Flexible clamp

Abstract

The embodiment of the invention provides a flexible clamp which comprises a flexible main body and a plurality of tentacles arranged on the outer side of the flexible main body, the circumferential direction of the flexible main body comprises at least one convex part and at least one concave part, at least one first driving cavity is formed in the at least one convex part, and at least one second driving cavity is formed in the at least one concave part. At least one second driving cavity is formed in the at least one concave part, and the plurality of tentacles are arranged on the outer side of the at least one concave part at intervals in the axial direction of the flexible main body; the at least one first driving cavity and the at least one second driving cavity communicate with an external air source, the at least one first driving cavity is constructed to drive the flexible body to expand or contract, and the at least one second driving cavity is constructed to drive the tentacles to move in the radial direction.

Description

Technical Field

[0001] This manual relates to the field of robotic arm technology, and in particular to a flexible gripper. Background Technology

[0002] In the context of the rapid development of intelligent manufacturing and robotics, mechanical grippers, as the end effectors of robots, play a crucial role in realizing human-machine-environment tri-dimensional interaction. However, traditional grippers struggle to handle fragile, soft, and irregularly shaped objects. Therefore, flexible grippers made from stretchable and bendable flexible materials such as silicone have found widespread application in various fields, including biomedicine, disaster relief, scientific exploration, aerospace, and wearable devices, due to their excellent adaptability and compliance. Currently, internal support grippers can be used for some tubular and hollow products, but existing internal support grippers are generally only suitable for cylindrical products with internal walls and are difficult to handle products with complex internal cavities.

[0003] Therefore, it is desirable to provide a flexible clamp to improve the applicable gripping range and service life of the clamp. Summary of the Invention

[0004] This specification provides one or more embodiments of a flexible clamp, the flexible clamp including a flexible body and a plurality of tentacles disposed on the outside of the flexible body. The flexible body includes at least one protrusion and at least one recess in its circumferential direction. At least one first driving cavity is formed in the at least one protrusion, and at least one second driving cavity is formed in the at least one recess. The plurality of tentacles are spaced apart along the axial direction of the flexible body on the outside of the at least one recess. The at least one first driving cavity and the at least one second driving cavity are respectively connected to an external air source. The at least one first driving cavity is configured to drive the flexible body to expand or contract, and the at least one second driving cavity is configured to drive the plurality of tentacles to move radially.

[0005] In some embodiments, the flexible clamp further includes a first connector and an air path adjuster. The first connector is fixedly connected to one end of the flexible body, and the first connector is provided with at least one first through hole for communicating with at least one second driving cavity. The air path adjuster is connected to the first connector, and the air path adjuster is provided with at least one vent groove and at least one second through hole. The at least one vent groove communicates with the at least one first through hole, and the at least one second through hole communicates with the external air source.

[0006] In some embodiments, the air passage regulating member includes a first part and a second part, the second part being fixedly connected to the first connecting member, the first part being sealed to the second part, and the first part being rotatable relative to the second part; the first part is provided with at least one second through hole, the second part is provided with at least one vent groove, and the at least one second through hole and the at least one vent groove are selectively connected.

[0007] In some embodiments, the flexible clamp further includes a second connector, the second connector including a support portion and a connection portion for connecting to an external device, the support portion being connected to the other end of the flexible body, and the support portion forming the at least one first drive cavity between the at least one protrusion; the connection portion passing through the first connector and the air passage adjuster along the axial direction of the flexible body, and being fixedly connected to the first connector and the air passage adjuster.

[0008] In some embodiments, the second connector is provided with a first airflow channel, one end of which is connected to the external air source, and the other end of which is connected to the at least one first drive cavity.

[0009] In some embodiments, each of the tentacles includes a cylindrical portion and an end portion, the cylindrical portion being connected to the at least one recess, the interior of the cylindrical portion being a hollow structure, and the hollow structure communicating with the at least one second driving cavity; the end portion includes a suction cup structure, the suction cup structure having a third through hole, and a one-way sealing structure being provided between the third through hole and the hollow structure.

[0010] In some embodiments, the one-way sealing structure includes a flexible body and a vent hole disposed on the flexible body; when positive pressure gas is introduced into the column portion, the flexible body expands radially, blocking and sealing the third vent hole; when negative pressure gas is introduced into the column portion, the flexible body contracts radially, and the vent hole communicates with the third vent hole.

[0011] In some embodiments, a limiting structure is provided within the at least one second driving cavity, the limiting structure including a second airflow channel formed between the at least one second driving cavity and the plurality of tentacles.

[0012] In some embodiments, the flexible body includes a plurality of protrusions and a plurality of recesses in the circumferential direction, the plurality of protrusions and the plurality of recesses being alternately connected along the circumferential direction of the flexible body, and the plurality of protrusions and the plurality of recesses being uniformly or non-uniformly distributed along the circumferential direction of the flexible body.

[0013] In some embodiments, the flexible body is formed with a stretchable corrugated structure along the axial direction of the flexible body. Attached Figure Description

[0014] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0015] Figure 1 This is a schematic diagram of the structure of a flexible clamp according to some embodiments of this specification;

[0016] Figure 2 This is an axial cross-sectional view of a flexible clamp shown in some embodiments of this specification;

[0017] Figure 3 This is a radial cross-sectional view of a flexible clamp shown in some embodiments of this specification;

[0018] Figure 4 This is a schematic diagram of the radial section of a flexible clamp shown in some embodiments of this specification;

[0019] Figure 5 This is a schematic diagram of the expansion state of a flexible clamp according to some embodiments of this specification;

[0020] Figure 6 This is a schematic diagram of the corrugated structure shown in some embodiments of this specification;

[0021] Figure 7 This is a structural schematic diagram of the first connector according to some embodiments of this specification;

[0022] Figure 8 This is a schematic diagram of the structure of the air passage regulator shown in some embodiments of this specification;

[0023] Figure 9 This is a schematic diagram of the internal structure of the tentacles according to some embodiments of this specification.

[0024] In the picture:

[0025] 1. Flexible body; 11. Protrusion; 111. First driving cavity; 12. Recess; 121. Second driving cavity; 1211. Limiting structure; 1212. Second airflow channel; 2. Tentacle; 21. Column part; 211. Hollow structure; 22. End part; 221. Suction cup structure; 2211. Third through hole; 222. One-way sealing structure; 2221. Flexible body; 2222. Vent hole; 3. First connector; 31. First through hole; 32. Central groove; 4. Air path adjustment component; 401. First part; 402. Second part; 41. Vent groove; 42. Second through hole; 43. Sealing groove; 5. Second connector; 51. Support part; 52. Connecting part; 53. First airflow channel; 531. First flow channel; 532. Second flow channel; 6. Locking component. Detailed Implementation

[0026] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0027] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0028] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0029] Figure 1 This is a schematic diagram of the structure of a flexible clamp according to some embodiments of this specification; Figure 2 This is an axial cross-sectional view of a flexible clamp shown in some embodiments of this specification; Figure 3 This is a radial cross-sectional view of a flexible clamp shown in some embodiments of this specification; Figure 4 This is a schematic diagram of the radial section of a flexible clamp shown in some embodiments of this specification; Figure 5 This is a schematic diagram of the expanded state of a flexible clamp according to some embodiments of this specification.

[0030] This specification provides a flexible clamp through some embodiments. For example... Figures 1-5 As shown, the flexible clamp includes a flexible body 1 and a plurality of tentacles 2 disposed on the outer side of the flexible body 1. The flexible body 1 circumferentially includes at least one protrusion 11 and at least one recess 12. At least one first driving cavity 111 is formed within the at least one protrusion 11, and at least one second driving cavity 121 is formed within the at least one recess 12. The plurality of tentacles 2 are spaced apart along the axial direction of the flexible body 1 on the outer side of the at least one recess 12. The at least one first driving cavity 111 and the at least one second driving cavity 121 are respectively connected to an external air source. The at least one first driving cavity 111 is configured to drive the flexible body 1 to expand or contract, and the at least one second driving cavity 121 is configured to drive the plurality of tentacles 2 to move radially.

[0031] A flexible gripper is an end effector that is elastically deformable and grasps or releases via internal fluid (such as gas) pressure. The flexible body 1 is the elastic tubular body of the flexible gripper. In some embodiments, the flexible body 1 can be used to fix, support, or accommodate other components of the flexible gripper. For example, the flexible body 1 can be used to support multiple tentacles 2.

[0032] The protrusion 11 is a partially raised area on the outer surface of the flexible body 1 that bulges outward. In some embodiments, a first driving cavity 111 is formed within the protrusion 11.

[0033] The first driving cavity 111 is a sealed cavity located inside the protrusion 11. In some embodiments, the first driving cavity 111 can be connected to an external air source and can drive the flexible body 1 to expand or contract (e.g., radial expansion or radial contraction) by introducing positive / negative pressure gas.

[0034] The external air source refers to a device or system, independent of the flexible clamp, for supplying positive / negative pressure gas to the first drive chamber 11 and the second drive chamber 12. For example, the external air source may include a compressed air source.

[0035] The recess 12 is a localized recessed area where the outer surface of the flexible body 1 is recessed inward. In some embodiments, a second driving cavity 121 is formed within the recess 12.

[0036] The second driving cavity 121 is a sealed cavity located inside the recess 12. In some embodiments, the second driving cavity 121 can be connected to an external gas source, and by introducing positive / negative pressure gas, the recess 12 is driven to deform radially, thereby driving the plurality of tentacles 2 to move radially. The radial direction of the flexible body 1 can be the diameter direction of the circumcircle of the protrusion of the flexible body 1. For more information on the circumcircle of the protrusion, please refer to [link to relevant documentation]. Figure 4 And its related descriptions.

[0037] In some embodiments, a plurality of tentacles 2 are provided at intervals along the axial direction of the flexible body 1 on the outer side of the recess 12. The axial direction of the flexible body 1 can be... Figure 2 The X direction is shown in the diagram.

[0038] Tentacle 2 refers to an elastic structure extending outward from the flexible body 1. In some embodiments, tentacles 2 can be used to contact the object being held and provide radial enveloping force.

[0039] In some embodiments, a plurality of tentacles 2 may be arranged at equal or non-equal intervals on the outer surface of the recess 12, and each recess 12 may have one or more rows of tentacles 2 arranged along the axial direction of the flexible body 1. The specific number and arrangement of each row of tentacles 2 can be determined based on actual needs. For example, the tentacles 2 may be inclined on the outer surface of the recess 12, such as tilting upwards or downwards. In some embodiments, the height of each row of tentacles 2 may be the same or different. For example, for a flexible clamp whose expanded shape is close to a sphere, the tentacles 2 at both ends of each row of tentacles 2 may be relatively taller than the tentacles 2 in the middle, so as to better contact and adsorb the clamped object. The height of the tentacles 2 refers to their radial dimension in the flexible body 1.

[0040] In some embodiments, the tentacles 2 may be detachably disposed on the outer surface of each recess 12 so that they can be replaced as needed and facilitate subsequent maintenance, thereby improving the service life of the flexible fixture. Examples of detachable connection methods include, but are not limited to, snap-fit ​​connections, threaded connections, etc.

[0041] In some embodiments, such as Figure 4 As shown, the radius of the circumcircle of the convex part of the flexible body 1 is R, and the tangents of the concave part 12 can be combined into a regular n-gon, where n is the number of concave parts. The radius of the incircle of the regular n-gon is r, and the width of the concave part is L. Wherein, R = 1.5~2r, L = 1.2r*cos(π / n), within this range, both the space of the second driving cavity 121 and the expansion effect of the flexible body 1 can be guaranteed.

[0042] In some embodiments, the flexible body 1 can be designed in various structural shapes. For example, the cross-section of the circumscribed circle of the protrusion of the flexible body 1 can be a regular or irregular shape such as a circle, an ellipse, or a wave. Here, the cross-section refers to the section perpendicular to the central axis of the flexible body 1.

[0043] It is worth noting that the height of tentacle 2 can be determined according to actual needs. For example, the outer contour of tentacle 2 may not exceed the circumcircle of the protrusion to prevent tentacle 2 from interfering with the normal operation of the flexible clamp. Alternatively, the outer contour of tentacle 2 may exceed the circumcircle of the protrusion to achieve a single-tentacle adsorption mode. More information on the single-tentacle mode can be found in the relevant descriptions below.

[0044] In some embodiments, the flexible body 1 includes a plurality of protrusions 11 and a plurality of recesses 12 in the circumferential direction. The plurality of protrusions 11 and the plurality of recesses 12 are alternately connected in the circumferential direction of the flexible body 1, and the plurality of protrusions 11 and the plurality of recesses 12 are uniformly or non-uniformly distributed in the circumferential direction of the flexible body 1.

[0045] The circumferential direction of the flexible body 1 refers to the circumferential direction surrounding the central axis of the flexible body 1. In some embodiments, a plurality of protrusions 11 and a plurality of recesses 12 are alternately connected to each other along the circumferential direction of the flexible body 1 to form a wavy profile of "convex-concave-convex-concave" cycle.

[0046] Uniform distribution means that the convex parts 11 and concave parts 12 are spaced at equal angles or arc lengths in the circumferential direction of the flexible body 1. Non-uniform distribution means that the convex parts 11 and concave parts 12 are arranged at unequal intervals in the circumferential direction of the flexible body 1 according to actual needs.

[0047] It should be noted that the specific number of protrusions 11 and recesses 12 can be determined according to actual needs, and this specification does not limit this. In some embodiments, the materials of protrusions 11 and recesses 12 may be the same or different. For example, protrusions 11 may be made of a highly wear-resistant flexible material to improve the service life of the flexible fixture. Exemplary highly wear-resistant flexible materials include, but are not limited to, thermoplastic polyurethane elastomer (TPU), thermoplastic elastomer (TPE), etc.

[0048] Figure 6 This is a schematic diagram of the corrugated structure shown in some embodiments of this specification.

[0049] In some embodiments, such as Figure 6 As shown, the flexible body 1 forms a stretchable corrugated structure along its axial direction.

[0050] A corrugated structure is a structure with periodic corrugations. In some embodiments, the flexible body 1 forms a stretchable corrugated structure along its axial direction, which can be stretched or shortened as a whole when positive / negative pressure gas is introduced into the first drive cavity 111, thereby achieving axial stretching and contraction.

[0051] Understandably, the flexible body 1 forms a stretchable corrugated structure along its axial direction, which enables the flexible body 1 to undergo both radial deformation (such as radial expansion or radial contraction) and axial deformation (such as axial elongation or axial shortening) when positive / negative pressure gas is introduced into the first driving cavity 111, thereby improving the overall deformation effect of the flexible body 1 to adapt to the clamped object in the complex-shaped cavity.

[0052] In some embodiments, the flexible clamp can achieve multiple working modes, including conventional internal support, single-tentacle internal support, hybrid internal support, adsorption internal support, and single-tentacle adsorption. The descriptions of each working mode are as follows:

[0053] The conventional internal support mode is suitable for objects with relatively regular internal wall shapes. The flexible clamp is fixed and connected to an external air source, then placed inside the object being clamped. Positive pressure gas is supplied to the first driving cavity 111 by the external air source, causing the outer contour of the flexible clamp to expand, thus achieving an internal support effect on the clamped object. In its natural state, the outer contour of the tentacle 2 does not exceed the outer contour of the flexible clamp. Even if no gas is supplied to the second driving cavity 121, the expanding inner wall of the first driving cavity 111 will cause the tentacle 2 to expand radially outward, achieving the same function as the protrusion 11 and realizing a conventional internal support effect on the clamped object.

[0054] The single-tentacle internal support mode achieves an internal support effect on the clamped object by introducing positive pressure gas into the second driving cavity 121, causing the concave portion 12 of the flexible body 1 to expand. This allows the tentacle 2 of the flexible clamp to extend. After positive pressure gas is introduced into the second driving cavity 121, the one-way sealing structure inside the tentacle 2 expands radially outward, blocking the third through hole and forming a sealed chamber to prevent air leakage. Simultaneously, the second driving cavity 121 can be controlled in whole or in part by adjusting the gas path regulator according to actual working conditions (or actual needs). After positive pressure gas is introduced, the presence of the second connector restricts the radial inward expansion of the second driving cavity 121, causing most of the deformation of the second driving cavity 121 to act on the radially outward expanding tentacle 2, thereby increasing the supporting force of the tentacle 2.

[0055] The hybrid internal support mode simultaneously introduces positive pressure gas into the first driving cavity 111 and the second driving cavity 121. The gas path adjuster is adjusted according to the actual working conditions to select the required tentacle array. After the positive pressure gas is introduced, the flexible fixture expands as a whole. The positive pressure gas in the second driving cavity 121, combined with the expansion of the first driving cavity 111, causes the tentacles 2 to extend, achieving internal support for irregularly shaped objects. This mode can output a larger supporting force compared to conventional internal support and tentacle internal support modes.

[0056] In the adsorption support mode, adjust the gas path adjustment component according to the actual working conditions, select the tentacles 2 that need negative pressure adsorption, introduce positive pressure gas into the first drive chamber 111 to expand the flexible clamp, drive the tentacles 2 to contact the surface of the clamped object, and then introduce negative pressure gas into the second drive chamber 121. The negative pressure gas will cause the one-way sealing structure to contract radially inward, open the third through hole, and allow the tentacles 2 to adsorb onto the surface of the clamped object, thus completing the adsorption support of the clamped object.

[0057] The single-touch adsorption mode is only applicable when the outer contour of the tentacle 2 exceeds the outer circle of the protrusion. In this mode, the gas path adjustment component is adjusted according to the actual working conditions, and the tentacle 2 that needs to be adsorbed under negative pressure is selected. Negative pressure gas is introduced into the second drive chamber 121. The negative pressure gas will cause the one-way sealing structure to contract radially inward, opening the third through hole, so that the tentacle 2 can be adsorbed onto the surface of the clamped object.

[0058] For more information on flexible clamps (such as air path adjusters, second connectors, one-way sealing structures, and third through holes), please refer to [link to relevant documentation]. Figures 7-9 And its related descriptions.

[0059] In some embodiments of this specification, the flexible clamp is designed with an expandable or contractible flexible body and multiple tentacles located on the outside of the flexible body. It is easy to control, provides stable gripping, and can achieve multiple working modes to adapt to objects with complex internal cavities.

[0060] Figure 7 This is a structural schematic diagram of the first connector according to some embodiments of this specification; Figure 8 This is a schematic diagram of the structure of the air passage regulator shown in some embodiments of this specification.

[0061] In some embodiments, such as Figures 1-2 , Figures 7-8 As shown, the flexible clamp also includes a first connector 3 and an air path adjuster 4. The first connector 3 is fixedly connected to one end of the flexible body 1, and the first connector 3 is provided with at least one first through hole 31 for connecting at least one second driving cavity 121. The air path adjuster 4 is connected to the first connector 3, and the air path adjuster 4 is provided with at least one vent groove 41 and at least one second through hole 42. The at least one vent groove 41 connects to at least one first through hole 31, and the at least one second through hole 42 connects to an external air source.

[0062] The first connector 3 refers to a component disposed at the end of the flexible body 1. In some embodiments, the first connector 3 can be used to connect the flexible body 1 and the air passage adjuster 4, and realize air passage transfer.

[0063] In some embodiments, such as Figures 1-2 As shown, the upper end of the flexible body 1 has a groove structure, and the first connector 3 can be disposed within this groove structure and is adapted to it. Here, the upper end refers to the end of the flexible clamp used for connecting to external equipment, and the lower end refers to the end furthest from the upper end. For more information about external equipment, please refer to the relevant descriptions below.

[0064] In some embodiments, the first connector 3 can be fixedly connected to one end (such as the upper end) of the flexible body 1 in various ways. For example, the first connector 3 can be connected to the flexible body 1 by an overmolding process during the molding of the flexible body 1. Alternatively, the first connector 3 can be connected to the flexible body 1 by bonding or other methods.

[0065] The first through hole 31 refers to a through hole formed on the first connector 3. In some embodiments, such as Figure 7 As shown, the first connector 3 is provided with a central groove 32, and at least one first through hole 31 can be opened at intervals along the circumference of the first connector 3 on the side wall of the first connector 3 for introducing the airflow in the air passage regulator 4 into at least one second drive chamber 121.

[0066] It should be noted that the specific number of the first through holes 31 can be determined according to actual needs. For example, the number of the first through holes 31 can be the same as the number of the second driving cavities 121. Or, for example, the number of the first through holes 31 can be twice the number of the second driving cavities 121.

[0067] In some embodiments, at least one first through hole 31 may be formed on the side wall of the first connector 3 at equal or non-equal intervals along the circumference of the first connector 3, so as to achieve communication with at least one second driving cavity 131.

[0068] Airflow regulator 4 refers to a component used to achieve airflow distribution. In some embodiments, such as... Figures 1-2 , Figure 7 As shown, the air passage adjustment component 4 can be disposed in the central groove 32 and is adapted to the central groove 32.

[0069] Ventilation groove 41 refers to a groove or cavity disposed inside the air passage regulating component 4. In some embodiments, such as Figure 8 As shown, the ventilation groove 41 can be opened on the outer wall of the air passage regulating member 4 along the circumference of the air passage regulating member 4.

[0070] It should be noted that the specific number of ventilation slots 41 can be determined according to actual needs. For example, there may be one ventilation slot 41, which connects to multiple first through holes 31. Or, there may be multiple ventilation slots 41, which correspond to multiple first through holes 31, meaning that one ventilation slot 41 connects to one first through hole 31.

[0071] Understandably, the axial cross-sectional area of ​​the venting groove 41 is greater than or equal to the axial cross-sectional area of ​​the first through hole 31, so that the venting groove 41 can better communicate with the first through hole 31. Here, the axial cross-section refers to the cross-section parallel to the plane passing through the central axis of the flexible body 1.

[0072] In some embodiments, the vent 41 can be used to connect the first through hole 31 and the second through hole 42, so as to divert the positive / negative pressure gas entering from the external air source through the second through hole 42 to each of the first through holes 31, thereby allowing the diverted positive / negative pressure gas to enter the second driving cavity 121 connected to the first through hole 31. For more information on the external air source, please refer to [link to relevant documentation]. Figures 1-5 And its related descriptions.

[0073] The second through hole 42 is an opening or interface of the gas path regulating component 4 for direct connection to an external gas source. In some embodiments, such as Figures 1-3 , Figure 8 As shown, the second through hole 42 can be disposed inside the air passage regulating member 4 along the axial direction of the air passage regulating member 4 and communicate with the air passage groove 41.

[0074] It should be noted that the specific number of the second through holes 42 can be determined according to actual needs. For example, there may be one vent groove 41 and one second through hole 41, with the vent groove 41 connected to the second through hole 42. Alternatively, there may be multiple vent grooves 41 and multiple second through holes 42. Multiple vent grooves 41 can be correspondingly arranged with multiple second through holes 42, i.e., one vent groove 41 is connected to one second through hole 42; or, at least one of the multiple second through holes 42 is connected to at least one of the multiple vent grooves 41.

[0075] In some embodiments, such as Figure 2 , Figure 8 As shown, the air passage regulating component 4 includes a first part 401 and a second part 402. The second part 402 is fixedly connected to the first connecting component 3, and the first part 401 and the second part 402 are sealed together. The first part 401 is rotatable relative to the second part 402. The first part 401 is provided with at least one second through hole 42, and the second part 402 is provided with at least one vent groove 41. The at least one second through hole 42 and the at least one vent groove 41 are selectively connected.

[0076] Part 401 can be understood as an end cap that can rotate under external force. Part 402 can be understood as a fixed base that is sealed and fitted to Part 401.

[0077] In some embodiments, the first part 401 and the second part 402 can be sealed together in various ways. This is merely an example. Figure 8 As shown, the first part 401 and the second part 402 can achieve a sealed connection by providing a sealing groove 43 in the circumference of the air passage regulating member 4. An O-ring or other sealing element can be provided within the sealing groove 43.

[0078] In some embodiments, the first part 401 and the second part 402 can achieve relative rotation in various ways. For example, the upper end of one of the first part 401 and the second part 402 may be provided with a groove structure along its circumference, and relative rotation between the two can be achieved by inserting the lower end of the other part 401 and the second part 402 into the groove structure. It is understood that when the lower end of one of them is only partially inserted into the groove structure, the remaining space of the groove structure can form a sealing groove 43.

[0079] The optional connection between at least one second through hole 42 and at least one vent groove 41 can be understood as: the second through hole 42 and the vent groove 41 to be connected can be selected according to actual needs.

[0080] In some embodiments, by rotating the first part 401, the second through hole 42 can be aligned or offset from the vent groove 41, thereby achieving the "on / off / proportional" switching of the gas path. In other words, by rotating the first part 401, the overlapping area (or the area of ​​the connecting surface) of the second through hole 42 and the vent groove 41 can be controlled, thereby determining whether positive / negative pressure gas passes through or how much passes through (i.e., the flow rate).

[0081] In some embodiments, since the ventilation groove 41 is also connected to the first through hole 31, by rotating the first part 401, at least one second through hole 42 can be connected to at least one required ventilation groove 41 (which may be called the target ventilation groove) according to actual needs, so that the positive / negative pressure gas entering the target ventilation groove can enter the second driving cavity 121 (which may be called the second target driving cavity) connected to the first target through hole 31 (which may be called the first target through hole) connected to the target ventilation groove through the first through hole 31 (which may be called the first target through hole), thereby driving the plurality of tentacles 2 disposed on the outside of the second target driving cavity to move radially.

[0082] In some embodiments of this specification, by adjusting the air path regulator, the second drive chamber to be controlled can be flexibly selected, thereby controlling the tentacles located on the outside of the corresponding drive chamber to move radially to adapt to objects with different shaped cavities.

[0083] In some embodiments, a drive member may be provided at the upper end of the air path regulator 4, and the drive member is communicatively connected to the processor. The processor is configured to acquire an image of the clamped object; determine the features of the clamped object based on the image of the clamped object; and determine a target rotation angle based on the structural parameters of the air path regulator 4 and the features of the clamped object, and control the drive member to drive the first part 401 of the air path regulator 4 to rotate by the corresponding target rotation angle. In some embodiments, the processor may determine the target rotation angle based on the image of the clamped object and the structural parameters of the air path regulator 4 through a parameter determination model.

[0084] The drive element can be used to drive the first part 401 of the air passage regulator 4 to rotate. For example, the drive element may include a motor, etc. In some embodiments, the output shaft of the drive element may be connected to the first part 401 to drive the first part 401 to rotate.

[0085] A processor can process data and / or information obtained from other devices or system components. Based on this data, information, and / or processing results, the processor can execute program instructions to perform one or more functions described in this application. In some embodiments, the processor may include one or more sub-processing devices (e.g., a single-core processing device or a multi-core multi-chip processing device). By way of example only, a processor may include a central processing unit (CPU), a controller, a microcontroller unit, a microprocessor, or any combination thereof.

[0086] In some embodiments, the processor may be a remote server. In some embodiments, the flexible gripper may be connected to an external device (such as a robot's robotic arm), and the processor may be the robot's processing / control system.

[0087] An image of the clamped object refers to a two-dimensional and / or three-dimensional image of the clamped object. In some embodiments, the processor can acquire images of the clamped object using vision sensors integrated on the robot. These vision sensors may include color-depth (Red Green Blue Depth, RGB-D) cameras, time-of-flight (TOF) cameras, industrial cameras, etc.

[0088] The features of the clamped object refer to the features related to the shape of the clamped object. For example, the features of the clamped object may include the shape outline, size, orientation, and surface features of the clamped object.

[0089] In some embodiments, the processor can determine the features of the clamped object based on an image of the clamped object and through a feature extraction layer of a parameter determination model. The parameter determination model is a machine learning model. For example, the parameter determination model may include one or more combinations of Convolutional Neural Network (CNN) models, Deep Neural Networks (DNN) models, or other custom models.

[0090] In some embodiments, the input to the feature extraction layer includes an image of the clamped object, and the output of the feature extraction layer includes features of the clamped object. In some embodiments, the feature extraction layer can be a machine learning model, such as a CNN model.

[0091] The structural parameters of the air path regulator 4 refer to parameters related to the structure of the air path regulator 4. For example, the structural parameters of the air path regulator 4 may include the number of vent grooves and second through holes, the size of the vent grooves and second through holes, and the current angle of the first part relative to the second part. In some embodiments, the number and size of the vent grooves and second through holes can be obtained by input from a technician. The current angle of the first part relative to the second part can be obtained based on an angle sensor disposed on the air path regulator 4.

[0092] The target rotation angle refers to the direction and angle value of the rotation required by the first part 401 relative to the second part 402. In some embodiments, the processor can determine the target rotation angle based on the characteristics of the clamped object and the structural parameters of the air path adjustment component 4, through the parameter determination layer of the parameter determination model.

[0093] In some embodiments, the input to the parameter determination layer may include the features of the clamped object and the structural parameters of the airflow regulator 4, and the output of the parameter determination layer may include the target rotation angle. In some embodiments, the parameter determination layer may be a machine learning model, such as a DNN model.

[0094] In some embodiments, the output of the feature extraction layer can be the input of the parameter determination layer, and the feature extraction layer and the parameter determination layer can be jointly trained. The training samples for joint training include images of the objects being held, sample structural parameters of the sample airflow adjustment components, and labels representing the actual rotation angles corresponding to the training samples. In some embodiments, the training samples and labels can be obtained based on historical data.

[0095] In some embodiments, the processor can input the image of the clamped object into the feature extraction layer to obtain the clamped object features output by the feature extraction layer; use the clamped object features as training samples and sample structure parameters of the sample air path regulator as input into the parameter determination layer to obtain the target rotation angle output by the parameter determination layer; construct a loss function based on the label and the target rotation angle output by the parameter determination layer, and update the parameters of the feature extraction layer and the parameter determination layer synchronously; and obtain the trained feature extraction layer and parameter determination layer through parameter update.

[0096] In some embodiments, the processor can drive the first part 401 of the air path regulator 4 to rotate by the target rotation angle according to the target rotation angle through a PID control drive.

[0097] In some embodiments of this specification, by setting a driving member on the air path regulator and using a processor to determine the target rotation angle of the first part of the air path regulator based on the relevant characteristics of the object being clamped, and then controlling the driving member to drive the first part to rotate to the target rotation angle, the second driving cavity to be controlled can be selected more flexibly and intelligently, thereby controlling the tentacles set on the outside of the corresponding driving cavity to move radially to adapt to objects with different shaped cavities.

[0098] In some embodiments, the processor may also determine tentacle parameters based on the characteristics of the clamped object.

[0099] Tentacle parameters refer to parameters associated with multiple tentacles 2. For example, tentacle parameters may include the shape, height, and setting angle of the tentacles. In some embodiments, tentacle parameters may be a collection of multiple sets of sequence data, wherein each set of sequence data is used to characterize the tentacle parameters of each column of tentacles 2 from top to bottom.

[0100] The setting angle refers to the tilt angle of the tentacle 2 when it is disposed on the recess 12. In some embodiments, the setting angle can be defined by the central axis of the tentacle 2 and the connecting surface of the tentacle 2 and the recess 12 along the axial direction of the flexible body 1 (e.g., ...). Figure 2 The angle along the X direction (as shown) is used to characterize it.

[0101] In some embodiments, the processor can determine tentacle parameters by querying a preset table based on the characteristics of the clamped object. The preset table may include multiple sets of correspondences between the characteristics of the clamped object and the tentacle parameters. In some embodiments, the preset table may be constructed based on historical data.

[0102] In some embodiments, technicians can replace multiple tentacles 2 of the flexible fixture with tentacles 2 of different shapes, heights and setting angles based on the tentacle parameters.

[0103] In some embodiments of this specification, the processor can determine more suitable tentacle parameters based on the relevant characteristics of the object being clamped, and by replacing the tentacles accordingly, the tentacles can better adsorb the object being clamped, thereby improving the reliability of the flexible clamp.

[0104] In some embodiments, such as Figures 1-2 As shown, the flexible clamp also includes a second connector 5, which includes a support portion 51 and a connecting portion 52 for connecting to an external device. The support portion 51 is connected to the other end of the flexible body 1, and at least one first drive cavity 111 is formed between the support portion 51 and at least one protrusion 11. The connecting portion 52 passes through the first connector 3 and the air passage adjustment member 4 along the axial direction of the flexible body 1, and is fixedly connected to the first connector 3 and the air passage adjustment member 4.

[0105] The second connector 5 can be used to axially limit the flexible body 1, constraining its axial expansion and contraction. The second connector 5 can be designed in various structural shapes, such as cylindrical.

[0106] External equipment refers to independent devices or systems, other than flexible fixtures, that provide installation interfaces, power sources, control signals, or collaborative operations. Examples of external equipment include robotic arms, end flanges of industrial robots, and mobile AGV (Automated Guided Vehicle) platforms.

[0107] The support portion 51 is a component of the second connector 5 used to support other components (such as the first connector 3 and the air passage adjuster 4). In some embodiments, such as Figure 2 As shown, the support portion 51 is located at the lower end of the second connector 5, and the outer diameter of the support portion 51 is larger than the outer diameter of the connector 52.

[0108] In some embodiments, the flexible body 1 can be sleeved on the outside of the support portion 51 and connected to the support portion 51 by an overmolding process or other feasible connection methods. The space between the outer surface of the support portion 51 and the inner surface of the protrusion 11 forms the first driving cavity 111.

[0109] In some embodiments, the first connector 3 and the air passage adjuster 4 may pass through the connecting portion 52, and the lower end face of the first connector 3 abuts against the upper end face of the support portion 51. It is understood that the support portion 51 may be a solid cylindrical structure to better support the first support member 3 and the air passage adjuster 4.

[0110] The connecting portion 52 is a component of the second connector 5 used for connecting external devices. In some embodiments, such as Figure 2 As shown, the connecting part 52 is located at the upper end of the second connecting member 5, and the upper end of the connecting part 52 may be provided with an external thread for connecting external devices.

[0111] In some embodiments, the connecting portion 52 passes through the first connecting member 3 and the air passage adjustment member 4 along the axial direction of the flexible body 1, and is fixedly connected to the first connecting member 3 and the air passage adjustment member 4 by the locking member 6.

[0112] The locking member 6 can be used to fix or lock the first connecting member 3 and the air passage adjusting member 4. An exemplary locking member 6 may include a locking nut, etc. In some embodiments, the locking member 6 passes through the connecting portion 52 and is located at the upper end of the air passage adjusting member 4. The inner surface of the locking member 6 is provided with an internal thread. Since the air passage adjusting member 4 is disposed within the first connecting member 3, and the lower end face of the first connecting member 3 abuts against the upper end face of the support portion 51, the internal thread of the locking member 6 engages with the external thread of the connecting portion 52, and the locking member 6 is tightened downwards to lock the first connecting member 3, the air passage adjusting member 4, and the second connecting member 5, thereby enabling axial positioning of the flexible body 1.

[0113] It is worth noting that when the flexible body 1 is a corrugated structure that can extend and retract along its axial direction, the support part 51 can be set as a telescopic sleeve structure so that the support part 51 can extend and retract along the axial direction with the flexible body 1, ensuring the overall deformation effect of the flexible body 1. At this time, the second connecting member 5 also includes a reset structure (such as a spring) so that the sleeve structure can automatically reset after the flexible body 1 extends and retracts along the axial direction.

[0114] In some embodiments, such as Figure 2 As shown, the second connector 5 is provided with a first airflow channel 53. One end of the first airflow channel 53 is connected to an external air source, and the other end of the first airflow channel 53 is connected to the first drive cavity 111.

[0115] The first airflow channel 53 refers to a cavity disposed inside the second connector 5. In some embodiments, such as Figure 2 As shown, the first airflow channel 53 may include a first flow channel 531 and a second flow channel 532. The first flow channel 531 is formed along the axial direction of the flexible body 1 at the center of the first connecting member 5. The second flow channel 532 is disposed perpendicular to the first flow channel 531 inside the second connecting member 5 and communicates with the first flow channel 531. The upper end of the first flow channel 531 is provided with an internal thread for connecting to an air nozzle of an external air source. The second flow channel 532 is used to communicate with at least one first driving cavity 111.

[0116] It should be noted that the first airflow channel 53 can be designed in any other feasible structural form, as long as it can connect the external air source and the first drive cavity 111.

[0117] In some embodiments, positive / negative pressure gas introduced from an external gas source can sequentially enter at least one first driving cavity 111 via the first flow channel 531 and the second flow channel 532, thereby driving the flexible body 1 to expand or contract radially.

[0118] Understandably, by providing a first airflow channel 53 inside the second connector 5, positive / negative pressure gas from an external air source can directly enter at least one first drive chamber 111 through the first airflow channel 53 to drive the flexible body 1 to expand or contract radially, thereby giving the flexible clamp an internal support effect.

[0119] In some embodiments of this specification, by providing a second connector, the flexible clamp can be axially limited, causing its deformation to concentrate in the circumferential direction, thereby increasing the internal support force of the flexible clamp.

[0120] Figure 9 This is a schematic diagram of the internal structure of the tentacles according to some embodiments of this specification.

[0121] In some embodiments, such as Figure 3 , Figure 9 As shown, each tentacle 2 includes a cylindrical portion 21 and an end portion 22. The cylindrical portion 21 is connected to at least one recess 12. The interior of the cylindrical portion 21 is a hollow structure 211, and the hollow structure 211 communicates with at least one second driving cavity 121. The end portion 22 includes a suction cup structure 221. The suction cup structure 221 is provided with a third through hole 2211, and a one-way sealing structure 222 is provided between the third through hole 2211 and the hollow structure 211.

[0122] The columnar portion 21 is the main structure of the tentacle 2, equivalent to the "finger" of the tentacle 2. In some embodiments, the columnar portion 21 is a hollow columnar elastic member.

[0123] The hollow structure 211 is a gas channel that penetrates the cylindrical part 21. In some embodiments, the hollow structure 211 is connected to the second driving cavity 121 and can serve as an extension of the second driving cavity 121, forming a gas pressure circuit inside the tentacle 2 to realize vacuuming or positive pressure release of the suction cup.

[0124] The end portion 22 is the functional segment at the radial end of the tentacle 2. In some embodiments, the end portion 22 integrates a suction cup structure 221, which is the contact-adsorption interface between the flexible clamp and the object being clamped.

[0125] The suction cup structure 221 is a flexible disc-shaped or cup-shaped component on the end body 22. When the inside of the suction cup structure 211 is under negative pressure, it generates an adsorption force to adsorb the object being held.

[0126] The third through hole 2211 refers to the through hole formed on the suction cup structure 221. The third through hole 2211 can serve as the only airflow hole between the inside of the suction cup structure 221 and the outside (such as the hollow structure 211).

[0127] In some embodiments, the third through hole 2211 may be formed at the center or around the suction cup structure 221 to facilitate airflow exchange between the interior of the suction cup structure 221 and the hollow structure 211.

[0128] The one-way sealing structure 222 refers to a "self-acting valve" located between the third through hole 2211 and the hollow structure 211. The one-way sealing structure 222 can achieve the opening / closing of the air passage simply by changing the direction of air pressure, without the need for additional spring diaphragms or electromagnetic components.

[0129] In some embodiments, such as Figure 9 As shown, the one-way sealing structure 222 includes a flexible body 2221 and a vent 2222 disposed on the flexible body 2221. When positive pressure gas is introduced into the column portion 21, the flexible body 2221 expands radially, blocking and sealing the third through hole 2211. When negative pressure gas is introduced into the column portion 21, the flexible body 2221 contracts radially, and the vent 2222 communicates with the third through hole 2211.

[0130] Flexible body 2221 refers to a ring-shaped / cylindrical elastic element made of flexible materials such as rubber, silicone, or TPU. Flexible body 2221 can expand radially under positive pressure and contract radially under negative pressure, thus serving as a sealing element.

[0131] Ventilation holes 2222 refer to through holes formed on the sidewall of the flexible body 2221. In some embodiments, the number of ventilation holes 2222 can be one or more, and multiple ventilation holes 2222 can be arranged at circumferential intervals along the flexible body 2221.

[0132] In its natural state, the flexible body 2221 is attached to the third through hole 2211 (e.g.) Figure 9 As shown in (a)). When positive pressure gas is introduced into the column portion 21, the flexible body 2221 expands radially. The expanded flexible body 2221 causes the vent 2222 provided on its side wall to be covered by the inner wall of the column portion 21. At the same time, the expanded flexible body 2221 will at least partially sink into the third through hole 2211, thereby blocking and sealing the third through hole 2211 (as shown in (a)). Figure 9 (as shown in (b)). When negative pressure gas is introduced into the column part 21, the flexible body 2221 contracts radially. At this time, the vent 2222 provided on the side wall of the flexible body 2221 communicates with the third through hole 2211 (as shown in (b)). Figure 9 As shown in (c) in the figure, this causes the radial end of the tentacle 2 to form a negative pressure suction cup to adsorb the object being held.

[0133] In some embodiments of this specification, the inside of the tentacle is provided with a one-way sealing structure, which can form a sealed chamber under positive pressure to prevent air leakage; under negative pressure, the air passage is opened so that the radial end of the tentacle forms a negative pressure suction cup to adsorb the object being clamped.

[0134] Understandably, when positive pressure gas is introduced into the first driving cavity 111, the first driving cavity 111 will expand radially, causing its inner wall to come into close contact with, or even fit against, the inner wall of the second driving cavity 121. This would block the internal air passage (such as the second airflow channel) of the tentacle 2, thus preventing the tentacle 2 from generating a negative pressure adsorption effect. Therefore, it is necessary to set a limiting structure in the second driving cavity 121 to ensure that the internal air passage of the tentacle 2 remains unobstructed.

[0135] In some embodiments, such as Figures 3-4 As shown, at least one second driving cavity 121 is provided with a limiting structure 1211, and the limiting structure 1211 includes a second airflow channel 1212 formed between the at least one second driving cavity 121 and the plurality of tentacles 2.

[0136] The limiting structure 1211 can be used as a component to ensure unobstructed airflow inside the tentacle 2. In some embodiments, such as Figures 3-4 As shown, the limiting structure 1211 can be disposed within the second driving cavity 121 at a position corresponding to the tentacle 2. For example, it can be disposed within the second driving cavity 121 at positions corresponding to both sides of the cylindrical portion 21.

[0137] The second airflow channel 1212 refers to the continuous air passage formed by the limiting structure 1211 between the second drive cavity 121 and the columnar portion 12 of the plurality of tentacles 2.

[0138] In some embodiments, the limiting structure 1211 can be designed in any feasible structural form, as long as it can prevent the inner wall of the first driving cavity 111 from fitting against the inner wall of the second driving cavity 121. For example, the limiting structure 1211 can be two pillars, which are respectively disposed in the second driving cavity 121 at positions corresponding to the two sides of the pillar portion 21 along the radial direction of the flexible body 1, forming a second airflow channel 1212 between the two pillars. As another example, the limiting structure 1211 can be a slot structure, which is disposed in the second driving cavity 121 at a position corresponding to the pillar portion 21 of the tentacle 2, and the opening of the slot structure faces the pillar portion 21, forming a second airflow channel 1212 within the slot structure.

[0139] In some embodiments of this specification, by setting a limiting structure in the second driving cavity, it is possible to ensure that the inner wall of the second driving cavity of the flexible clamp will not block the airflow channel of the tentacles in the negative pressure internal support mode, thereby preventing the tentacles from failing to generate a negative pressure adsorption effect.

[0140] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

Claims

1. A flexible clamp, characterized in that, The flexible clamp includes a flexible body and multiple tentacles disposed on the outside of the flexible body. The flexible body includes at least one protrusion and at least one recess in the circumferential direction. At least one first driving cavity is formed in the at least one protrusion, and at least one second driving cavity is formed in the at least one recess. The plurality of tentacles are spaced apart along the axial direction of the flexible body on the outside of the at least one recess. The at least one first driving cavity and the at least one second driving cavity are respectively connected to an external air source. The at least one first driving cavity is configured to drive the flexible body to expand or contract, and the at least one second driving cavity is configured to drive the plurality of tentacles to move radially.

2. The flexible clamp as described in claim 1, characterized in that, The flexible clamp also includes a first connector and an air path adjustment component. The first connector is fixedly connected to one end of the flexible body, and the first connector is provided with at least one first through hole for communicating with at least one second driving cavity; The air path regulator is connected to the first connector, and the air path regulator is provided with at least one air groove and at least one second through hole. The at least one air groove is connected to the at least one first through hole, and the at least one second through hole is connected to the external air source.

3. The flexible clamp as described in claim 2, characterized in that, The air passage regulating component includes a first part and a second part. The second part is fixedly connected to the first connecting member, the first part is sealed to the second part, and the first part is rotatable relative to the second part. The first part is provided with at least one second through hole, and the second part is provided with at least one vent groove, wherein the at least one second through hole and the at least one vent groove are selectively connected.

4. The flexible clamp as described in claim 2, characterized in that, The flexible clamp further includes a second connector, which comprises a support portion and a connection portion for connecting to an external device. The support portion is connected to the other end of the flexible body, and the support portion and the at least one protrusion form the at least one first driving cavity; The connecting part passes through the first connector and the air passage adjuster along the axial direction of the flexible body, and is fixedly connected to the first connector and the air passage adjuster.

5. The flexible clamp as described in claim 4, characterized in that, The second connector is provided with a first airflow channel, one end of which is connected to the external air source, and the other end of which is connected to the at least one first drive cavity.

6. The flexible clamp as described in claim 1, characterized in that, Each of the tentacles includes a cylindrical portion and an end portion. The column portion is connected to the at least one recess, the interior of the column portion is a hollow structure, and the hollow structure is connected to the at least one second driving cavity; The end body includes a suction cup structure, the suction cup structure has a third through hole, and a one-way sealing structure is provided between the third through hole and the hollow structure.

7. The flexible clamp as described in claim 6, characterized in that, The one-way sealing structure includes a flexible body and a vent hole disposed on the flexible body; When positive pressure gas is introduced into the column part, the flexible body expands radially, blocking and sealing the third through hole; when negative pressure gas is introduced into the column part, the flexible body contracts radially, and the vent hole communicates with the third through hole.

8. The flexible clamp as described in claim 1, characterized in that, The at least one second driving cavity is provided with a limiting structure, the limiting structure including a second airflow channel formed between the at least one second driving cavity and the plurality of tentacles.

9. The flexible clamp as described in claim 1, characterized in that, The flexible body includes multiple protrusions and multiple recesses in its circumferential direction. The multiple protrusions and multiple recesses are alternately connected along the circumferential direction of the flexible body, and the multiple protrusions and multiple recesses are uniformly or non-uniformly distributed along the circumferential direction of the flexible body.

10. The flexible clamp as described in claim 1, characterized in that, The flexible body forms a stretchable corrugated structure along its axial direction.

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