Figure 3 , Figure 7 As shown, the protrusion 114 is also provided with a recessed cavity 1110, which forms part of the air passage. The front end face of the protrusion 114 is also provided with a second type of recessed hole 119 around the cavity 1110. The upper wall of the first recessed groove 116 is also provided with a second type of blind hole 1111 that communicates with the second type of recessed hole 119. The finger body 12 is provided with a second type of insert 123 that is embedded in the second type of recessed hole 119 and the second type of blind hole 1111.

[0047] The flexible finger 1 in this embodiment has an optimized structure compared to current fingers. It utilizes a rigid finger heel block 11 to directly connect to the end of the robotic arm, making installation and replacement very quick. The above embodiments are merely descriptions of preferred implementations of this utility model and are not intended to limit the scope of this utility model. Various modifications and alterations to the technical solution of this utility model without departing from its design spirit should fall within the protection scope defined by the claims of this utility model.

Claims

1. A simple flexible finger, comprising a finger body (12), the finger body (12) comprising a finger base plate (122) and a finger face (121), the finger face (121) being connected to a side plate surface of the finger base plate (122), the elastic modulus of the finger base plate (122) being greater than the elastic modulus of the finger face (121), or the thickness of the finger base plate (122) being greater than the wall thickness of the finger face (121), the finger face (121) comprising a fingertip section and a knuckle section, the knuckle section comprising at least one wave crest and at least one wave trough, the wave crest and the wave trough being connected in sequence to form a wave shape structure, the knuckle section and the finger base plate (122) jointly enclosing a driving cavity, characterized in that: The flexible finger further comprises a hard material heel block (11) provided with a connecting hole (112) for connecting with an external connecting member, and a connecting end surface connected with the tail of the finger body (12), and the connecting end surface and the tail of the finger body (12) are fixed by a reinforcing connecting structure, and the heel block (11) is provided with a gas passage hole (111) for connecting with an external gas passage, and the heel block (11) is further provided with a gas passage communication channel for communicating the gas passage hole (111) with the driving cavity. ​ 2. A simple flexible finger as claimed in claim 1, characterized in that: The reinforcing connecting structure comprises a plurality of first type counterbores (113) provided on the connecting end surface, and correspondingly, the finger body (12) is provided with a first type embedded strip (124) embedded in the first type counterbores (113).

3. A simple flexible finger as claimed in claim 2, characterized in that: The extension direction of the first type counterbores (113) is consistent with the length direction of the finger body (12), the first type counterbores (113) are arranged in at least one line in a straight line, the heel block (11) is further provided with a through hole (115) for communicating the first type counterbores (113) arranged in a straight line, and the finger body (12) is further provided with a through embedded strip (125) embedded in the through hole (115), and the through embedded strip (125) and the first type embedded strip (124) are connected as a whole.

4. A simple flexible finger as claimed in claim 3, characterized in that: The arrangement extension direction of each column of the first type counterbores (113) is directed from the finger surface (121) to the finger bottom plate (122).

5. A simple flexible finger as claimed in claim 3, characterized in that: The connecting end surface is provided with a raised portion (114), and the first type counterbores (113) are arranged on the raised portion (114), and the finger body (12) wraps the raised portion (114) as a whole.

6. A simple flexible finger as claimed in claim 5, characterized in that: The bottom of the heel block (11) is provided with a first recess (116) recessed upward, and the tail end of the finger bottom plate (122) extends into the first recess (116).

7. A simple flexible finger as claimed in claim 6, characterized in that: The through hole (115) penetrates to the first recess (116) at the bottom, and correspondingly, the through embedded strip (125) is connected with the finger bottom plate (122).

8. A simple flexible finger as claimed in claim 7, characterized in that: The upper groove wall of the first recess (116) is further provided with a second recess (117) recessed upward, and the finger bottom plate (122) is further provided with an upward extending protrusion (126) embedded in the second recess (117).

9. A simple flexible finger as claimed in claim 8, characterized in that: The upper groove wall of the second recess (117) is further provided with a first type blind hole (118) extending in the upward and downward directions, and correspondingly, the finger bottom plate (122) is further provided with an upward extending embedded strip embedded in the first type blind hole (118).

10. A simple flexible finger as claimed in claim 6, characterized in that: The convex part (114) is further provided with a rearward recessed sunken cavity (1110) which constitutes a part of the gas path communication channel, the front end surface of the convex part (114) is further provided with a second type of sunken hole (119) around the sunken cavity (1110), the upper groove wall of the first sunken groove (116) is further provided with a second type of blind hole (1111) which communicates with the second type of sunken hole (119), and the finger body (12) is provided with a second type of embedded strip (123) which is embedded into the second type of sunken hole (119) and the second type of blind hole (1111).

Images