Multi-fingered negative pressure flexible gripper

Abstract

The application discloses a multi-tentacle negative pressure flexible gripper, which comprises a connecting part made of elastic material, a driving cavity is arranged on the connecting part, an upper connecting plate is arranged on the connecting part to block the driving cavity, a communication hole communicating with the driving cavity is arranged on the upper connecting plate, the driving cavity comprises a cavity bottom wall and a cavity side wall, the thickness of the cavity bottom wall is smaller than that of the cavity side wall or the elastic modulus of the cavity bottom wall is smaller than that of the cavity side wall, at least one circle of grabbing tentacles is arranged on the cavity bottom wall, each circle of the grabbing tentacles comprises a plurality of grabbing rods arranged at intervals, and the grabbing rods in the innermost circle enclose a grabbing space. The negative pressure flexible gripper can better grab scattered or special-shaped objects and adapt to different grabbing conditions.

Description

Technical Field

[0001] This invention relates to the field of flexible gripping technology, and more particularly to a multi-tentacle negative pressure flexible gripper. Background Technology

[0002] Currently, flexible grippers or rigid mechanical grippers are generally used for grasping or holding objects. Flexible grippers can hold items flexibly without leaving marks on the surface of the object during the gripping process, and the gripping force is relatively linear, so they are widely used.

[0003] Currently, there are two main types of flexible grippers. Patent document CN201721042513.4 discloses a new type of flexible gripper, its flexible clamp, and a flexible gripping pen. This flexible gripper discloses a flexible gripper with a specific structural form, which can be used to clamp very small objects. In addition, patent document CN202320785989.6 discloses a reinforced flexible gripper, which can increase the clamping force and facilitate the clamping of larger objects.

[0004] However, these two types of flexible grippers still have certain limitations. The adaptability of these two types of flexible grippers is relatively poor. They can only grip some items of specific shapes or sizes. At the same time, the two flexible grippers mentioned above require the items to be placed at a specific angle. It is difficult to grip some irregularly shaped objects or scattered objects. For strip-shaped objects such as vermicelli or noodles, the grippers mentioned above are difficult to grasp. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a multi-tentacle negative pressure flexible gripper that can better grasp scattered or irregularly shaped objects and adapt to different grasping situations.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is: a multi-tentacle negative pressure flexible gripper, comprising a connecting part made of elastic material, a driving chamber provided on the connecting part, an upper connecting plate provided on the connecting part to seal the driving chamber, a communicating hole provided on the upper connecting plate to communicate with the driving chamber, the driving chamber comprising a bottom wall and a side wall, the thickness of the bottom wall of the driving chamber being less than the thickness of the side wall or the elastic modulus of the bottom wall being less than the elastic modulus of the side wall, at least one ring of gripping tentacles provided on the bottom wall, each ring of gripping tentacles comprising a plurality of gripping rods spaced apart, the innermost ring of gripping rods forming a gripping space.

[0007] As a preferred embodiment, an inwardly protruding tension-enhancing block is also provided on the inner wall of the cavity bottom wall in the middle of the gripping space.

[0008] As a preferred embodiment, the inner surface of the tension-enhancing block is further provided with several tension-breaking grooves.

[0009] As a preferred embodiment, the tension-breaking grooves are multiple in number and radiate outwards from the center to form a centrally symmetrical pattern.

[0010] As a preferred embodiment, the cavity bottom wall is an arc-shaped cavity bottom wall that bulges outward.

[0011] As a preferred embodiment, the outer surface of the cavity bottom wall located within the grasping space is configured as a plane.

[0012] As a preferred embodiment, the outer surface of the cavity bottom wall is further provided with a central groove that is recessed into the drive cavity, and the central groove corresponds to the position of the tension enhancement block.

[0013] As a preferred embodiment, the grasping tentacles have multiple rings, with each ring containing the same number of grasping rods arranged in a staggered manner, and the grasping rods on the outer ring being thicker than those on the inner ring.

[0014] As a preferred embodiment, a reinforcing rod is embedded inside the gripping rod.

[0015] As a preferred embodiment, the end of the gripping rod is provided with a hook that bends toward the gripping space.

[0016] After adopting the above technical solution, the effect of the present invention is as follows: A multi-tentacle negative pressure flexible gripper includes a connecting part made of elastic material, a driving chamber disposed on the connecting part, an upper connecting plate disposed on the connecting part to seal the driving chamber, a communicating hole disposed on the upper connecting plate to communicate with the driving chamber, the driving chamber including a bottom wall and a side wall, the thickness of the bottom wall of the driving chamber being less than the thickness of the side wall or the elastic modulus of the bottom wall being less than the elastic modulus of the side wall, and at least one ring of gripping tentacles disposed on the bottom wall, each ring of gripping tentacles including several spaced-apart grippers. The gripping rods, with the innermost ring forming the gripping space, connect the flexible gripper's connecting hole to the negative pressure pipeline. When gripping is needed, the drive chamber is evacuated to generate negative pressure. The bottom wall of the drive chamber is then subjected to negative pressure suction and arches inward. This deformation of the bottom wall causes the ends of the outer gripping rods to converge, thereby gripping the object and placing it within the gripping space. This flexible gripper is not limited by the shape of the object; various shapes or strip-shaped objects can be gripped by multiple gripping rods. Therefore, this flexible gripper can grip more objects of different shapes and has greater adaptability.

[0017] Furthermore, since an inwardly protruding tension enhancement block is provided on the inner wall of the cavity bottom wall in the middle of the gripping space, the tension enhancement block can increase the pulling force when the cavity bottom wall deforms, so that the gripping rod outside the cavity bottom wall can deform better, with a larger deformation angle and a greater gripping force.

[0018] Furthermore, the inner surface of the tension-enhancing block is provided with several tension-breaking grooves. When the tension-enhancing block deforms upward, its inner surface undergoes expansion and tensile deformation. Due to the tension-breaking grooves on the inner surface, the deformation range of the tension-enhancing block is greater and it is easier to deform. This allows the bottom wall of the cavity to deform even under a lower vacuum, enabling the gripping rod to respond quickly and achieve negative pressure gripping even under a lower vacuum.

[0019] Furthermore, since the tension-breaking grooves are numerous and radiate outwards from the center to form a centrally symmetrical pattern, this arrangement allows the inner surface of the tension-enhancing block to be better stretched and deformed from the center outwards, making the deformation of each part more uniform, thus making the deformation of each gripping rod more consistent.

[0020] Furthermore, the cavity bottom wall is an arc-shaped cavity bottom wall that bulges outward. The outer surface of the cavity bottom wall located within the grasping space is set as a plane. Since the area of ​​the cavity bottom wall located within the grasping space requires the greatest amount of deformation, setting the outer surface of the cavity bottom wall located within the grasping space as a plane can reduce the amount of deformation required during grasping. In this way, the cavity bottom wall can quickly drive the grasping rod to move with a smaller amount of deformation.

[0021] Furthermore, since the outer surface of the cavity bottom wall is also provided with a central groove that is recessed into the drive cavity, and the central groove corresponds to the position of the tension enhancement block, the outer surface of the cavity bottom wall will be subjected to compression deformation when the cavity bottom wall is deformed under negative pressure. Therefore, the central groove can better facilitate the compression deformation of the outer surface of the cavity bottom wall, and also reduce the amount of deformation required by the cavity bottom wall during gripping.

[0022] Furthermore, since the grasping tentacles have multiple rings, and each ring has the same number of grasping rods, with the outer ring's grasping rods being thicker than the inner ring's, this staggered arrangement of the grasping rods facilitates better retraction. At the same time, the thicker outer ring's grasping rods provide greater grasping force when deformed.

[0023] Furthermore, since a reinforcing rod is embedded inside the gripping rod, which can be made of metal, plastic, or nylon, the strength of the gripping rod can be increased, preventing reverse deformation during gripping and thus affecting the gripping force.

[0024] Furthermore, since the end of the gripping rod is provided with a hook that bends into the gripping space, the hook can increase the strength of the end of the gripping rod and facilitate a hook-grip state during gripping, making it suitable for gripping some strip-shaped objects, such as rice noodles or noodles. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Figure 1 This is a three-dimensional structural view of an embodiment of the present invention;

[0027] Figure 2 This is a bottom view of an embodiment of the present invention;

[0028] Figure 3 This is a top view of an embodiment of the present invention;

[0029] Figure 4 yes Figure 3 Sectional view at AA;

[0030] Figure 5 It is a 3D view that hides the upper connecting plate;

[0031] In the attached diagram: 1. Connecting part; 2. Upper connecting plate; 3. Communicating hole; 4. Gripping rod; 5. Gripping space; 6. Central groove; 7. Tension reinforcing block; 71. Tension breaking groove; 8. Driving chamber; 81. Chamber bottom wall; 82. Chamber side wall; 9. Reinforcing rod; 10. Hook. Detailed Implementation

[0032] The present invention will be further described in detail below through specific embodiments.

[0033] like Figures 1 to 5 As shown, a multi-tentacle negative pressure flexible gripper includes a connecting part 1 made of an elastic material, which can be made of silicone. The connecting part 1 is provided with a driving chamber 8, and the connecting part 1 is provided with an upper connecting plate 2 that seals the driving chamber 8. In this embodiment, the upper connecting plate 2 is made of a rigid material. The upper connecting plate 2 can be connected by adhesive bonding. Of course, the upper connecting plate 2 can also be integrally formed with the connecting part 1.

[0034] The upper connecting plate 2 is provided with a communication hole 3 communicating with the driving chamber 8. This communication hole 3 can be connected to a negative pressure pipe through an air nozzle, and a vacuum generator is used to draw negative pressure into the driving chamber 8 to achieve pressure changes within the driving chamber 8. The driving chamber 8 includes a bottom wall 81 and a side wall 82. The thickness of the bottom wall 81 of the driving chamber 8 is less than the thickness of the side wall 82, or the elastic modulus of the bottom wall 81 is less than the elastic modulus of the side wall 82. At least one ring of gripping tentacles is provided on the bottom wall 81, and each ring of gripping tentacles includes several gripping rods 4 spaced apart. The innermost ring of gripping rods 4 forms a gripping space 5. In this embodiment, a reinforcing rod 9 is embedded inside the gripping rod 4. The reinforcing rod 9 can be made of metal or hard plastic, and its upper end extends directly to the bottom wall 81. The end of the gripping rod 4 is provided with a hook 10 that bends towards the gripping space 5.

[0035] In this embodiment, the grasping tentacles have multiple rings, with each ring containing the same number of grasping rods 4, which are staggered. The grasping rods 4 on the outer ring are thicker than those on the inner ring. Figure 2 As shown, in this embodiment, the grasping tentacles have six rings, and each ring has seven grasping rods 4 of equal size. The size of the grasping rods 4 gradually increases from the inside out, and all grasping rods 4 forming the same grasping tentacle are the same size. The end of the grasping rod 4 connected to the cavity bottom wall 81 is the upper end, and the other end is the lower end, with the grasping rod 4 gradually tapering from top to bottom. Furthermore, in this embodiment, the grasping rods 4 are generally angled outwards, thus forming a flared grasping space 5.

[0036] like Figure 4 and Figure 5 As shown, an inwardly protruding tension-enhancing block 7 is also provided on the inner wall of the cavity bottom wall 81, located in the middle of the gripping space 5. Several tension-breaking grooves 71 are also provided on the inner surface of the tension-enhancing block 7. The tension-breaking grooves 71 are multiple and radiate outwards from the center to form a centrally symmetrical pattern. In this embodiment, there are five tension-breaking grooves 71, radiating outwards from the center to form a centrally symmetrical pattern, and the included angles between adjacent tension-breaking grooves 71 are equal.

[0037] The cavity bottom wall 81 is an arc-shaped cavity bottom wall bulging outwards. In this embodiment, the outer surface of the cavity bottom wall 81 located within the grasping space 5 is set as a plane. Because it is set as a planar structure, the cavity bottom wall 81 in the grasping space 5 is not a downward arched arc surface but a plane. This results in a smaller deformation stroke when the grasping space 5 deforms inwards under negative pressure, thus the deformation speed is faster and the deformation response is also faster.

[0038] Of course, further, in this preferred embodiment, the outer surface of the cavity bottom wall 81 is also provided with a central groove 6 that is recessed into the drive chamber 8, and the central groove 6 corresponds to the tension enhancement block 7.

[0039] After the flexible gripper is connected to the vacuum generator, when gripping is required, the vacuum generator generates negative pressure, creating negative pressure inside the drive chamber 8. Since the bottom wall 81 is more deformable than the side wall 82, the bottom wall 81 will deform and contract upwards. Due to the presence of the central groove and the tension reinforcing block 7, the middle part of the bottom wall 81 will arch upwards (inwards). When arching, the tension breaks the presence of the groove 71, making the inner surface of the tension reinforcing block 7 more easily stretched and deformed. At the same time, due to the presence of the central groove, the outer surface of the middle part of the bottom wall 81 is more easily contracted and deformed. Thus, only a small vacuum is needed to drive the flexible gripper to deform. The deformation of the bottom wall 81 will cause the gripping tentacles to deform, causing the lower ends of the gripping rods 4 to come together to form a closed state. At this time, the object will be picked up into the gripping space 5, completing the picking. When it is necessary to release, it only needs to come into contact with the negative pressure of the drive chamber 8, and the bottom wall 81 will return to its original shape by its own elasticity. This flexible gripper is suitable for gripping a wide variety of objects. As long as the size meets the gripping requirements, it can generally grip them. This flexible gripper can grip bulk snacks, toys, parts, fruits, or noodles, etc.

[0040] The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications and alterations made to the technical solutions of the present invention without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A multi-tentacle negative pressure flexible gripper, comprising a connecting part made of an elastic material, a driving chamber disposed on the connecting part, an upper connecting plate disposed on the connecting part to seal the driving chamber, a communicating hole disposed on the upper connecting plate communicating with the driving chamber, the driving chamber comprising a bottom wall and a side wall, wherein the thickness of the bottom wall of the driving chamber is less than the thickness of the side wall or the elastic modulus of the bottom wall is less than the elastic modulus of the side wall, characterized in that: The cavity bottom wall is provided with multiple rings of gripping tentacles. Each ring of gripping tentacles includes several gripping rods arranged at intervals. The innermost ring of gripping rods forms a gripping space. The gripping rods are staggered and the gripping rods of the outer ring are thicker than those of the inner ring.

2. The multi-tentacle negative pressure flexible gripper as described in claim 1, characterized in that: The cavity bottom wall is an arc-shaped cavity bottom wall that bulges outward.

3. The multi-tentacle negative pressure flexible gripper as described in claim 2, characterized in that: The outer surface of the cavity bottom wall located within the grasping space is set as a plane.

4. A multi-tentacle negative pressure flexible gripper as described in any one of claims 1 to 3, characterized in that: An inwardly protruding tension-enhancing block is also provided on the inner wall of the cavity bottom wall in the middle of the gripping space.

5. The multi-tentacle negative pressure flexible gripper as described in claim 4, characterized in that: The inner surface of the tensile reinforcement block is also provided with several tension breaking grooves.

6. The multi-tentacle negative pressure flexible gripper as described in claim 5, characterized in that: The tension-breaking grooves are numerous and radiate outwards from the center to form a centrally symmetrical pattern.

7. The multi-tentacle negative pressure flexible gripper as described in claim 6, characterized in that: The outer surface of the cavity bottom wall is also provided with a central groove that is recessed into the interior of the drive cavity, and the central groove corresponds to the position of the tension enhancement block.

8. The multi-tentacle negative pressure flexible gripper as described in claim 1, characterized in that: The number of gripping levers for grasping the tentacles is the same for each rotation.

9. The multi-tentacle negative pressure flexible gripper as described in claim 1, characterized in that: A reinforcing rod is embedded inside the gripping rod.

10. A multi-tentacle negative pressure flexible gripper as described in claim 1, characterized in that: The end of the gripping rod is provided with a hook that bends into the gripping space.

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