CN221968086U - Novel flexible finger with finger teeth - Google Patents

Abstract

The utility model discloses a novel flexible finger with a finger tooth, which comprises a finger main body and a finger bottom plate which are connected, wherein the finger main body comprises a finger heel section, a finger section and a finger tooth section, an air passage is arranged between the finger section and the finger bottom plate, an air inlet is arranged between the finger heel section and the finger bottom plate, and the air inlet is communicated with the air passage. Since the finger pad extends the length of the entire flexible finger, the modulus of elasticity of the finger pad is greater after the flexible finger is secured. Therefore, the flexible finger has good stability, is more suitable for quick grabbing, and the grabbing action is more accurate and reliable. The wall thickness of the finger heel section at the side of the transition groove is larger than that of the knuckle section, so that the strength of the finger heel section is increased by the design mode, and the stability of the flexible finger during deformation can be further improved.

Description

Novel flexible finger with finger teeth

Technical Field

The utility model relates to the technical field of flexible grippers, in particular to a novel flexible finger with a finger tooth.

Background

In the field of industrial automation, the robot end gripping action is mainly accomplished by a rigid mechanical gripper or vacuum chuck. However, the rigid mechanical gripper is difficult to control and is poor in adaptability, so that the nondestructive grabbing of soft, fragile and special-shaped objects is difficult to realize. The vacuum chuck is difficult to adapt to irregular objects with rough surfaces and holes in the carrying process. This results in limitations in both application scenarios.

The flexible finger is made of elastic materials, so that the flexible, fragile and special-shaped objects can be grabbed without damaging the objects. However, when air pressure is applied to the air bag structure of the existing flexible finger structure, the internal stress of the structure is unevenly distributed, local stress concentration exists, the service life of the flexible finger is not long, and the conversion efficiency of converting the effect of expanding each air bag into the integral bending deformation of the flexible finger is not high.

Disclosure of utility model

The utility model aims to provide a novel flexible finger with a finger tooth shape, so as to solve the problem of flexible grabbing and achieve the effect of uniformly applying force.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a take novel flexible finger of dactylotheca tooth formula, is including finger main part and the finger bottom plate that is connected, the finger main part includes finger heel section, finger section and dactylotheca tooth section, is equipped with the air flue between finger section and the finger bottom plate, be provided with the air inlet between finger heel section and the finger bottom plate, and the air inlet is linked together with the air flue.

Compared with the prior art, the utility model has the beneficial effects that:

Because the wall thickness of the finger heel sections at two sides of the transition groove is larger than that of the knuckle sections, the design mode increases the strength of the finger heel sections, and further the stability of the flexible finger during deformation is good.

Since the finger pad extends the length of the entire flexible finger, the modulus of elasticity of the finger pad is greater after the flexible finger is secured. Therefore, the flexible finger has good stability, is more suitable for quick grabbing, and has more accurate and reliable grabbing action.

Since the airway includes a main channel formed by the gap between the knuckle and the finger base and a subchamber surrounded by the knuckle itself. The main channel is internally provided with a plurality of groups of reinforcing rib sheets, each group of reinforcing rib sheets is positioned between the internode of the finger segment and the finger bottom plate, the main channel is divided into a plurality of sub-channels by the reinforcing sealing connecting ribs, and each sub-channel is communicated with the sub-chamber. And make inside pressure distribution more even, avoid the flexible finger to snatch the phenomenon of appearing cornering, provide stronger grabbing power, prolonged life for knuckle and inside gasbag are high pressure resistant.

As the wall thickness of the expansion wall of the knuckle wave crest is smaller than the wall thickness of each knuckle of the knuckle section, the air bag can be normally expanded, and the flexible finger is ensured to be bent.

As three connecting ribs are arranged between each two of the finger sections, the strength of the flexible finger is improved. Be provided with right trapezoid structure on the outside face of finger bottom plate, this structure can increase frictional force to frictional force when increasing flexible tongs and snatching makes snatch more stable.

Since the sidewalls of each of the finger segments are concave, material loss is reduced.

As the fingertip sections are provided with 3 fingers, the friction force is increased, and the grabbing easiness is improved.

Drawings

Fig. 1 is a perspective view of a novel flexible finger with teeth according to the present utility model.

Fig. 2 is a perspective view of a novel flexible finger with teeth according to the present utility model.

Fig. 3 is a top view of the novel flexible finger with teeth of the present utility model.

Fig. 4 is a schematic view of the inside of a novel flexible finger with teeth according to the present utility model.

Fig. 5 is a cross-sectional view of a novel flexible finger with teeth of the present utility model.

1. A finger body; 11. finger heel section; 12. finger segments; 121. a peak; 1211. an expansion wall; 122. internodes; 123. reinforcing ribs; 13. finger tooth sections; 14. a transition groove; 15. an airway; 151. a main channel; 152. a sub-chamber; 16. reinforcing the sealing connecting ribs; 2. a finger bottom plate; 21. a coarse structure; 22. an air inlet.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-5, the present utility model provides a technical solution: the utility model provides a take novel flexible finger of tooth formula, includes finger main part 1 and finger bottom plate 2, and finger main part 1 and finger bottom plate 2 are the state of connecting from top to bottom, and the elasticity modulus of finger bottom plate 2 is greater than the elasticity modulus of finger main part 1 to make the bending stability of flexible finger stronger. The difference of the elastic modulus can be realized by adopting different materials or the same materials, but the elastic modulus can be adjusted by adopting a material modification mode, and even can be realized by adopting other physical modes. For example, the material of the finger pad 2 is the same as that of the finger main body 1, but a material having a large elastic modulus is embedded in the finger pad 2, thereby changing the elastic modulus of the entire finger pad 2. The flexible fingers are generally made of elastic materials or synthetic fiber materials, such as rubber materials.

The finger body 1 comprises a heel section 11, a knuckle section 12 and a finger tooth section 13, the knuckle section 12 comprising at least 2 peaks 121 and at least 1 internode 122, and the internode 122 being disposed between the peaks 121. At least 2 reinforcing ribs 123 are arranged on the internode 122, and the reinforcing ribs 123 can fully improve the strength of the flexible finger. The specific number is selected and designed according to the grabbing requirement. A transition groove 14 is arranged between the knuckle section 12 and the heel section 11, and the wall thickness of the heel section 11 is larger than that of the knuckle section 12. Preferably, the heel section 11 wall thickness on both sides of the transition groove 14 is 1.2 to 2.5 times the wall thickness of the segment 12.

The peaks 121 are formed from an upper top wall, an expansion wall 1211, and side walls having a wall thickness greater than the wall thickness of the expansion wall 1211. The expansion wall 1211 needs to be thinnest to ensure deformation bending of the soft finger. Preferably, the wall thickness of the upper top wall and the side walls is 1.2 to 1.5 times the wall thickness of the expanded wall.

In order to ensure the grabbing stability, a coarse structure 21 is arranged on the outer side plate surface of the finger bottom plate 2, the coarse structure 21 is in a right trapezoid shape, and the finger tooth section 13 is provided with at least 2 finger teeth 131. The size ratio of the right trapezoid is as follows: the lower sole is 1.5 to 2.5 times the length of the upper sole, the upper sole is 1.5 to 2.5 times the height, and the inclination is between 20 and 30 degrees.

An air passage 15 is arranged between the finger segment 12 and the finger bottom plate 2, an air inlet 22 is arranged between the finger heel segment 11 and the finger bottom plate 2, and the air inlet 22 is communicated with the air passage 15. The air passage 15 comprises a main channel 151 and a sub-chamber 152, the main channel 151 is arranged between the knuckle section 12 and the finger bottom plate 2, and the sub-chamber 152 is arranged in the crest 121.

The main channel 151 is internally provided with a reinforced sealing connecting rib 16, the reinforced sealing connecting rib 16 connects the finger segment 12 and the finger bottom plate 2, and the reinforced sealing connecting rib 16 and the finger segment 12 are integrally formed, so that the reinforced sealing connecting rib 16 divides the main channel 151 into two channels. The main channel 151 is divided into the sub-channels on the left side and the right side through the reinforced sealing connecting ribs 16, so that a double-gas-path channel is formed, internal pressure distribution is more uniform, a lateral deviation phenomenon is avoided when flexible fingers are grabbed, stronger grabbing force is provided, the service life is prolonged, and the knuckle and the internal gas path are more resistant to high pressure.

Working principle: during operation, 2 or more novel flexible fingers with teeth move cooperatively to achieve grabbing operation, the interior of the fingers is inflated through an air source from the air inlet 22, air enters each sub-cavity 152 through the main channel 151, so that the expansion walls 1211 of the wave crests 121 expand, and meanwhile, interaction is carried out among the expansion walls, so that the flexible fingers are integrally bent and deformed, target objects with different sizes and shapes can be grabbed in a lossless mode, and the operation task requirements are met.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (10)

1. A novel flexible finger with finger teeth, which is characterized in that: including finger main part (1) and the finger bottom plate (2) that are connected, finger main part (1) are including pointing to following section (11), knuckle section (12) and finger tooth section (13), are equipped with air flue (15) between knuckle section (12) and finger bottom plate (2), be provided with air inlet (22) between finger following section (11) and finger bottom plate (2), and air inlet (22) are linked together with air flue (15).

2. The fingered novel flexible finger according to claim 1, wherein: the elastic modulus of the finger bottom plate (2) is larger than that of the finger main body (1).

3. The fingered novel flexible finger according to claim 1, wherein: the knuckle section (12) comprises at least 2 peaks (121) and at least 1 internode (122), and the internode (122) is disposed between the peaks (121).

4. A novel flexible finger with teeth according to claim 3, characterized in that: the internode (122) is provided with at least 2 reinforcing ribs (123).

5. The fingered novel flexible finger according to claim 1, wherein: a transition groove (14) is arranged between the knuckle section (12) and the heel section (11).

6. The fingered novel flexible finger according to claim 1, wherein: the air passage (15) comprises a main passage (151) and a sub-chamber (152), the main passage (151) is arranged between the finger segment (12) and the finger bottom plate (2), and the sub-chamber (152) is arranged in the wave crest (121).

7. The fingered novel flexible finger according to claim 6, wherein: the main channel (151) is internally provided with a reinforced sealing connecting rib (16), and the reinforced sealing connecting rib (16) divides the main channel (151) into two channels.

8. The fingered novel flexible finger according to claim 1, wherein: a rough structure (21) is arranged on the outer side plate surface of the finger bottom plate (2), and the rough structure (21) is in a right trapezoid shape; the finger tooth section (13) is provided with at least 2 finger teeth (131).

9. The fingered novel flexible finger according to claim 1, wherein: the wall thickness of the finger heel section (11) is larger than that of the finger joint section (12).

10. A novel flexible finger with teeth according to claim 3, characterized in that: the peaks (121) are composed of an upper top wall, an expanded wall (1211) and side walls, the wall thickness of the upper top wall and the side walls being greater than the wall thickness of the expanded wall (1211).