Chain plate flexible finger
The present invention provides a chain plate flexible finger including a chain plate framework, a pneumatic elastic bellows artificial muscle, and a plastic annular frame. The axial expansion of the elastic bellows artificial muscle is restricted by the chain plate framework to overcome the elastic force of a tension spring to bend, to generate conformal contact between one or more chain plates and an object to be gripped and generate a contact force for a gripping state. With the control of a high-speed on-off valve, the air pressure in an inner cavity of the elastic bellows artificial muscle is accurately controlled to vertically or horizontally grip a cylindrical object, a cuboid object, a spherical object or an ellipsoid object. The flexible finger has adequate flexible adaptability and a simple structure, and is reliable to use, and adapts to differently shaped objects to be gripped and vertically and transversely placed objects.
1. A chain plate flexible finger, comprising an elastic bellows artificial muscle ( 1 ), wherein the elastic bellows artificial muscle ( 1 ) is a tubular structure provided with an inner cavity in the middle, the tubular structure has a corrugated outer wall and an upper opening end which is connected to a hose coupling ( 7 ) by a clamp ( 6 ), an air pipe coupling ( 9 ) is mounted on a side surface of the hose coupling ( 7 ), and a finger mounting plate ( 8 ) is fixed on a top surface of the hose coupling ( 7 ) by a screw;
a plastic annular frame ( 2 ) is mounted in a trough of the corrugated outer wall of the elastic bellows artificial muscle ( 1 ), a chain plate ( 4 ) is mounted at a gap between two adjacent plastic annular frames ( 2 ), and a plurality of chain plates ( 4 ) are sequentially hinged in an axial direction at a side of the outer wall of the elastic bellows artificial muscle ( 1 ); and
a tension spring ( 5 ), which is mounted between an inner wall of the chain plate ( 4 ) and the outer wall of the elastic bellows artificial muscle ( 1 ), and is fixed by the plastic annular frame ( 2 );
wherein the tension spring ( 5 ) is provided between any two adjacent plastic annular frames ( 2 ),
wherein a mounting structure of the plastic annular frame ( 2 ) comprises an annular section which is sleeved in the trough of the outer wall of the elastic bellows artificial muscle ( 1 ), a side plate is extended outward from a side of the annular section, an end portion of the side plate is hinged to two chain plates ( 4 ) which are respectively located above and below the side plate by one hinge core shaft ( 3 ), and two ends of the side plate are respectively provided with two cylindrical rods connected to spring hooks at two ends of the tension spring ( 5 ),
wherein two hinge seats are provided at each of an upper end and a lower end of each chain plate ( 4 ), the end portion of the side plate is clamped at a gap between the two hinge seats at the upper end of each chain plate ( 4 ), and the two hinge seats at the upper end of each chain plate ( 4 ) are fastened between the two hinge seats at the lower end of a chain plate ( 4 ) located above the each chain plate, and
wherein the plastic annular frames ( 2 ) are mounted in the troughs of the outer wall of the elastic bellows artificial muscle ( 1 ) at equal intervals or unequal intervals.
2. The chain plate flexible finger as claimed in claim 1 , wherein a seal ring ( 10 ) is mounted between the air pipe coupling ( 9 ) and the hose coupling ( 7 ).
3. The chain plate flexible finger as claimed in claim 1 , wherein the elastic bellows artificial muscle ( 1 ) is made from a rubber material, the elastic bellows artificial muscle ( 1 ) has four original states: (I) in the case of equal corrugation pitches, the elastic bellows artificial muscle ( 1 ) has a “U ”-shaped longitudinal section, or an “Ω”-shaped longitudinal section or a “V”-shaped longitudinal section; (II) in the case of unequal corrugation pitches, the elastic bellows artificial muscle ( 1 ) has any one of the foregoing three shapes of longitudinal sections; (III) in the case of equal corrugation pitches or unequal corrugation pitches, the elastic bellows artificial muscle ( 1 ) has a longitudinal section which is formed by any two of the three shapes of longitudinal sections; and (IV) in the case of equal corrugation pitches or unequal corrugation pitches, the elastic bellows artificial muscle ( 1 ) has a longitudinal section which is formed by the three shapes of longitudinal sections.
4. The chain plate flexible finger as claimed in claim 1 , wherein the chain plates ( 4 ) have equal pitches or unequal pitches, a pitch length of the chain plate ( 4 ) is or is not an integer multiple of a corrugation pitch of the elastic bellows artificial muscle ( 1 ) in an original state or compressed state.