Flexible gripper, method of use

Abstract

The application discloses a flexible gripper and a use method, and the flexible gripper comprises a gripper finger driving mechanism and a plurality of flexible double knuckle gripper fingers, each of the flexible double knuckle gripper fingers comprises a first knuckle, a second knuckle and a second knuckle driving device, one end of the first knuckle is connected with the gripper finger driving mechanism, the other end of the first knuckle is provided with the second knuckle driving device, and an output end of the second knuckle driving device is provided with the second knuckle; the plurality of second knuckles are driven by the gripper finger driving mechanism to move away from or close to the corresponding first knuckles; and the second knuckle driving device drives the second knuckle to rotate. Through the ingenious cooperation of the components, the adaptability and the application range of the gripper are enhanced.

Description

Technical Field

[0001] This invention relates to a flexible gripper and its usage method, belonging to the field of robot gripper technology. Background Technology

[0002] Mechanical grippers are a common type of mechanical grasping device. By working in conjunction with robotic arms, they can achieve automated grasping and are widely used in industrial production.

[0003] In existing technology products, grippers are basically made of rigid materials. If the rigidity is too high, it will easily damage the object. While flexible grippers can adhere to the surface of the object for gripping, the overall use of flexible materials results in the ability to grip objects of smaller weights, and the objects are not stable enough during the movement of the robotic arm after gripping. Summary of the Invention

[0004] This invention provides a flexible gripper and its usage method, which uses a combination of single drive and independent drive to control two finger joints, thereby achieving adaptive gripping of objects.

[0005] The technical solution of the present invention is: a flexible gripper, including a finger-gripping drive mechanism and multiple flexible double-joint grippers 1, each flexible double-joint gripper 1 including a first joint 19, a second joint 16, and a second joint drive device 17. One end of the first joint 19 is connected to the finger-gripping drive mechanism, and the other end of the first joint 19 is equipped with the second joint drive device 17. The output end of the second joint drive device 17 is equipped with the second joint 16. The finger-gripping drive mechanism drives the multiple second joints 16 to follow the corresponding first joints 19 to perform opening and closing movements that move closer or further away from each other, and the second joint drive device 17 drives the second joints 16 to rotate.

[0006] It also includes a quick-connect endotracheal device 5, which is fixedly connected to the finger clamping drive mechanism.

[0007] The quick-connect endotracheal device 5 includes a snap fastener 10, a snap fastener pad 11, a spring retainer ring 12, a retaining ring 13, a sealing ring 14, and a housing 15. The snap fastener 10, spring retainer ring 12, retaining ring 13, and sealing ring 14 form a first channel. The sealing ring 14 is fixed inside the housing 15, the retaining ring 13 is fixed to the upper part of the sealing ring 14, the snap fastener pad 11 is fixed to the upper part of the retaining ring 13, the spring retainer ring 12 is fixed by a slot on the snap fastener pad 11, and the snap fastener 10 is fixed between the snap fastener pad 11 and the spring retainer ring 12 by a snap fastener.

[0008] The finger clamping drive mechanism includes a lower connecting plate 2, a connecting rod 3, an upper connecting plate 4, and a telescopic airbag 7. The telescopic airbag 7, installed between the upper connecting plate 4 and the lower connecting plate 2, is connected to the first channel of the tracheal quick-insertion device. One end of the connecting rod 3 is rotatably connected to the upper connecting plate 4, and the other end of the lower connecting plate 2 and the connecting rod 3 is rotatably connected to the first finger joint 19.

[0009] It also includes an object clamping device 22, one end of which is fixed to the lower connecting plate 2, and the other end of which is a free end.

[0010] The inner clamping surface of the first phalanx 19 is provided with a clamping airbag 20.

[0011] The flexible double-knuckle clamp 1 also includes an air tube 8 and a solenoid valve 9. The solenoid valve 9 is installed on the air tube 8, which is used to connect the telescopic airbag 7 and the clamping airbag 20.

[0012] It also includes a pressure sensor 18 for detecting the pressure in the clamping airbag 20.

[0013] The inner clamping surface of the second phalanx 16 is provided with a flexible material 21.

[0014] According to another aspect of the present invention, a method of using a flexible gripper is provided, employing a first gripping method or a second gripping method;

[0015] The first clamping method includes:

[0016] Initial clamping: The extension movement of the telescopic airbag 7 in the finger clamping drive mechanism pushes the lower connecting plate 2 to move along the extension direction, thereby driving the first finger joint 19 connected to the connecting rod 3 to move closer together; the second finger joint 16 follows the movement of the first finger joint 19.

[0017] Secondary clamping with mutual proximity: The clamping airbag 20 is inflated with gas to make the clamping airbag 20 fit against the surface of the object to be clamped; the second finger joint driving device 17 drives the second finger joint 16 to rotate to make the flexible material 21 fit against the surface of the object to be clamped.

[0018] The second clamping method includes:

[0019] Initial clamping with the fingers moving away from each other: The contraction of the telescopic airbag 7 in the finger clamping drive mechanism pulls the lower connecting plate 2 to move in the contraction direction, thereby causing the first finger joint 19 connected to the connecting rod 3 to open away from each other; the second finger joint 16 follows the movement of the first finger joint 19.

[0020] Secondary clamping with mutual separation: The second phalanx drive device 17 drives the second phalanx 16 to rotate, so that the second phalanx 16 fits against the surface of the object to be clamped.

[0021] The beneficial effects of this invention are:

[0022] This invention provides a flexible gripper for a robotic arm with adjustable clamping force. It solves the problems of high energy consumption and complex structure associated with traditional gripper transmission methods by using an inflatable airbag transmission system, reducing the need for a power source. An air pump inflates the gripper fingers to achieve initial grasping and clamping, and then, in conjunction with a second finger joint and flexible material, enables multi-point clamping of objects, making the objects more stable during grasping movements. Furthermore, a pressure sensor monitors the pressure in the clamping airbag, stopping the air pump inflation when a preset value is reached, and the preset value can be changed to adjust the clamping force, thus increasing the gripper's applicability. Further, by pumping air out and reversing the rotation of a servo motor, the gripper can expand outwards, allowing for reverse clamping of hollow objects. In summary, this invention, through the ingenious cooperation of its components, enhances the adaptability and applicability of the gripper. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the usage state of the present invention;

[0025] Figure 3 This is a schematic diagram of the endotracheal quick-intubation device of the present invention;

[0026] Figure 4 This is a schematic diagram of the finger-clamping drive mechanism of the present invention;

[0027] Figure 5 This is a schematic diagram of the flexible double-knuckle finger clamping structure of the present invention;

[0028] Figure 6 This is a schematic diagram of the connecting disk structure of the present invention;

[0029] Figure 7 This is a schematic diagram of the thrust ball bearing installation;

[0030] Figure 8 This is a schematic diagram of the gripper holding process of the present invention;

[0031] The labels in the diagram are as follows: 1-Flexible double-knuckle clamp, 2-Lower connecting plate, 3-Connecting rod, 4-Upper connecting plate, 5-Quick-connect air tube device, 6-Thrust ball bearing, 7-Telescopic airbag, 8-Air tube, 9-Solenoid valve, 10-Snap fastener, 11-Snap fastener pad, 12-Spring retaining ring, 13-Retaining ring, 14-Sealing ring, 15-Housing, 16-Knuckle II, 17-Servo motor, 18-Pressure sensor, 19-Knuckle I, 20-Clamping airbag, 21-Flexible material, 22-Object clamping device, 23-Bolt I, 24-Bolt II, 25-Bolt III, 26-Bolt IV. Detailed Implementation

[0032] The invention will be further described below with reference to the accompanying drawings and embodiments, but the scope of the invention is not limited to the description.

[0033] Example 1: As Figure 1-8 As shown, according to one aspect of the present invention, a flexible gripper is provided, including a gripping finger drive mechanism and a plurality of flexible double-joint grippers 1. Each flexible double-joint gripper 1 includes a first joint 19, a second joint 16, and a second joint drive device 17. One end of the first joint 19 is connected to the gripping finger drive mechanism, and the second joint drive device 17 is installed at the other end of the first joint 19. The output end of the second joint drive device 17 is equipped with the second joint 16. The gripping finger drive mechanism drives the plurality of second joints 16 to follow the corresponding first joints 19 in opening and closing movements, moving closer or further away from each other. The second joint drive device 17 drives the second joints 16 to rotate. Optionally, the second joint drive device can be a dual-axis output servo motor, which is fixed to the end of the first joint 19 away from the gripping finger drive mechanism by bolt IV26. The servo motor output shaft is fixed to the second joint 16 by an interference fit, so that it drives the second joint 16 to rotate. The second joints are independently controlled, and can open and close independently to achieve different opening degrees.

[0034] Furthermore, it can also include a quick-connect endotracheal device 5, which is threadedly connected to the finger clamping drive mechanism.

[0035] Furthermore, such as Figure 3 As shown, the quick-connect endotracheal device 5 can be configured to include a snap fastener 10, a snap fastener pad 11, a spring retainer ring 12, a retaining ring 13, a sealing ring 14, and a housing 15. The snap fastener 10, spring retainer ring 12, retaining ring 13, and sealing ring 14 form a first channel. The sealing ring 14 is fixed inside the housing 15 by a slot, the retaining ring 13 is fixed to the upper part of the sealing ring 14 by a slot, the snap fastener pad 11 is fixed to the upper part of the retaining ring 13 by an interference fit, the spring retainer ring 12 is fixed by a slot on the snap fastener pad 11, and the snap fastener 10 is fixed between the snap fastener pad 11 and the spring retainer ring 12 by a snap fastener.

[0036] By applying the above technical solution, Figure 3 The following explanation is provided from the indicated perspective: On the one hand, the design of the spring retainer 12 facilitates locking after the airway is inserted; on the other hand, when the snap button 10 is pressed down, the snap button 10 moves toward the spring retainer 12, facilitating the insertion and removal of the airway. Based on this design, the gripper of the present invention can be applied to different scenarios and has strong applicability.

[0037] Furthermore, such as Figure 4As shown, the finger clamping drive mechanism can be configured to include a lower connecting plate 2, a connecting rod 3, an upper connecting plate 4, and a telescopic airbag 7. The upper connecting plate 4 is connected to an external robotic arm, and the telescopic airbag 7, installed between the upper connecting plate 4 and the lower connecting plate 2, communicates with the first channel of the endotracheal quick-connect device (the telescopic airbag 7 is bonded to the upper connecting plate 4 and the lower connecting plate 2). One end of the connecting rod 3 is rotatably connected to the upper connecting plate 4, and the other end of the lower connecting plate 2 and the connecting rod 3 is rotatably connected to the first finger joint 19.

[0038] Furthermore, such as Figure 6 As shown, the device may also include an object clamping device 22, one end of which is fixed to the lower connecting plate 2, and the other end of which is a free end. The object clamping device 22 may be made of a flexible material and is fixed to the lower connecting plate 2 by adhesive bonding.

[0039] Furthermore, such as Figure 5 As shown, the clamping surface of the first phalanx 19 can be provided with a clamping airbag 20.

[0040] Furthermore, the flexible double-knuckle clamp 1 may also include an air tube 8 and a solenoid valve 9, which is installed on the air tube 8 to connect the telescopic airbag 7 and the clamping airbag 20.

[0041] Furthermore, a pressure sensor 18 may be included to detect the pressure in the clamping airbag 20.

[0042] Furthermore, the clamping surface of the second phalanx 16 may be provided with a flexible material 21.

[0043] Furthermore, such as Figure 7 As shown, a thrust ball bearing 6 can be installed between the connecting rod 3 and the upper connecting plate 4 to reduce friction during rotation, and the connecting rod 3, the upper connecting plate 4, and the thrust ball bearing 6 can be fixed with bolt I23; a thrust ball bearing 6 can be installed between the first finger joint 19 and the lower connecting plate 2 to reduce friction, and fixed with bolt II24; a thrust ball bearing 6 can also be installed between the first finger joint 19 and the connecting rod 3 to reduce friction, and fixed with bolt III25.

[0044] According to another aspect of the present invention, a method for using a flexible gripper is also provided for clamping an object inward, specifically including: initial clamping by bringing the gripper closer together: the extension movement of the telescopic airbag 7 in the gripper driving mechanism pushes the lower connecting plate 2 to move along the extension direction, thereby driving the first finger joint 19 connected to the connecting rod 3 to perform a closing movement; the second finger joint 16 follows the movement of the first finger joint 19; secondary clamping: the clamping airbag 20 is inflated with gas to achieve contact between the clamping airbag 20 and the surface of the object to be clamped; the second finger joint driving device 17 drives the second finger joint 16 to rotate, thereby achieving contact between the flexible material 21 and the surface of the object to be clamped.

[0045] According to another aspect of the present invention, a method for using a flexible gripper to open and grip an object is also provided, specifically including: initial gripping with the grippers moving away from each other: the contraction movement of the telescopic airbag 7 in the gripper driving mechanism pulls the lower connecting plate 2 to move along the contraction direction, thereby driving the first finger joint 19 connected to the connecting rod 3 to perform an opening movement with the grippers moving away from each other; the second finger joint 16 follows the movement of the first finger joint 19; secondary gripping: the second finger joint driving device 17 drives the second finger joint 16 to rotate, so that the second finger joint 16 fits against the surface of the object to be gripped.

[0046] The working process of this invention is as follows:

[0047] like Figure 8 The diagram illustrates the inward clamping of an object: An external air pump is connected to a quick-connect air hose. Inflating the air pump causes the telescopic airbag 7 to extend downwards, pulling the connecting rod 3 inwards and causing the lower connecting plate 2 to move downwards. This, in turn, causes the flexible double-knuckle gripper 1 to close and grasp the object. Simultaneously, the object clamping device 22 below the upper connecting plate 2 presses down on the object to fix it in place. Because the clamping airbag 20 is flexible, it deforms along the object's surface, thus conforming to the surface and achieving initial clamping of the object. Figure 8 As shown in (b); since the clamping fingers are initially clamping the object, continued inflation will increase the pressure in the telescopic airbag 7. When the pressure reaches the threshold, the solenoid valve 9 will open, allowing gas to continue filling the clamping airbag 20, increasing the clamping force and ensuring its outer surface perfectly fits the object's outer surface. Simultaneously with the inflation of the clamping airbag 20, the servo motor 17 is rotated, causing the second finger joint 16 to retract, bringing the flexible material 21 into contact with the object's surface, thus achieving clamping of the lower part of the object. Figure 8 (c) shows that when the pressure sensor 18 reaches the preset value, the air pump is controlled to stop filling the air to control the clamping force. After the work is completed, the air pump is controlled to pump out the air and the servo motor 17 is controlled to rotate, so that the gripper can return to its original position.

[0048] For gripping objects outward: The present invention can also insert the gripper into the interior of a hollow object, and use an air pump to draw air to cause the telescopic airbag 7 to contract upward, which drives the connecting rod 3 to expand outward and the lower connecting plate 2 to move upward, thereby driving the flexible double-finger gripper 1 to expand outward. The servo motor 17 rotates in the opposite direction, thereby driving the second finger 16 to expand, thus achieving the gripping effect on the interior of the hollow object, and achieving the reverse gripping effect on part of the hollow object.

[0049] by Figure 1 , 2 Taking the structure shown as an example, applying the above technology, it can be seen that when clamping an object inward, this invention can use a single air pump to control two actions of the gripper, clamping the object at seven points, making the clamping more stable. The clamping force can be adjusted by controlling the inflation volume, and the clamping airbag is flexible, allowing it to better conform to the outer surface of the object, thus exhibiting strong adaptability. Furthermore, by pumping air and rotating the servo motor in the opposite direction, the gripper can expand outward, thereby achieving reverse clamping of partially hollow objects.

[0050] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A flexible gripper, characterized in that, The device includes a finger-clamping drive mechanism and multiple flexible double-knuckle finger clamps (1). Each flexible double-knuckle finger clamp (1) includes a first knuckle (19), a second knuckle (16), and a second knuckle drive device (17). One end of the first knuckle (19) is connected to the finger-clamping drive mechanism, and the other end of the first knuckle (19) is equipped with the second knuckle drive device (17). The output end of the second knuckle drive device (17) is equipped with the second knuckle (16). The finger-clamping drive mechanism drives multiple second knuckles (16) to follow the corresponding first knuckles (19) to perform opening and closing movements that move closer or further away from each other. The second knuckle drive device (17) drives the second knuckles (16) to rotate. The finger clamping drive mechanism includes a lower connecting plate (2), a connecting rod (3), an upper connecting plate (4), and a telescopic airbag (7), wherein the telescopic airbag (7) installed between the upper connecting plate (4) and the lower connecting plate (2) is connected to the first channel of the tracheal quick-insertion device; one end of the connecting rod (3) is rotatably connected to the upper connecting plate (4), and the other end of the lower connecting plate (2) and the connecting rod (3) is rotatably connected to the first finger joint (19); It also includes an object clamping device (22), one end of which is fixed to the lower connecting plate (2), and the other end of which is a free end; The inner clamping surface of the first phalanx (19) is provided with a clamping airbag (20); The flexible double-knuckle clamp (1) also includes an air tube (8) and a solenoid valve (9), and the solenoid valve (9) is installed on the air tube (8) used to connect the telescopic airbag (7) and the clamping airbag (20). It also includes a pressure sensor (18) for detecting the pressure in the clamping airbag (20); The inner clamping surface of the second phalanx (16) is provided with a flexible material (21); The first clamping method is used when the flexible grippers move inward to clamp the object, and the second clamping method is used when they open outward to clamp the object. The first clamping method includes: Initial clamping: The extension movement of the telescopic airbag (7) in the finger clamping drive mechanism pushes the lower connecting plate (2) to move along the extension direction, thereby driving the first finger joint (19) connected to the connecting rod (3) to move closer to each other; the second finger joint (16) follows the movement of the first finger joint (19); Secondary clamping with each other approaching each other: When the pressure of the telescopic airbag (7) reaches the threshold, the solenoid valve (9) opens to allow the clamping airbag (20) to be filled with gas, so that the clamping airbag (20) is in contact with the surface of the object to be clamped; the second finger joint driving device (17) drives the second finger joint (16) to rotate, so that the flexible material (21) is in contact with the surface of the object to be clamped; The second clamping method includes: Initial clamping with the fingers moving away from each other: The contraction of the telescopic airbag (7) in the finger clamping drive mechanism pulls the lower connecting plate (2) to move in the contraction direction, thereby driving the first finger joint (19) connected to the connecting rod (3) to open away from each other; the second finger joint (16) follows the movement of the first finger joint (19); Secondary clamping with mutual separation: The second phalanx drive device (17) drives the second phalanx (16) to rotate, so that the second phalanx (16) fits against the surface of the object to be clamped.

2. The flexible gripper according to claim 1, characterized in that, It also includes a quick-connect endotracheal device (5), which is fixedly connected to the finger clamping drive mechanism.

3. The flexible gripper according to claim 2, characterized in that, The endotracheal quick-connect device (5) includes a snap button (10), a snap button pad (11), a spring retainer (12), a retaining ring (13), a sealing ring (14), and a housing (15). The snap button (10), the spring retainer (12), the retaining ring (13), and the sealing ring (14) form a first channel. The sealing ring (14) is fixed inside the housing (15), the retaining ring (13) is fixed on the upper part of the sealing ring (14), the snap button pad (11) is fixed on the upper part of the retaining ring (13), the spring retainer (12) is fixed by the slot on the snap button pad (11), and the snap button (10) is fixed between the snap button pad (11) and the spring retainer (12) by a snap.

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