[미국특허]
SOFT-BODIED FINGER, SOFT-BODIED GRIPPER AND SOFT-BODIED ROBOT
원문보기
IPC분류정보
국가/구분
United States(US) Patent
공개
국제특허분류(IPC7판)
B25J-015/12
B25J-015/00
출원번호
16305897
(2017-06-30)
공개번호
20200215700
(2020-07-09)
우선권정보
CN-201610515673.X (2016-07-01)
국제출원번호
PCT/CN2017/091088
(2017-06-30)
발명자
/ 주소
Bao, Lei
Gao, Shaolong
Yang, Jia
출원인 / 주소
Suzhou Soft Robot Tech Co., Ltd.
인용정보
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0인용 특허 :
0
초록▼
The present invention discloses a soft-bodied finger, a soft-bodied gripper and a soft-bodied robot. The soft-bodied finger includes a fingertip (1), a finger junction (2), a flexible joint (3), a fingerboard (4) and a flexible shoulder (5). A plurality of flexible joints (3) and a plurality of flex
The present invention discloses a soft-bodied finger, a soft-bodied gripper and a soft-bodied robot. The soft-bodied finger includes a fingertip (1), a finger junction (2), a flexible joint (3), a fingerboard (4) and a flexible shoulder (5). A plurality of flexible joints (3) and a plurality of flexible shoulders (5) are disposed at intervals on an upper portion of the fingerboard (4), between the fingertip (1) and the finger junction (2). An empty chamber inside the flexible joint (3) is formed as an air bag (31), and an empty chamber inside the flexible shoulder (5) is formed as an air channel communicated with the air bag (31). At least two groups of air channels are disposed in the soft-bodied finger. With the dual-air channel arrangement, the present invention increases the cross-sectional area for air flowing, which can significantly promote the throughput of air inflation/deflation of the air bag in the finger, so as to raise the air inflation/deflation efficiency and improve the response speed of the finger.
대표청구항▼
1-42. (canceled) 43. A dual-channel soft-bodied finger comprising a fingertip, a finger junction, and a fingerboard, wherein: a plurality of flexible joints and a plurality of flexible shoulders are disposed at intervals on an upper portion of the fingerboard between the fingertip and the finger jun
1-42. (canceled) 43. A dual-channel soft-bodied finger comprising a fingertip, a finger junction, and a fingerboard, wherein: a plurality of flexible joints and a plurality of flexible shoulders are disposed at intervals on an upper portion of the fingerboard between the fingertip and the finger junction;a lower portion of the fingerboard is provided with a plurality of protrusions;an end portion of the finger junction is a convex annular-shaped body;a transition segment between the end portion of the finger junction and the flexible joints is a cone-shaped body; anda first air channel and a second air channel are disposed inside the finger, and when the first and second air channels are inflated, air is guided into an air bag through the first and second air channels. 44. The dual-channel soft-bodied finger according to claim 43, wherein the dual-channel soft-bodied finger is made of silicone rubber. 45. The dual-channel soft-bodied finger according to claim 43, wherein a width and a length of the dual-channel soft-bodied finger satisfy a relational expression of b=4a/15. 46. The dual-channel soft-bodied finger according to claim 43, wherein the protrusions have a wavy-line shape. 47. The dual-channel soft-bodied finger according to claim 43, wherein both a structural body of the fingertip and an empty chamber inside the fingertip are gradually converged towards the fingertip. 48. A soft-bodied robot comprising at least two dual-channel soft-bodied fingers according to claim 43, at least two airflow conducting valves, at least two charging connectors, and a holder, wherein: the holder includes a mounting panel which can be secured to an external device and at least two support arms, each of the support arms being configured to be connected to one of the airflow conducting valves;each of the airflow conducting valves comprises an upper valve head and a lower valve head, one of the charging connectors is mounted on the upper valve head, and a finger junction of the dual-channel soft-bodied finger is mounted below the lower valve head;one end of the upper valve head has a threaded hole for mounting the charging connector, the other end of the upper valve head is provided with an elliptic cone-shaped convex lip, an upper valve panel of the upper valve head is fixedly connected to a lower valve panel of the lower valve head with a screw, a central portion of the upper valve head is provided with the air channels, and the elliptic cone-shaped convex lip is inserted into the air inlet of the finger junction of the dual-channel soft-bodied finger; andone end of the lower valve head is the lower valve panel, the other end of the lower valve head is a hollow cone-shaped body, an inside of the lower valve head is provided with an elliptic cone-shaped via hole and an inner boss, the inner boss is configured to support a convex annular-shaped body of the finger junction of the dual-channel soft-bodied finger, and the elliptic cone-shaped via hole is configured to allow the finger junction of the dual-channel soft-bodied finger to pass therethrough. 49. The soft-bodied robot according to claim 48, wherein the at least two support arms are distributed along a circumference of the holder. 50. The soft-bodied robot according to claim 48, wherein the cone-shaped body of the transition segment is clamped between the elliptic cone-shaped convex lip and the elliptic cone-shaped via hole, and the convex annular-shaped body of the end portion is fixedly limited inside the inner boss.
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