Splicing type soft gripper carrying suction cup

Abstract

The splicing type soft gripper carrying the suction cups comprises a main body, the main body comprises suction cup modules and gripper modules, the suction cup modules are arranged in the center area of the main body and used for sucking products, and the number of the gripper modules is two. The two gripper modules are arranged on the two separated sides of the suction cup module correspondingly and used for gripping the two ends of a product, each gripper module comprises two soft fingers, the bending directions of the soft fingers are controlled through internal air pressure of the soft fingers, and when the internal air pressure is in a negative pressure state, the two soft fingers get close to each other so as to grip the product. And when the internal air pressure is in a high-pressure state, the two flexible fingers are far away from each other so as to release grabbing of the product. According to the splicing type soft gripper carrying the suction cups, different products can be clamped, and the splicing type soft gripper carrying the suction cups is suitable for conveying of various products in an automatic production line.

Description

Technical Field

[0001] This invention relates to the field of clamping devices, specifically a modular soft gripper equipped with a suction cup. Background Technology

[0002] With the development of automation technology, the quality of products that can be produced on automated production lines is getting higher and higher, and the variety of products is increasing. In particular, for injection molded parts in the automotive parts industry, traditional single suction cups have begun to be unable to handle the conveying operations of some products on automated production lines, especially injection molded parts with high requirements for the surface quality of the upper end.

[0003] In the patent application CN202210338706.3, titled "A Vacuum Suction Cup Grabber Structure", the structure mentioned, which connects the buffer component to the suction cup component, will come into contact with the highly reflective surface when the suction cup component adsorbs the injection molded part with high surface quality requirements on the upper end, i.e., when it picks up the highly reflective part. This will leave marks on the highly reflective surface and damage the surface structure of the product.

[0004] The patent "A Dexterous Robotic Gripper with Integrated Suction Cup" with authorization announcement number CN209551745U mentions a gripping design that combines a suction cup with a mechanical gripper. However, when the suction cup picks up highly reflective parts, it comes into contact with the highly reflective surface, leaving marks on the surface and damaging the product's surface structure. Furthermore, the combination of the mechanical gripper and the suction cup has a limited gripping method and poor applicability. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a splicing soft gripper equipped with a suction cup that can grip different products to adapt to the conveying of multiple products in an automated production line.

[0006] The technical solution adopted by the present invention to solve the above problems is a spliced ​​soft gripper equipped with a suction cup, comprising a main body, the main body including a suction cup module and a gripper module. The suction cup module is located in the central area of ​​the main body for absorbing products. There are two gripper modules, which are respectively located on opposite sides of the suction cup module for gripping both ends of the product. The gripper module includes two soft fingers. The bending direction of the soft fingers is controlled by the internal air pressure. When the internal air pressure is negative, the two soft fingers move closer to each other to grasp the product. When the internal air pressure is high, the two soft fingers move further apart to release the grip on the product.

[0007] Compared with the prior art, the advantages of the present invention are as follows: When gripping small-weight products with high surface quality requirements on the upper surface, the suction cup module retracts to move away from the product, while the two flexible fingers of the gripper module move closer together to grip the product from the side; when gripping small-weight products with a flat upper surface but low surface quality requirements, the suction cup module extends to move closer to the product and sucks the product from the upper surface, while the two flexible fingers of the gripper module move away from each other to avoid interference with the product; when gripping heavy-weight products with a flat upper surface but low surface quality requirements, the suction cup module extends to move closer to the product and sucks the product from the upper surface, while the two flexible fingers of the gripper module move closer together to grip the product from the side, thus achieving coordinated gripping of the product by the suction cup module and the gripper module. This enables the main body to grip products of different weights and surface requirements, achieving wide applicability of the product and ensuring smooth conveying of the product in the automated production line.

[0008] As an improvement of the present invention, the gripper module includes a gripping moving component, which includes a gripper fixing plate. The gripper fixing plate is fixedly connected to the main body by fasteners. A motor is provided at the upper end of the gripper fixing plate. The output end of the motor is connected to two racks through an output gear. The two racks are respectively located on both sides of the output gear. When the output gear is driven, the two racks move in opposite directions. The ends of the racks are used to be fixedly connected to the flexible fingers. Through this improvement, the gripping range can be adjusted by the design of the moving component, making the gripper module more applicable to products of different sizes. At the same time, the balanced driving can be ensured by using only one motor to drive the two racks simultaneously. When the product is at the center position of the two flexible fingers, the two flexible fingers will touch the product simultaneously during the gripping process without any time difference in contact, which could cause the product to shift or deform. For easily deformable products, the time difference in gripping can easily cause irregular deformation of the product, which is not conducive to the firmness of subsequent gripping.

[0009] As an improvement of the present invention, a movable connecting block is fixedly connected to the lower part of the rack, and the flexible finger is fixedly connected to the movable connecting block. The rack is located above the gripper fixing plate for transmission connection with the output gear, and the movable connecting block is located below the gripper fixing plate. The rack and the movable connecting block are fixedly connected by a movable connecting rib. The gripper fixing plate is provided with a movable groove for the movable connecting rib to move in a directional manner. The movable groove is arranged along the gripping direction of the flexible finger. Through this improvement, the rack and the movable connecting block are connected by the movable connecting rib, so that the rack and the movable connecting block are respectively placed at the upper and lower ends of the gripper fixing plate, thereby ensuring the stability of the rack's movement on the gripper fixing plate and preventing it from easily detaching from the gripper fixing plate. The movable connection design of the movable connecting rib and the movable groove ensures the stability and accuracy of the rack's movement on the gripper fixing plate, thereby ensuring the stability and consistency of the flexible finger's gripping.

[0010] As an improvement of the present invention, the lower end of the movable connecting block is provided with a connecting sleeve, and the flexible finger includes a connecting part, a bending part, and a clamping part. The connecting part is used to be fixedly connected to the connecting sleeve, the clamping part is used to clamp one side of the product, and the bending part is used to bend the flexible finger to facilitate gripping or releasing the grip. The bending part is located between the connecting part and the clamping part, and the bending part is hollow. The gripping bending side of the bending part is provided with multiple bending grooves. The connecting part is also connected to a gas booster pump through an air pipe. When the gas booster pump is connected to a vacuum generator to evacuate, the bending part bends towards the bending grooves. When the gas booster pump outputs positive pressure through a pressure regulating valve, the bending part... The bending is directed away from the bending groove. Through the aforementioned improvement, utilizing the hollow design of the bending section and the design of the bending groove, the contact area between the gripping bending side and the outside air is larger during vacuuming. Since the atmospheric pressure is the same, the bending side is subjected to a greater pressure difference force, causing the bending section to bend towards the gripping bending side to achieve the gripping purpose. Conversely, when pressurization is applied, the two flexible fingers will bend away from each other, which can achieve the purpose of releasing the grip and avoiding contact with the product. The gas booster pump connected to the vacuum generator controls the bending amplitude towards the gripping bending side through different intensities of negative pressure, and controls the amplitude of the separation bending by outputting different intensities of positive pressure.

[0011] As an improvement of the present invention, the bending part adopts a split design, which is formed by sequentially splicing flexible finger convex structures and flexible finger concave structures. The flexible finger convex structure has a protrusion in the middle and grooves on both sides for forming a bending groove after splicing with the flexible finger concave structure. The flexible finger concave structure has a bending groove in the middle and protrusions on both sides for splicing with the grooves to form a bending groove. Through this improvement, the length of the bending part can be adjusted by adjusting the number and combination of flexible finger convex structures and flexible finger concave structures, so that the flexible finger has better applicability and is suitable for products of different specifications.

[0012] As an improvement of the present invention, the end of the flexible finger convex structure used to connect with the flexible finger concave structure is provided with a hollow connecting groove, and the end of the flexible finger concave structure used to connect with the flexible finger convex structure is provided with a connecting block that fits into the connecting groove, and the connecting block is also hollow. The connecting groove and the connecting block are bonded and sealed with a high-temperature debonding adhesive. Through this improvement, after the flexible finger convex structure and the flexible finger concave structure are assembled, the bending grooves on the flexible finger are arranged in a uniform array, thereby ensuring the uniformity of bending of each part of the flexible finger when bending, and avoiding stress concentration areas in some areas during the bending process, which would cause easy bending damage. In the worst-case scenario, the adhesive bonding method ensures both the connection between the convex and concave structures of the flexible fingers and the sealing of the connection. During bending, the adhesive can also adapt to bending deformation, making the adhesive bonding method highly adaptable during use and less prone to friction and wear between the convex and concave structures during deformation. To separate the convex and concave structures, simply soften the adhesive with a heat gun to separate them, and then reshape the flexible finger length as needed.

[0013] As an improvement of the present invention, the airtightness design formula between the connecting groove and the connecting block is as follows: ; Safety factor ; Effective area coefficient ; Input air pressure Cross-sectional area of ​​the air cavity in the connecting groove and connecting block Glue tensile strength Area of ​​the relative mating surfaces of the connecting groove and the connecting block Area of ​​the joint surface between the connecting groove and the connecting block on the side Through the aforementioned improvement, the maximum pressurized or depressurized air pressure that the flexible finger can withstand can be calculated using this formula. If the air pressure exceeds this value, the adhesive will break and fail, thereby obtaining the limit gripping weight of the flexible finger, so as to use flexible fingers with different gripping capabilities for products of different weights.

[0014] As an improvement to this invention, the formula for the change in the bending angle of the soft finger is as follows: ; ; ; effective coefficient ; Input air pressure P Input torque M P Soft finger tip torque M 0 Soft-touch rectangular chamber torque M 1 Bottom torque M 2 Height of rectangular chamber Bottom thickness Soft finger tip inner diameter Soft finger tip thickness Bending angle Distance from top to bottom of rectangular chamber Soft finger bending radius of curvature air chamber length The angle of the tip of the soft finger changes. Axial tensile strength (i=0, 1, 2), cross-sectional thickness (i=0, 1, 2), cross-sectional stress (i=0, 1, 2), internal stress Through the aforementioned improvements and the design of the formula, the bending angle of the soft finger under corresponding positive or negative pressure conditions can be obtained. This allows for better adjustment of the distance and bending amplitude between the two soft fingers according to the product size, enabling more precise and effective product gripping.

[0015] As an improvement of the present invention, the suction cup module includes a suction cup connecting frame and a suction cup mounting rail. The suction cup mounting rail is fixedly connected to the center line of the main body. The suction cup connecting frame is fixedly connected to the suction cup mounting rail by fasteners. The lower end of the suction cup connecting frame is provided with an X-shaped bracket. The X-shaped brackets are arranged at right angles and each of the four sides of the X-shaped bracket is provided with a suction cup. Each suction cup can be movably connected to the corresponding four sides. Through this improvement, the suction function of the suction cup module is realized, and the uniformity and adjustability of the suction of multiple suction cups in the core area of ​​the product are achieved, ensuring the stability of the suction cup module's suction of the product.

[0016] As an improvement of the present invention, when gripping a light-weight product with high surface quality requirements on the upper surface, the suction cup module retracts to move away from the product, while the two flexible fingers of the gripper module move closer together to grip the product from the side. When gripping a light-weight product with a flat upper surface but low surface quality requirements, the suction cup module extends to move closer to the product and sucks the product from the upper surface, while the two flexible fingers of the gripper module move away from each other to avoid interference with the product. When gripping a heavy-weight product with a flat upper surface but low surface quality requirements, the suction cup module extends to move closer to the product and sucks the product from the upper surface, while the two flexible fingers of the gripper module move closer together to grip the product from the side, thus achieving coordinated gripping. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the gripper module structure of the present invention.

[0019] Figure 3 This is a schematic diagram of the outer side structure of the gripper module of the present invention.

[0020] Figure 4 This is a schematic diagram of the cross-sectional structure of the movable connecting rib of the present invention.

[0021] Figure 5 This is a schematic diagram of the flexible finger convex structure of the present invention.

[0022] Figure 6 This is a schematic diagram of the flexible concave structure of the present invention.

[0023] Figure 7 This is a schematic diagram of the structure when the clamp is released according to the present invention.

[0024] Figure 8 This is a schematic diagram of the structure of the present invention when the gripper module only grasps the product.

[0025] Figure 9 This is a schematic diagram of the structure of the present invention when only the suction cup module picks up the product.

[0026] Figure 10 This is a schematic diagram of the structure when the gripper module and suction cup module of the present invention jointly clamp the product.

[0027] Figure 11 This is a schematic diagram of the connection structure between the suction cup and the X-shaped bracket of the present invention.

[0028] The diagram shows: 1. Suction cup module, 1.1 Suction cup connecting frame, 1.2 Suction cup mounting rail, 1.3 X-shaped bracket, 1.4 Suction cup, 1.5 Spring, 2. Gripper module, 2.1 Flexible finger, 2.1.1 Connecting part, 2.1.2 Bending part, 2.1.3 Clamping part, 2.1.4 Bending groove, 2.1.5 Flexible finger convex structure, 2.1.5.1 Connecting groove, 2.1.6 Flexible finger concave structure, 2.1.6.1 Connecting block, 2.2 Gripping and moving component, 2.2.1 Gripper fixing plate, 2.2.1.1 Moving groove, 2.2.2 Motor, 2.2.3 Rack, 2.2.4 Moving connecting block, 2.2.5 Connecting sleeve, 2.2.5.1 Air vent, 2.2.6 Moving connecting rib, 3. Product. Detailed Implementation

[0029] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0030] like Figure 1 , Figure 7-10As shown, a spliced ​​soft gripper equipped with suction cups includes a main body. The main body includes a suction cup module 1 and a gripper module 2. The suction cup module 1 is located in the central area of ​​the main body for picking up a product 3. There are two gripper modules 2, which are respectively located on opposite sides of the suction cup module 1 for gripping both ends of the product 3. Each gripper module 2 includes two flexible fingers 2.1. The bending direction of the flexible fingers 2.1 is controlled by the internal air pressure. When the internal air pressure is negative, the two flexible fingers 2.1 move closer together to grip the product 3. When the internal air pressure is high, the two flexible fingers 2.1 move further apart to release the grip on the product 3. The surface quality requirements of the gripping upper end are specified. When gripping a small, lightweight product 3, the suction cup module 1 retracts to move away from the product 3, and the two flexible fingers 2.1 of the gripper module 2 move closer together to grip the product 3 from the side. When gripping a small, lightweight product 3 with a flat upper surface but low surface quality requirements, the suction cup module 1 extends to move closer to the product 3 and sucks the product 3 from its upper surface, while the two flexible fingers 2.1 of the gripper module 2 move away from each other to avoid interference with the gripping of the product 3. When gripping a large, heavy product 3 with a flat upper surface but low surface quality requirements, the suction cup module 1 extends to move closer to the product 3 and sucks the product 3 from its upper surface, while the two flexible fingers 2.1 of the gripper module 2 move closer together to grip the product 3 from the side, achieving coordinated gripping.

[0031] like Figure 2 As shown, the gripper module 2 includes a gripping and moving component 2.2, which includes a gripper fixing plate 2.2.1. The gripper fixing plate 2.2.1 is fixedly connected to the main body by fasteners. A motor 2.2.2 is provided at the upper end of the gripper fixing plate 2.2.1. The output end of the motor 2.2.2 is connected to two racks 2.2.3 through an output gear. The two racks 2.2.3 are respectively located on both sides of the output gear. When the output gear is driven, the two racks 2.2.3 move in opposite directions. The ends of the racks 2.2.3 are used for fixed connection with the soft finger 2.1.

[0032] like Figure 2-4As shown, a movable connecting block 2.2.4 is fixedly connected to the lower part of the rack 2.2.3, and the flexible finger 2.1 is fixedly connected to the movable connecting block 2.2.4. The rack 2.2.3 is located above the gripper fixing plate 2.2.1 for transmission connection with the output gear. The movable connecting block 2.2.4 is located below the gripper fixing plate 2.2.1. The rack 2.2.3 and the movable connecting block 2.2.4 are fixedly connected by a movable connecting rib 2.2.6. The gripper fixing plate 2.2.1 is provided with a movable groove 2.2.1.1 for the directional movement of the movable connecting rib 2.2.6. The movable groove 2.2.1.1 is set along the gripping direction of the flexible finger 2.1. The lower end of the movable connecting block 2.2.4 is provided with a connecting sleeve 2.2.5. The flexible finger 2.1 includes a connecting part 2.1.1, a bending part 2.1.2, and a clamping part 2.1.3. The connecting part 2.1.1 is used to fix it to the connecting sleeve 2.2.5. The clamping part 2.1.3 is used to clamp one side of the product 3. The bending part 2.1.2 is used to bend the flexible finger 2.1 to facilitate gripping or releasing the grip. The bending part 2.1.2 is located between the connecting part 2.1.1 and the clamping part 2.1.3. The bending part 2.1.2 is hollow. The gripping bending side of the bending part 2.1.2 is provided with multiple bending grooves 2.1. 4. The connecting part 2.1.1 is also connected to a gas booster pump via an air pipe. When the gas booster pump is connected to a vacuum generator to evacuate, the bending part 2.1.2 bends towards the bending groove 2.1.4. When the gas booster pump outputs positive pressure through a pressure regulating valve, the bending part 2.1.2 bends away from the bending groove 2.1.4. The gas booster pump connected to the vacuum generator controls the bending amplitude towards the gripping bending side by different intensities of negative pressure. The gas booster pump controls the bending amplitude away from the gripping bending side by outputting different intensities of positive pressure. A connecting hole 2.2.5.1 for connecting with an air pipe is provided on the connecting side of the connecting part 2.1.1 and the connecting sleeve 2.2.5.

[0033] like Figure 2 , Figure 4-6As shown, the bending portion 2.1.2 adopts a split design. The bending portion 2.1.2 is formed by sequentially and alternately splicing a flexible finger convex structure 2.1.5 and a flexible finger concave structure 2.1.6. The flexible finger convex structure 2.1.5 has a protrusion in its center, and its two sides have grooves for forming a bending groove 2.1.4 after splicing with the flexible finger concave structure 2.1.6. The flexible finger concave structure 2.1.6 has a bending groove 2.1.4 in its center, and the flexible finger convex structure 2.1.5 has grooves for forming a bending groove 2.1.4 after splicing with the concave structure 2.1.6. The grooves are spliced ​​to form a curved groove 2.1.4 protrusion. The end of the flexible finger protrusion 2.1.5 that is used to connect with the flexible finger concave structure 2.1.6 is provided with a hollow connecting groove 2.1.5.1. The end of the flexible finger concave structure 2.1.6 that is used to connect with the flexible finger protrusion 2.1.5 is provided with a connecting block 2.1.6.1 that fits into the connecting groove 2.1.5.1. The connecting block 2.1.6.1 is also hollow. The connecting groove 2.1.5.1 and the connecting block 2.1.6.1 are bonded and sealed with adhesive that can be desorbed at high temperature.

[0034] The airtightness design formula between the connecting groove 2.1.5.1 and the connecting block 2.1.6.1 is as follows: ; Safety factor ; Effective area coefficient ; Input air pressure The cross-sectional area of ​​the air cavity in the connecting groove 2.1.5.1 and the connecting block 2.1.6.1 Glue tensile strength The relative mating surface area of ​​the connecting groove 2.1.5.1 and the connecting block 2.1.6.1. The area of ​​the mating surface of the connecting groove 2.1.5.1 and the connecting block 2.1.6.1 on the splicing side. .

[0035] Formula for the change of bending angle of the soft finger 2.1: ; ; ; effective coefficient ; Input air pressure P Input torque M P Soft finger 2.1 top torque M 02.1 Rectangular Chamber Torque M 1 Bottom torque M 2 Height of rectangular chamber Bottom thickness 2.1 Inner diameter of the top of the soft finger Soft finger 2.1 Top thickness Bending angle Distance from top to bottom of rectangular chamber 2.1 Flexural radius of curvature air chamber length 2.1 Soft finger top angle change Axial tensile strength i = 0, 1, 2, cross-sectional thickness i=0, 1, 2, cross-sectional stress i=0, 1, 2, internal stress .

[0036] like Figure 1 , Figure 7 , Figure 9-11 As shown, the suction cup module 1 includes a suction cup connecting frame 1.1 and a suction cup mounting rail 1.2. The suction cup mounting rail 1.2 is fixedly connected to the center line of the main body. The suction cup connecting frame 1.1 is fixedly connected to the suction cup mounting rail 1.2 by fasteners. The lower end of the suction cup connecting frame 1.1 is provided with an X-shaped bracket 1.3. The suction cup connecting frame 1.1 is used to drive the cylinder. The X-shaped bracket 1.3 is fixedly connected to the moving end of the cylinder. The X-shaped brackets 1.3 are arranged at right angles. Each of the four sides of the X-shaped bracket 1.3 is provided with a suction cup 1.4. Each suction cup 1.4 has... The suction cups 1.4 are movably connected to the four sides. A spring 1.5 is provided at the connection between the connecting rod of each suction cup 1.4 and the X-shaped bracket 1.3. The two ends of the spring 1.5 abut against the X-shaped bracket 1.3 and the connecting rod, respectively. When the suction cup connecting frame 1.1 drives the X-shaped bracket 1.3 to move towards the product 3, it ensures that the four suction cups 1.4 fully abut against the product 3. Therefore, through the buffer design of the spring 1.5, the driving range of the suction cups 1.4 can be increased, the driving precision of the suction cups 1.4 can be reduced, the vacuum suction effect of the suction cups 1.4 can be guaranteed, and the situation of vacuum leakage of the suction cups 1.4 is not likely to occur.

[0037] like Figure 7 As shown, when the splicing soft gripper equipped with suction cups needs to transport product 3, the suction cup 1.4 is raised and the soft finger 2.1 is unfolded first to avoid the suction cup 1.4 and the soft finger 2.1 from coming into contact with product 3 as they approach product 3, thereby ensuring that the main body will not come into contact with or interfere with product 3 as it approaches product 3.

[0038] like Figure 8As shown, when gripping a small, lightweight product 3 with high surface quality requirements on the upper end, the suction cup module 1 remains in an upward state to move away from the product 3, the gripper module 2 draws a vacuum, and the two soft fingers 2.1 approach each other to grip the product 3 from the side, thereby completing the gripping operation of the product 3. Then the main body moves to the next work station to realize the movement of the product 3 on the production line.

[0039] like Figure 9 As shown, when gripping a small-weight product 3 with a flat upper surface but low surface quality requirements, the suction cup module 1 descends to approach the product 3 and picks it up from its upper surface. Meanwhile, the gripper module 2 applies pressure to move the two flexible fingers 2.1 away from each other to avoid interference with the product 3, thus completing the gripping operation of the product 3. Afterward, the main body moves to the next station to realize the movement of the product 3 on the production line.

[0040] like Figure 10 As shown, when gripping a heavy product 3 with a flat upper surface but low surface quality requirements, the suction cup module 1 descends to approach the product 3 and picks it up from its upper surface. Meanwhile, the gripper module 2 creates a vacuum, causing the two flexible fingers 2.1 to come close to each other and grip the product 3 from its side. This achieves coordinated gripping of the product by the suction cup module 1 and the gripper module 2, thereby completing the gripping operation of the product 3. Then, the main body moves to the next workstation to move the product 3 on the production line.

[0041] During the product gripping process, the gripping force of the two flexible fingers 2.1 can be adjusted by controlling the vacuum strength of the gripper module 2 to accommodate products of different weights. At the same time, the gripping width of the gripper module 2 can be adjusted by the design of the gripping moving component 2.2 to accommodate products 3 of different widths. Furthermore, this invention can use a variety of different gripping methods to transport the product 3 on the automated production line according to the surface quality of the product 3, making this invention highly applicable.

[0042] The above description only illustrates the preferred embodiments of the present invention and should not be construed as limiting the scope of the claims. The present invention is not limited to the above embodiments, and variations in its specific structure are permitted. All modifications made within the scope of the independent claims of this invention are also within the scope of protection of this invention.

Claims

1. A soft gripper with suction cups, comprising a main body, characterized in that: The main body comprises a suction cup module (1) and a gripper module (2), the suction cup module (1) is arranged in the central area of the main body for sucking the product (3), the gripper module (2) is provided with two, the two gripper modules (2) are arranged on the two sides away from each other of the suction cup module (1) for grabbing the two ends of the product (3), the gripper module (2) comprises two soft flexible fingers (2.1), the flexible finger (2.1) controls the bending direction of the flexible finger (2.1) through the internal air pressure, when the internal air pressure is in a negative pressure state, the two flexible fingers (2.1) are close to each other to realize the grabbing of the product (3), when the internal air pressure is in a high pressure state, the two flexible fingers (2.1) are away from each other to realize the release of the grabbing of the product (3).

2. The soft gripper of claim 1, wherein: The gripper module (2) comprises a clamping moving assembly (2.2), the clamping moving assembly (2.2) comprises a gripper fixed plate (2.2.1), the gripper fixed plate (2.2.1) is fixedly connected on the main body through fasteners, the upper end of the gripper fixed plate (2.2.1) is provided with a motor (2.2.2), the output end of the motor (2.2.2) is drivingly connected with two racks (2.2.3) through an output gear, the two racks (2.2.3) are arranged on the two sides of the output gear, the moving directions of the two racks (2.2.3) are opposite when the output gear is driven, and the end portions of the racks (2.2.3) are used for fixedly connecting with the flexible fingers (2.1).

3. The soft gripper of claim 2, wherein: A moving connecting block (2.2.4) is fixedly connected below the rack (2.2.3), the flexible finger (2.1) is fixedly connected on the moving connecting block (2.2.4), the rack (2.2.3) is arranged above the gripper fixed plate (2.2.1) for drivingly connecting with the output gear, the moving connecting block (2.2.4) is arranged below the gripper fixed plate (2.2.1), the rack (2.2.3) and the moving connecting block (2.2.4) are fixedly connected through a moving connecting rib, the gripper fixed plate (2.2.1) is provided with a moving groove (2.2.1.1) for directional movement of the moving connecting rib, and the moving groove (2.2.1.1) is arranged along the grabbing direction of the flexible finger (2.1).

4. The soft gripper of claim 3, wherein: The lower end of the mobile connecting block (2.2.4) is provided with a connecting sleeve (2.2.5), the flexible finger (2.1) comprises a connecting part (2.1.1), a bending part (2.1.2) and a clamping part (2.1.3), the connecting part (2.1.1) is used for fixed connection with the connecting sleeve (2.2.5), the clamping part (2.1.3) is used for clamping one side of the product (3), the bending part (2.1.2) is used for bending the flexible finger (2.1) so as to facilitate the flexible finger (2.1) to grasp or release the grasp, the bending part (2.1.2) is arranged between the connecting part (2.1.2) and the clamping part (2.1.3), the bending part (2.1.2) is hollow, a plurality of bending grooves (2.1.4) are arranged on the grasping and bending side of the bending part (2.1.2), the connecting part (2.1.1) is further connected with the gas booster pump through the air pipe, when the gas booster pump is connected with the vacuum generator to perform vacuumization, the bending part (2.1.2) bends towards the bending grooves (2.1.4), when the gas booster pump outputs positive pressure through the pressure regulating valve, the bending part (2.1.2) bends away from the bending grooves (2.1.4).

5. The soft gripper of claim 4, wherein: The bending part (2.1.2) adopts a split type design, the bending part (2.1.2) is sequentially and spacedly spliced by a flexible finger convex structure (2.1.5) and a flexible finger concave structure (2.1.6), the middle part of the flexible finger convex structure (2.1.5) is provided with a convex block, the two sides of the flexible finger convex structure (2.1.5) are provided with grooves for splicing with the flexible finger concave structure (2.1.6) to form the bending grooves (2.1.4), the middle part of the flexible finger concave structure (2.1.6) is provided with the bending grooves (2.1.4), and the two sides of the flexible finger convex structure (2.1.5) are provided with convex blocks for splicing with the grooves to form the bending grooves (2.1.4).

6. The soft gripper of claim 5, wherein: The end of the flexible finger convex structure (2.1.5) for connecting with the flexible finger concave structure (2.1.6) is provided with a hollow connecting groove (2.1.5.1), The end of the flexible finger concave structure (2.1.6) for connecting with the flexible finger convex structure (2.1.5) is provided with a connecting block (2.1.6.1) matched with the connecting groove (2.1.5.1), and the connecting block (2.1.6.1) is also hollow, and the connecting groove (2.1.5.1) and the connecting block (2.1.6.1) are adhesively sealed by high-temperature soluble glue.

7. The soft gripper of claim 6, wherein: The air-tightness design formula between the connecting groove (2.1.5.1) and the connecting block (2.1.6.1) is: ； Safety factor ; Effective area coefficient ; Input air pressure Hollow air cavity cross-sectional area of the connecting groove (2.1.5.1) and the connecting block (2.1.6.1) Glue tensile strength Area of the relative joint surface of the connecting groove (2.1.5.1) and the connecting block (2.1.6.1) spliced together Area of the side joint surface of the connecting groove (2.1.5.1) and the connecting block (2.1.6.1) spliced together .

8. The soft gripper of claim 6, wherein: The bending angle change formula of the flexible finger (2.1) is: ； ； ； Significant coefficients ; Input air pressure P , Input torque M P , Top torque of soft finger (2.1) M 0 , Rectangular chamber torque of soft finger (2.1) M 1 , Bottom torque M 2 , Rectangular chamber height , Bottom thickness , Top inner diameter of soft finger (2.1) , Top thickness of soft finger (2.1) , Bending angle , Rectangular chamber top-to-bottom distance , Bending curvature radius of soft finger (2.1) , Air cavity length , Top angle of change of soft finger (2.1) , Axial elongation Cross-sectional thickness (i=0, 1, 2) Cross-sectional stress (i=0, 1, 2) Internal stress (i=0, 1, 2) .

9. The soft gripper of claim 1, wherein: The suction disc module (1) comprises a suction disc connecting frame (1.1) and a suction disc mounting guide rail (1.2), the suction disc mounting guide rail (1.2) is fixedly connected on the center line of the main body, the suction disc connecting frame (1.1) is fixedly connected on the suction disc mounting guide rail (1.2) through fasteners, the lower end of the suction disc connecting frame (1.1) is provided with an X-shaped support (1.3), the X-shaped support (1.3) is arranged in a right angle, and one suction disc (1.4) is arranged on each of the four edges of the X-shaped support (1.3), and each suction disc (1.4) is movably connected on the corresponding four edges.

10. The soft gripper of claim 1, wherein: When a small-weight product (3) with high quality requirement on the upper end surface is gripped, the suction disc module (1) is retracted to be away from the product (3), and the two flexible fingers (2.1) of the gripper module (2) are close to each other to grip the product (3) from the side of the product (3); when a small-weight product (3) with a flat upper end surface but low surface quality requirement is gripped, the suction disc module (1) is extended to be close to the product (3) to suck the product (3) from the upper end surface of the product (3), and the two flexible fingers (2.1) of the gripper module (2) are away from each other to avoid suction interference on the product (3); when a large-weight product (3) with a flat upper end surface but low surface quality requirement is gripped, the suction disc module (1) is extended to be close to the product (3) to suck the product (3) from the upper end surface of the product (3), and the two flexible fingers (2.1) of the gripper module (2) are close to each other to grip the product (3) from the side of the product (3), so that the products are gripped cooperatively.

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