Chain plate type flexible finger

Abstract

The invention relates to a chain plate type flexible finger, and belongs to the technical field of application of robots and electromechanical integration. The chain plate type flexible finger which is a manipulator comprises chain plate type frameworks, a pneumatic elastic corrugated tube artificial muscle, plastic ring frames and the like. Axial expansion of the elastic corrugated tube artificial muscle is constrained by the chain plate type frameworks, accordingly, elastic force of tension springs can be overcome, the chain plate type flexible finger can be bent, one or a plurality of chainplates can be in compliance contact with grabbed objects, and grasping-state contact force can be generated. The chain plate type flexible finger can be controlled by high-speed switch valves, accordingly, the air pressures of inner cavities of the elastic corrugated tube artificial muscle can be accurately controlled, and the requirements on perpendicularly grabbing cylindrical, square, spherical and ellipsoidal objects and the like or the requirements on horizontally grabbing spherical, cylindrical and square objects and the like can be met. The chain plate type flexible finger has the advantages that the chain plate type flexible finger is good in flexibility and adaptability and simple in structure, can be reliably used and can adapt to change of the shapes and vertical and transverseplacement of the grabbed objects; the chain plate type flexible finger can be connected with robot bodies and is particularly applicable to the field of production and logistics for grabbing and sorting food, agricultural products and light industrial products and the like.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a chain plate type flexible finger. Background technique [0002] For the large-scale production of light industry and food industry, in order to meet the logistics and packaging needs of raw materials, semi-finished products and finished products with complex shapes and various physical properties, and to solve the problems of high labor cost and poor working conditions of simple labor, it is necessary to grasp logistics Take the end gripper. The types of complex objects to be grasped: ① objects with irregular shapes and large differences in size (fruits, vegetables); ② fragile and brittle objects (eggs, glass ceramic products); ③ easily deformable soft objects ( Bread, flexible packaging items); ④ Irregular-shaped objects with chaotic positions and difficult to straighten out (wine bottles, cosmetic bottles); it can be seen from the above that the material properties...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims at the shortcomings in the above-mentioned existing production technology, and focuses on the above-mentioned complex grasping objects, and provides a chain plate-type flexible finger with a reasonable structure, which is used after being connected with the industrial robot body, and combines the advantages of the soft robot and the rigid dexterous manipulator, thereby Overcome the contradiction between the scope of application and the suitable grasping force; reliably grasp objects in an enveloping manner, or directly drive the special-shaped super-soft elastic skeleton to elastically deform the end, so as to reliably grasp objects by pinching; when grasping complex objects , wider grasping range, flexible and adaptive grasping effect, able to adapt to changes in object size and shape; suitable for food, agricultural products, light industrial products, such as grasping, sorting and other production and logistics fields

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