Single-drive four-finger adaptive gripper

Abstract

This invention discloses a single-drive four-finger adaptive gripper, belonging to the field of grippers. It includes a drive unit, a transmission unit, an electrical module, and a robot docking device. The transmission unit includes a motion base with a cross-shaped groove on its bottom surface. Two symmetrically arranged guide rails are located in both the transverse and longitudinal channels of the cross-shaped groove. Each guide rail is connected to a flexible slider. The four flexible sliders are connected to the drive unit via a pulley transmission assembly. The top surfaces of the four flexible sliders are respectively fixedly connected to a first flexible longitudinal gripper, a second flexible longitudinal gripper, a first transverse gripper, and a second transverse gripper via a connecting plate. This invention employs a single-drive four-finger adaptive gripper with the above structure. The flexible sliders adjust the tension on the belt, thereby achieving adaptive gripping through the pulley transmission assembly. The first and second flexible longitudinal grippers transmit force, allowing the force sensor to effectively avoid external interference.

Description

Technical Field

[0001] This invention relates to the field of gripper technology, and in particular to a single-drive four-finger adaptive gripper. Background Technology

[0002] Industrial grippers are mechanical devices used to grasp, hold, and transport objects to improve production efficiency, reduce manual labor, and achieve automated control. In actual production, when production activities are completed by leveraging the movement and force of a robotic arm through pneumatic or hydraulic means, various sensors, such as force sensors, vision sensors, and position sensors, are typically equipped in conjunction with an automated control system. This allows the gripper to automatically complete tasks such as grasping, transporting, and holding according to preset conditions and instructions, thereby improving production efficiency and safety.

[0003] Currently, industrial grippers typically only perform specific tasks and cannot adapt to complex or diverse working environments and task requirements, nor can they quickly adjust or adapt to different object shapes and sizes. They can only clamp workpieces of specific shapes or sizes, or achieve local adaptation by adding a drive source.

[0004] In addition, the most common way to arrange force sensors in commercial or industrial grippers is to install them on the contact surface of the gripper. However, when measuring force, the accuracy of the measurement may be reduced due to unevenness or roughness of the contact surface, as well as the influence of external factors such as temperature and vibration.

[0005] To solve the above problems, a new type of clamp is needed. Summary of the Invention

[0006] The purpose of this invention is to provide a single-drive four-finger adaptive gripper, which solves the problem of adaptive gripper when grasping workpieces in the prior art and the problem of force sensing module being easily affected by external factors, resulting in inaccurate force measurement.

[0007] To achieve the above objectives, the present invention provides a single-drive four-finger adaptive gripper, comprising a drive device, a transmission device, an electrical module, and a robot docking device. The drive device, the electrical module, and the robot docking device are all fixed to the top surface of the transmission device. The transmission device includes a motion base, the bottom surface of which is provided with a cross groove. Two symmetrically arranged guide rails are provided in both the transverse and longitudinal channels of the cross groove. Each guide rail is connected to a flexible slider. The four flexible sliders are connected to the drive device through a pulley transmission assembly. The top surfaces of the four flexible sliders are respectively fixedly connected to a first flexible longitudinal gripper, a second flexible longitudinal gripper, a first transverse gripper, and a second transverse gripper through a connecting plate.

[0008] Preferably, the flexible slider includes a sliding plate, a flexible adjustment plate, and a cover plate connected sequentially from top to bottom. The sliding plate is slidably connected to the guide rail. There are two flexible adjustment plates, which are respectively fixed to both ends of the bottom surface of the sliding plate. The bottom surface of the flexible adjustment plate is provided with a sliding wheel mounting position and a deformation groove located inside the cover plate. The deformation groove is located around the sliding wheel mounting position. The bottom surface of the cover plate is connected to the connecting plate. The four flexible sliders are a first flexible slider, a second flexible slider, a third flexible slider, and a fourth flexible slider. The first flexible slider and the third flexible slider are located in the transverse channel, and the second flexible slider and the fourth flexible slider are located in the longitudinal channel.

[0009] Preferably, the pulley drive assembly includes a drive pulley, four inner steering pulleys, four outer steering pulleys, eight fixed pulleys, a first sliding pulley, a second sliding pulley, a third sliding pulley, a fourth sliding pulley, a fifth sliding pulley, a sixth sliding pulley, a seventh sliding pulley, an eighth sliding pulley, a belt, a first fixing clamp, and a second fixing clamp. The drive pulley, the inner steering pulleys, the outer steering pulleys, the first fixing clamp, and the second fixing clamp are all located on a mounting plate in the center of the cross groove. The drive pulley is located in the center of the mounting plate and is connected to the output shaft of the drive device. The four inner steering wheels are designated as the first inner steering wheel, the second inner steering wheel, the third inner steering wheel, and the fourth inner steering wheel. The four outer steering wheels are designated as the first outer steering wheel, the second outer steering wheel, the third outer steering wheel, and the fourth outer steering wheel. The third outer steering wheel, the fourth inner steering wheel, the drive wheel, the second inner steering wheel, and the first outer steering wheel are sequentially arranged on one diagonal of the mounting plate, with the third outer steering wheel located at one end of the mounting plate closer to the fourth flexible slider. The fourth outer steering wheel, the drive wheel, the third inner steering wheel, and the second outer steering wheel are sequentially arranged on the other diagonal of the mounting plate, with the fourth outer steering wheel located at one end of the mounting plate closer to the fourth flexible slider. The first inner steering wheel is located on the side of the drive wheel closer to the first flexible slider. The first fixing clip is located on the side of the fourth outer steering wheel closer to the first flexible slider, and the second fixing clip is located on the side of the fourth outer steering wheel closer to the fourth flexible slider. The eight fixed wheels are designated as the first fixed wheel, the second inner steering wheel, the third inner steering wheel, the third inner steering wheel, the third inner steering wheel, the fourth outer steering wheel, the third outer steering wheel, the fourth outer steering wheel, the fifth outer steering wheel, the sixth outer steering wheel, the seventh outer steering wheel, the eighth outer steering wheel, the ninth outer steering wheel, the eleventh inner ... The system comprises a fixed wheel, a third fixed wheel, a fourth fixed wheel, a fifth fixed wheel, a sixth fixed wheel, a seventh fixed wheel, and an eighth fixed wheel. The first and second fixed wheels are arranged side-by-side on a first tensioning seat at one end of the longitudinal channel. The fifth and sixth fixed wheels are arranged side-by-side on a second tensioning seat at the other end of the longitudinal channel. The third and fourth fixed wheels are arranged side-by-side on a third tensioning seat at one end of the transverse channel. The seventh and eighth fixed wheels are arranged side-by-side on a fourth tensioning seat at the other end of the transverse channel. An eighth sliding wheel, the first sliding wheel, the third sliding wheel, and the sixth sliding wheel are sequentially arranged in four sliding wheel mounting positions within the transverse channel, with the eighth sliding wheel positioned close to the fourth tensioning seat. The fifth sliding wheel, the fourth sliding wheel, the second sliding wheel, and the seventh sliding wheel are sequentially arranged in four sliding wheel mounting positions within the longitudinal channel, with the fifth sliding wheel positioned close to the first tensioning seat. One end of the belt is connected to the first fixing clamp.The other end of the belt sequentially passes over the eighth fixed pulley, the eighth sliding pulley, the seventh fixed pulley, the first outer steering pulley, the sixth fixed pulley, the seventh sliding pulley, the fifth fixed pulley, the second outer steering pulley, the fourth fixed pulley, the sixth sliding pulley, the third fixed pulley, the third outer steering pulley, the second fixed pulley, the fifth sliding pulley, the first fixed pulley, the fourth outer steering pulley, the drive pulley, the first inner steering pulley, the first sliding pulley, the second inner steering pulley, the second sliding pulley, the third inner steering pulley, the third sliding pulley, the fourth inner steering pulley, and the fourth sliding pulley before connecting to the second fixed clamp.

[0010] Preferably, the first flexible longitudinal gripper and the second flexible longitudinal gripper are arranged opposite to each other. Each of the first flexible gripper and the second flexible longitudinal gripper includes a flexible connecting frame, a force sensor, a force transmission block, a pretensioning plate, and a longitudinal clamping plate. The flexible connecting frame is fixedly connected to the bottom surface of the connecting plate. The force sensor is fixed to the top of the flexible connecting frame by a support base. The force transmission block and the pretensioning plate are parallel to each other and are both fixed to the bottom of the flexible connecting frame. One side of the force transmission block abuts against the force sensor, and the other side of the force transmission block is connected to the pretensioning rod on the pretensioning plate. The longitudinal clamping plate is fixedly connected to the bottom surface of the flexible connecting frame.

[0011] Preferably, the longitudinal clamping plate includes a horizontal part, a vertical part, and a reinforcing rib plate located between the horizontal part and the vertical part. The horizontal part is fixedly connected to the bottom surface of the flexible connecting frame, and the clamping surface of the vertical part is provided with rubber hanging blocks.

[0012] Preferably, the top surface of the connecting plate is provided with a through groove for the sealing steel plate to pass through, the sealing steel plate is adapted to the groove structure of the transverse channel or the longitudinal channel, and steel sheet fixing plates are provided on both ends of the connecting plate, the top of the steel sheet fixing plate is in contact with the sealing steel plate.

[0013] Preferably, the first tensioning seat, the second tensioning seat, the third tensioning seat, and the fourth tensioning seat each include a fixing block, a tensioning block, and a tensioning rod. The fixing block is fixedly connected to the bottom of the cross groove. The top two ends of the tensioning block are respectively connected to a fixed wheel. The tensioning rod is threadedly connected to the threaded hole on the fixing block, and the end of the tensioning rod is rotatably connected to the end face of the tensioning block.

[0014] Preferably, the first fixing clamp is connected to the mounting plate via an adjusting seat, the bottom of the first fixing clamp is slidably connected to the adjusting seat, and an adjusting rod is provided in the threaded through hole of the adjusting seat, the end of the adjusting rod being rotatably connected to the first fixing clamp.

[0015] Preferably, the electrical module includes an electrical box fixed to the top of the moving base, and a controller is provided inside the electrical box. The controller is electrically connected to the force sensor and the drive device.

[0016] Therefore, the present invention adopts a single-drive four-finger adaptive gripper with the above-mentioned structure. It uses the deformation groove on the flexible slider to adjust the tension on the belt and then achieves the adaptive gripping through the pulley transmission assembly, which can grip workpieces of different shapes and sizes. The flexible connecting frame on the first and second flexible longitudinal grippers is used to realize force transmission, so that the force sensor can effectively avoid external interference.

[0017] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of an embodiment of the single-drive four-finger adaptive gripper of the present invention;

[0019] Figure 2 This is a schematic diagram of an embodiment of the drive device in the single-drive four-finger adaptive gripper of the present invention;

[0020] Figure 3 This is a schematic diagram of an embodiment of the electrical module in the single-drive four-finger adaptive gripper of the present invention;

[0021] Figure 4 This is a schematic diagram of an embodiment of the pulley drive assembly in the single-drive four-finger adaptive gripper of the present invention;

[0022] Figure 5 This is a schematic diagram of an embodiment of the connection state between the first flexible longitudinal gripper and the flexible slider in the single-drive four-finger adaptive gripper of the present invention;

[0023] Figure 6 This is a side view of an embodiment of the first flexible longitudinal gripper in the single-drive four-finger adaptive gripper of the present invention;

[0024] Figure 7 This is an exploded view of an embodiment of the flexible slider in the single-drive four-finger adaptive gripper of the present invention;

[0025] Figure 8 This is a schematic diagram of an embodiment of the connection between the connecting plate and the sealing steel plate in the single-drive four-finger adaptive gripper of the present invention;

[0026] Figure 9 This is a schematic diagram of the force transmission during the gripping process of the single-drive four-finger adaptive gripper of the present invention.

[0027] Figure Labels

[0028] 1. Drive unit;

[0029] 2. Transmission device; 21. Moving base; 22. Cross groove; 23. Guide rail; 24. First flexible slider; 25. Second flexible slider; 26. Third flexible slider; 261. Slide plate; 262. Flexible adjustment plate; 263. Cover plate; 264. Deformation groove; 27. Fourth flexible slider; 28. Connecting plate; 29. ​​Pulley transmission assembly; 291. Drive wheel; 292. First outer steering wheel; 293. Second outer steering wheel; 294. Third outer steering wheel; 295. Fourth outer steering wheel; 296. First inner steering wheel; 297. Second inner steering wheel; 298. Third inner steering wheel; 299. Fourth inner steering wheel; 2910. First fixed wheel; 2911. Second fixed wheel; 2912. Third fixed wheel; 2913. Fourth fixed wheel; 2914. Fifth fixed wheel ; 2915, Sixth fixed wheel; 2916, Seventh fixed wheel; 2917, Eighth fixed wheel; 2918, First sliding wheel; 2919, Second sliding wheel; 2920, Third sliding wheel; 2921, Fourth sliding wheel; 2922, Fifth sliding wheel; 2923, Sixth sliding wheel; 2924, Seventh sliding wheel; 2925, Eighth sliding wheel; 2926, Belt; 2927, First fixed clamp; 2928, Second fixed clamp; 210, First flexible longitudinal gripper; 2101, Flexible connecting frame; 2102, Force sensor; 2103, Force transmission block; 2104, Pre-tensioning plate; 2105, Longitudinal clamping plate; 2106, Pre-tensioning rod; 2107, Support base; 211, Second flexible longitudinal gripper; 212, First transverse gripper; 213, Second transverse gripper;

[0030] 3. Electrical module; 31. Electrical box; 32. Controller;

[0031] 4. Robot docking device;

[0032] 5. Third tensioning seat; 51. Fixing block; 52. Tensioning block; 53. Tensioning rod;

[0033] 6. Sealing steel plate; 7. Steel sheet fixing plate; 8. Reinforcing rib plate; 9. Rubber hanging block; 10. Adjustment seat. Detailed Implementation

[0034] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0035] like Figure 1-9As shown, a single-drive four-finger adaptive gripper includes a drive unit 1, a transmission unit 2, an electrical module 3, and a robot docking device 4. The drive unit 1, electrical module 3, and robot docking device 4 are all fixed to the top surface of the transmission unit 2. The transmission unit 2 includes a motion base 21, the bottom surface of which has a cross-shaped groove 22. Two symmetrically arranged guide rails 23 are provided in both the transverse and longitudinal channels of the cross-shaped groove 22, and each guide rail 23 is connected to a flexible slider. The flexible slider includes a slide plate 261, a flexible adjustment plate 262, and a cover plate 263 connected sequentially from top to bottom. The slide plate 261 is slidably connected to the guide rails 23, and two flexible adjustment plates 262 are provided and respectively fixed to both ends of the bottom surface of the slide plate 261. The bottom surface of the flexible adjustment plate 262 is provided with a sliding wheel mounting position and a deformation groove 264 located within the cover plate 263. The deformation groove 264 is located around the sliding wheel mounting position, giving the flexible adjustment plate 262 a certain elastic deformation capacity. This allows the tension of the belt 2926 wound on it to be adjusted after the first sliding wheel 2918, second sliding wheel 2919, third sliding wheel 2920, fourth sliding wheel 2921, fifth sliding wheel 2922, sixth sliding wheel 2923, seventh sliding wheel 2924, and eighth sliding wheel 2925 are installed in the sliding wheel mounting position on the flexible adjustment plate 262. The bottom surface of the cover plate 263 is connected to the connecting plate 28, which enables the fixed connection between the flexible slider and the first flexible longitudinal gripper 210, the second flexible longitudinal gripper 211, the first transverse gripper 212, and the second transverse gripper 213. The four flexible sliders are designated as first flexible slider 24, second flexible slider 25, third flexible slider 26 and fourth flexible slider 27. First flexible slider 24 and third flexible slider 26 are located in the transverse channel, while second flexible slider 25 and fourth flexible slider 27 are located in the longitudinal channel.

[0036] Four flexible sliders are connected to the drive device 1 via a pulley drive assembly 29. The drive device 1 enables the belt 2926 in the pulley drive assembly 29 to rotate, thereby achieving adaptive movement of the flexible sliders. The pulley drive assembly 29 includes a drive wheel 291, four inner steering wheels, four outer steering wheels, eight fixed wheels, a first sliding wheel 2918, a second sliding wheel 2919, a third sliding wheel 2920, a fourth sliding wheel 2921, a fifth sliding wheel 2922, a sixth sliding wheel 2923, a seventh sliding wheel 2924, an eighth sliding wheel 2925, a belt 2926, a first fixed clamp 2927, and a second fixed clamp 2928. The drive wheel 291, inner steering wheels, outer steering wheels, first fixed clamp 2927, and second fixed clamp 2928 are all located on a mounting plate in the center of the cross groove 22. The drive wheel 291 is located in the center of the mounting plate and is connected to the output shaft of the drive device 1, enabling the drive device 1 to drive the drive wheel 291 to rotate. The four inner steering wheels are designated as the first inner steering wheel 296, the second inner steering wheel 297, the third inner steering wheel 298, and the fourth inner steering wheel 299, and the four outer steering wheels are designated as the first outer steering wheel 292, the second outer steering wheel 293, the third outer steering wheel 294, and the fourth outer steering wheel 295. The third outer steering wheel 294, the fourth inner steering wheel 299, the drive wheel 291, the second inner steering wheel 297, and the first outer steering wheel 292 are sequentially arranged on one diagonal of the mounting plate, with the third outer steering wheel 294 located at the end of the mounting plate closer to the fourth flexible slider 27. The fourth outer steering wheel 295, the drive wheel 291, the third inner steering wheel 298, and the second outer steering wheel 293 are sequentially arranged on the other diagonal of the mounting plate, with the fourth outer steering wheel 295 located at the end of the mounting plate closer to the fourth flexible slider 27. The first inner steering wheel 296 is located on the side of the drive wheel 291 near the first flexible slider 24. The first fixing clamp 2927 is located on the side of the fourth outer steering wheel 295 near the first flexible slider. The second fixing clamp 2928 is located on the side of the fourth outer steering wheel 295 near the fourth flexible slider. The first fixing clamp 2927 is connected to the mounting plate via the adjusting seat 10. The bottom of the first fixing clamp 2927 is slidably connected to the adjusting seat 10. An adjusting rod is provided in the threaded through hole of the adjusting seat 10. The end of the adjusting rod is rotatably connected to the first fixing clamp 2927. Rotating the adjusting rod can change the position of the first fixing clamp 2927, thereby adjusting the tension of the belt 2926.

[0037] The eight fixed wheels are designated as the first fixed wheel 2910, the second fixed wheel 2911, the third fixed wheel 2912, the fourth fixed wheel 2913, the fifth fixed wheel 2914, the sixth fixed wheel 2915, the seventh fixed wheel 2916, and the eighth fixed wheel 2917. The first fixed wheel 2910 and the second fixed wheel 2911 are arranged side by side on the first tensioning seat at one end of the longitudinal channel; the fifth fixed wheel 2914 and the sixth fixed wheel 2915 are arranged side by side on the second tensioning seat at the other end of the longitudinal channel; the third fixed wheel 2912 and the fourth fixed wheel 2913 are arranged side by side on the third tensioning seat 5 at one end of the transverse channel; and the seventh fixed wheel 2916 and the eighth fixed wheel 2917 are arranged side by side on the fourth tensioning seat at the other end of the transverse channel. The first tensioning seat, the second tensioning seat, the third tensioning seat 5, and the fourth tensioning seat all include a fixing block 51, a tensioning block 52, and a tensioning rod 53. The fixing block 51 is fixedly connected to the bottom of the cross groove 22. The top two ends of the tensioning block 52 are respectively connected to a fixed wheel. The tensioning rod 53 is threadedly connected to the threaded hole on the fixing block 51, and the end of the tensioning rod 53 is rotatably connected to the end face of the tensioning block 52. Rotating the tensioning rod 53 can change the distance between the tensioning block 52 and the fixing block 51, thereby realizing the adjustment of the tension of the belt 2926.

[0038] The eighth sliding wheel 2925, the first sliding wheel 2918, the third sliding wheel 2920, and the sixth sliding wheel 2923 are sequentially arranged in four sliding wheel mounting positions within the transverse channel, with the eighth sliding wheel 2925 positioned close to the fourth tensioning seat. The fifth sliding wheel 2922, the fourth sliding wheel 2921, the second sliding wheel 2919, and the seventh sliding wheel 2924 are sequentially arranged in four sliding wheel mounting positions within the longitudinal channel, with the fifth sliding wheel 2922 positioned close to the first tensioning seat. One end of the belt 2926 is connected to the first fixing clamp 2927, and the other end of the belt 2926 passes sequentially over the eighth fixed wheel 2917, the eighth sliding wheel 2925, the seventh fixed wheel 2916, the first outer steering wheel 292, the sixth fixed wheel 2915, the seventh sliding wheel 2924, the fifth fixed wheel 2914, the second outer steering wheel 293, the fourth fixed wheel 2913, the sixth sliding wheel 2923, the third fixed wheel 2912, the third outer steering wheel 294, the second fixed wheel 2911, the fifth sliding wheel 2922, the first fixed wheel 2910, the fourth outer steering wheel 295, the drive wheel 291, the first inner steering wheel 296, the first sliding wheel 2918, the second inner steering wheel 297, the second sliding wheel 2919, the third inner steering wheel 298, the third sliding wheel 2920, the fourth inner steering wheel 299, and the fourth sliding wheel 2921 before being connected to the second fixing clamp 2928.

[0039] The top surfaces of the four flexible sliders are respectively fixedly connected to the first flexible longitudinal gripper 210, the second flexible longitudinal gripper 211, the first transverse gripper 212, and the second transverse gripper 213 via a connecting plate 28. The top surface of the connecting plate 28 is provided with a through groove for the sealing steel plate 6 to pass through. The sealing steel plate 6 is adapted to the groove structure of the transverse or longitudinal groove, and the sealing steel plate 6 can achieve the sealing of the cross groove 22, thereby protecting the pulley drive assembly 29 from external interference. Steel plate fixing plates 7 are provided on both ends of the connecting plate 28. The top of the steel plate fixing plate 7 is in contact with the sealing steel plate 6, and the steel plate fixing plate 7 can press the sealing steel plate 6 to ensure the stability of the sealing steel plate 6. The first flexible longitudinal gripper 210 and the second flexible longitudinal gripper 211 are arranged opposite to each other. The first flexible gripper and the second flexible longitudinal gripper both include a flexible connecting frame 2101, a force sensor 2102, a force transmission block 2103, a pre-tightening plate 2104, and a longitudinal clamping plate 2105. The flexible connecting frame 2101 is fixedly connected to the bottom surface of the connecting plate 28. The force sensor 2102 is fixed to the top of the flexible connecting frame 2101 via the support base 2107. The force transmission block 2103 and the pretensioning plate 2104 are parallel to each other and are both fixed to the bottom of the flexible connecting frame 2101. One side of the force transmission block 2103 abuts against the force sensor 2102, and the other side of the force transmission block 2103 is connected to the pretensioning rod 2106 on the pretensioning plate 2104. The longitudinal clamping plate 2105 is fixedly connected to the bottom surface of the flexible connecting frame 2101. In use, the longitudinal clamping plate 2105 transmits the force to the flexible connecting frame 2101 after being subjected to force. The flexible connecting frame 2101 is prone to deformation due to its frame structure, and the movement tendency of the bottom of the flexible connecting frame 2101 is greater than that of the top of the flexible connecting frame 2101. As a result, the force transmission block 2103 can accurately transmit the force on the longitudinal clamping plate 2105 to the force sensor 2102 under the pre-tightening effect of the pre-tightening rod 2106, so that the force sensor 2102 can effectively avoid external interference.

[0040] The longitudinal clamping plate 2105 includes a horizontal part, a vertical part, and a reinforcing rib 8 located between the horizontal part and the vertical part. The reinforcing rib 8 can increase the strength of the longitudinal clamping plate 2105. The horizontal part is fixedly connected to the bottom surface of the flexible connecting frame 2101. The clamping surface of the vertical part is provided with rubber hanging blocks 9, which can protect the clamped object and prevent wear on the clamped object.

[0041] The electrical module 3 includes an electrical box 31 fixed on the top of the moving base 21. The electrical box 31 contains a controller 32, which is electrically connected to the force sensor 2102 and the drive device 1. The controller 32 can receive the gripping force detected by the force sensor 2102 and then control the start and stop of the drive device 1 according to the magnitude of the gripping force to achieve adaptive gripping of the object.

[0042] During the clamping process, the driving device 1 drives the driving wheel 291 to rotate clockwise, thereby driving the movement of the belt 2926. When the power of the driving wheel 291 is transmitted to the inner belt 2926 among the first inner turning wheel 296, the first sliding wheel 2918, the second inner turning wheel 297, the second sliding wheel 2919, the third inner turning wheel 298, the third sliding wheel 2920, the fourth inner turning wheel 299, and the fourth sliding wheel 2921, the tension forces F1 - F8 as shown in Figure 9 are generated. The outer belt 2926 on the other side of the driving wheel 291 continuously relaxes and generates reverse smaller acting forces f1 - f8 due to the tension of the F1 - F8 of the inner belt 2926, and corresponding adjustment forces T1 - T8 are generated through the flexible adjustment plates 262 on each flexible slider. In the state without the flexible adjustment plate 262, since the force on the continuously relaxing outer belt 2926 on the other side of the driving wheel 291 cannot move to the entire outer circle in time, when the first flexible slider 24, the second flexible slider 25, the third flexible slider 26, and the fourth flexible slider 27 receive equal inward tension forces F1 - F8 from the inner belt 2926 and outward tension forces f1 = f2, f3 = f4, f5 = f6, f7 = f8 from the outer belt 2926, f1 < f3 < f5 < f7, so the movement sequence is the fourth flexible slider 27, the third flexible slider 26, the second flexible slider 25, and the first flexible slider 24. When the flexible adjustment plate 262 is added, taking the first flexible slider 24 and the third flexible slider 26 as examples, the T7 generated by the flexible adjustment plate 262 in the second flexible slider 25 can tension the belt 2926 on the second outer turning wheel 293, so that f4 is adjusted by T7, and after adjustment, f3 = f4 = f7 = f8, improving the force series characteristics of the belt 2926 and realizing the synchronous movement of the first flexible slider 24 and the third flexible slider 26. The second flexible slider 25 and the fourth flexible slider 27 are the same, thus realizing synchronous self - adaptation under single - drive conditions. After the first flexible longitudinal gripper 210, the second flexible longitudinal gripper 211, the first transverse gripper 212, and the second transverse gripper 213 grasp an object under the drive of the flexible slider, the longitudinal clamping plates 2105 on the first flexible longitudinal gripper 210 and the second flexible longitudinal gripper 211 receive force and transmit the force to the flexible connecting frame 2101. Due to the frame structure, the flexible connecting frame 2101 is prone to deformation, and the movement trend at the bottom of the flexible connecting frame 2101 is greater than that at the top of the flexible connecting frame 2101. Furthermore, on the premise that the force conduction block 2103 is under the pre - tightening effect of the pre - tightening rod 2106, it can accurately transmit the force received by the longitudinal clamping plate 2105 to the force sensor 2102, enabling the force sensor 2102 to effectively avoid external interference for accurate grasping force detection and transmit it to the controller 32. The controller 32 controls the start and stop of the driving device 1 according to the magnitude of the grasping force, completing the entire grasping action.

[0043] Therefore, the present invention employs a single-drive four-finger adaptive gripper with the above-described structure. It utilizes the deformation groove on the flexible slider to adjust the tension on the belt, thereby achieving adaptive gripping through the pulley transmission assembly. It can grip workpieces of different shapes and sizes. The flexible connecting frame on the first and second flexible longitudinal grippers enables force transmission, allowing the force sensor to effectively avoid external interference. A single drive source is required to achieve synchronous adaptive mechanical gripping of the four grippers, reducing the number of drives and lowering production costs.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A single-drive four-finger adaptive gripper, comprising a drive device, a transmission device, an electrical module, and a robot docking device, wherein the drive device, the electrical module, and the robot docking device are all fixed to the top surface of the transmission device, characterized in that: The transmission device includes a moving base, the bottom surface of which is provided with a cross groove. Two symmetrically arranged guide rails are provided in both the transverse and longitudinal channels of the cross groove. Each guide rail is connected to a flexible slider. The four flexible sliders are connected to the driving device through a pulley transmission assembly. The top surfaces of the four flexible sliders are respectively fixedly connected to a first flexible longitudinal gripper, a second flexible longitudinal gripper, a first transverse gripper, and a second transverse gripper through a connecting plate. The flexible slider includes a sliding plate, a flexible adjustment plate, and a cover plate connected sequentially from top to bottom. The sliding plate is slidably connected to the guide rail. There are two flexible adjustment plates, which are respectively fixed at both ends of the bottom surface of the sliding plate. The bottom surface of the flexible adjustment plate is provided with a sliding wheel mounting position and a deformation groove located inside the cover plate. The deformation groove is located around the sliding wheel mounting position. The bottom surface of the cover plate is connected to the connecting plate. The four flexible sliders are a first flexible slider, a second flexible slider, a third flexible slider, and a fourth flexible slider. The first flexible slider and the third flexible slider are located in the transverse channel, and the second flexible slider and the fourth flexible slider are located in the longitudinal channel. The pulley drive assembly includes a drive pulley, four inner steering pulleys, four outer steering pulleys, eight fixed pulleys, a first sliding pulley, a second sliding pulley, a third sliding pulley, a fourth sliding pulley, a fifth sliding pulley, a sixth sliding pulley, a seventh sliding pulley, an eighth sliding pulley, a belt, a first fixing clamp, and a second fixing clamp. The drive pulley, the inner steering pulleys, the outer steering pulleys, the first fixing clamp, and the second fixing clamp are all located on a mounting plate in the center of the cross-shaped groove. The drive pulley is located in the center of the mounting plate and is connected to the output shaft of the drive device. The four inner steering wheels are designated as the first inner steering wheel, the second inner steering wheel, the third inner steering wheel, and the fourth inner steering wheel. The four outer steering wheels are designated as the first outer steering wheel, the second outer steering wheel, the third outer steering wheel, and the fourth outer steering wheel. The third outer steering wheel, the fourth inner steering wheel, the drive wheel, the second inner steering wheel, and the first outer steering wheel are sequentially arranged on one diagonal of the mounting plate, with the third outer steering wheel located at one end of the mounting plate closer to the fourth flexible slider. The fourth outer steering wheel, the drive wheel, the third inner steering wheel, and the second outer steering wheel are sequentially arranged on the other diagonal of the mounting plate, with the fourth outer steering wheel located at one end of the mounting plate closer to the fourth flexible slider. The first inner steering wheel is located on the side of the drive wheel closer to the first flexible slider. The first fixing clip is located on the side of the fourth outer steering wheel closer to the first flexible slider, and the second fixing clip is located on the side of the fourth outer steering wheel closer to the fourth flexible slider. The eight fixed wheels are designated as the first fixed wheel, the second inner steering wheel, the third inner steering wheel, the third inner steering wheel, the third inner steering wheel, the fourth outer steering wheel, the third outer steering wheel, the fourth outer steering wheel, the fifth outer steering wheel, the sixth outer steering wheel, the seventh outer steering wheel, the eighth outer steering wheel, the ninth outer steering wheel, the eleventh inner ... The system comprises a fixed wheel, a third fixed wheel, a fourth fixed wheel, a fifth fixed wheel, a sixth fixed wheel, a seventh fixed wheel, and an eighth fixed wheel. The first and second fixed wheels are arranged side-by-side on a first tensioning seat at one end of the longitudinal channel. The fifth and sixth fixed wheels are arranged side-by-side on a second tensioning seat at the other end of the longitudinal channel. The third and fourth fixed wheels are arranged side-by-side on a third tensioning seat at one end of the transverse channel. The seventh and eighth fixed wheels are arranged side-by-side on a fourth tensioning seat at the other end of the transverse channel. An eighth sliding wheel, the first sliding wheel, the third sliding wheel, and the sixth sliding wheel are sequentially arranged in four sliding wheel mounting positions within the transverse channel, with the eighth sliding wheel positioned close to the fourth tensioning seat. The fifth sliding wheel, the fourth sliding wheel, the second sliding wheel, and the seventh sliding wheel are sequentially arranged in four sliding wheel mounting positions within the longitudinal channel, with the fifth sliding wheel positioned close to the first tensioning seat. One end of the belt is connected to the first fixing clamp.The other end of the belt sequentially passes over the eighth fixed pulley, the eighth sliding pulley, the seventh fixed pulley, the first outer steering pulley, the sixth fixed pulley, the seventh sliding pulley, the fifth fixed pulley, the second outer steering pulley, the fourth fixed pulley, the sixth sliding pulley, the third fixed pulley, the third outer steering pulley, the second fixed pulley, the fifth sliding pulley, the first fixed pulley, the fourth outer steering pulley, the drive pulley, the first inner steering pulley, the first sliding pulley, the second inner steering pulley, the second sliding pulley, the third inner steering pulley, the third sliding pulley, the fourth inner steering pulley, and the fourth sliding pulley before connecting to the second fixed clamp.

2. The single-drive four-finger adaptive gripper according to claim 1, characterized in that: The first flexible longitudinal gripper and the second flexible longitudinal gripper are arranged opposite to each other. Each of the first flexible longitudinal gripper and the second flexible longitudinal gripper includes a flexible connecting frame, a force sensor, a force transmission block, a pretensioning plate, and a longitudinal clamping plate. The flexible connecting frame is fixedly connected to the bottom surface of the connecting plate. The force sensor is fixed to the top of the flexible connecting frame by a support base. The force transmission block and the pretensioning plate are parallel to each other and are both fixed to the bottom of the flexible connecting frame. One side of the force transmission block abuts against the force sensor, and the other side of the force transmission block is connected to the pretensioning rod on the pretensioning plate. The longitudinal clamping plate is fixedly connected to the bottom surface of the flexible connecting frame.

3. The single-drive four-finger adaptive gripper according to claim 2, characterized in that: The longitudinal clamping plate includes a horizontal part, a vertical part, and a reinforcing rib plate located between the horizontal part and the vertical part. The horizontal part is fixedly connected to the bottom surface of the flexible connecting frame, and the clamping surface of the vertical part is provided with rubber hanging blocks.

4. The single-drive four-finger adaptive gripper according to claim 3, characterized in that: The top surface of the connecting plate is provided with a through groove for the sealing steel plate to pass through. The sealing steel plate is adapted to the groove structure of the transverse channel or the longitudinal channel. Steel sheet fixing plates are provided on both ends of the connecting plate, and the top of the steel sheet fixing plate is in contact with the sealing steel plate.

5. The single-drive four-finger adaptive gripper according to claim 4, characterized in that: The first tensioning seat, the second tensioning seat, the third tensioning seat, and the fourth tensioning seat each include a fixing block, a tensioning block, and a tensioning rod. The fixing block is fixedly connected to the bottom of the cross groove. The top two ends of the tensioning block are respectively connected to a fixed wheel. The tensioning rod is threadedly connected to the threaded hole on the fixing block, and the end of the tensioning rod is rotatably connected to the end face of the tensioning block.

6. The single-drive four-finger adaptive gripper according to claim 5, characterized in that: The first fixing clamp is connected to the mounting plate via an adjusting seat. The bottom of the first fixing clamp is slidably connected to the adjusting seat. An adjusting rod is provided in the threaded through hole of the adjusting seat, and the end of the adjusting rod is rotatably connected to the first fixing clamp.

7. The single-drive four-finger adaptive gripper according to claim 6, characterized in that: The electrical module includes an electrical box fixed to the top of the moving base, and a controller is provided inside the electrical box. The controller is electrically connected to the force sensor and the drive device.

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