Gripper, gripper device and method of operating the same, robotic arm and method of manufacturing a gripper

Abstract

The application provides a gripper, a gripper device and an operating method thereof, a mechanical arm and a manufacturing method of the gripper, and belongs to the technical field of mechanical grippers. The gripper comprises at least a flexible base body which is configured to be stretched or released to retract in a first extension direction thereof and has a first stretchability; and a flexible part which is fixed to the flexible base body and has a second stretchability smaller than the first stretchability; wherein, in the case that the flexible base body is stretched, the flexible part is converted into a three-dimensional spatial configuration under the constraint of the flexible part to at least partially wrap an object to achieve grasping, and in the case that the flexible base body is released to retract, the flexible base body returns to an initial configuration to release the object. The gripper is simple to prepare and has a wide grasping range.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical gripper, in particular to a gripper, a gripper device and an operating method thereof, a mechanical arm and a manufacturing method of the gripper. BACKGROUND

[0002] The mechanical gripper is an important component of the automatic production line. It mainly includes rigid gripper and flexible gripper. The rigid gripper composed of rigid link and hinge has the advantages of large grasping load and strong stability, but has poor self-adaptive ability to the grasped object. In order to realize compliant grasping, the under-actuated mode is usually adopted, which leads to complex structure of the gripper and large control difficulty, and can only be used in specific scenes. The soft gripper composed of soft / flexible driver can produce compliant deformation, so it can adapt to objects with different shapes, sizes and material properties, and is very suitable for grasping and operating complex target objects.

[0003] The existing soft gripper can be divided into the following categories: air-driven soft gripper, electric-driven soft gripper and paper folding / cutting flexible gripper. The air-driven soft gripper is usually composed of a sealed cavity structure, so it is not suitable for grasping objects with sharp surfaces, and in addition, air driving requires heavy pneumatic equipment such as compressor, vacuum pump, etc. The electric-driven soft gripper usually grasps under high-voltage driving, which has certain safety hazards, and in addition, long-time object clamping requires continuous energy input, thus increasing energy consumption. The paper folding / cutting flexible gripper is a gripper made of paper folding and cutting structure, which has the defect that the structure itself is prone to plastic deformation under external force, resulting in damage to the gripper. Therefore, a soft gripper is needed which can effectively overcome the above defects. SUMMARY

[0004] In view of the above technical problems existing in the prior art, the present application aims to provide a gripper, a gripper device and an operating method thereof, a mechanical arm and a manufacturing method of the gripper. It has the advantages of simple control, stable, fast and low-energy-consumption grasping by using mechanical stretching driving mode, wide range of grasped objects, low cost, simple and efficient manufacturing and not easy to be damaged.

[0005] According to a first aspect of the present application, a gripper is provided. The gripper at least comprises a flexible base body and a flexible part. The flexible base body is configured to be stretched or released to retract in a first extension direction thereof, and has a first stretchability. The flexible part is fixed to the flexible base body, and has a second stretchability smaller than the first stretchability. Wherein, under the constraint of the flexible part, the flexible base body is converted into a three-dimensional spatial configuration to at least partially wrap an object to achieve grasping when the flexible base body is stretched; the flexible base body restores the initial configuration to release the object when the flexible base body is released to retract.

[0006] According to a second aspect of the present application, a gripper device is provided. The gripper device comprises a gripper according to any one of the embodiments of the present application, and further comprises a power mechanism. The gripper comprises at least a flexible base and a flexible portion. The flexible base is configured to be stretched or retracted in a first extension direction thereof, and has a first stretchability. The flexible portion is fixed to the flexible base, and has a second stretchability smaller than the first stretchability. When the flexible base is stretched, the flexible portion is transformed into a three-dimensional configuration under the constraint of the flexible portion to at least partially wrap around an object to achieve grasping. When the flexible base is retracted, the flexible base returns to an initial configuration to release the object. The power mechanism is configured to be connected to both ends of the first extension direction of the flexible base to stretch or retract the flexible base in the first extension direction thereof.

[0007] According to a third aspect of the present application, a robotic arm is provided. The robotic arm comprises a gripper device according to any one of the embodiments of the present application, and the gripper device is arranged at a distal end of the robotic arm. The gripper device comprises a gripper according to any one of the embodiments of the present application, and further comprises a power mechanism. The gripper comprises at least a flexible base and a flexible portion. The flexible base is configured to be stretched or retracted in a first extension direction thereof, and has a first stretchability. The flexible portion is fixed to the flexible base, and has a second stretchability smaller than the first stretchability. When the flexible base is stretched, the flexible portion is transformed into a three-dimensional configuration under the constraint of the flexible portion to at least partially wrap around an object to achieve grasping. When the flexible base is retracted, the flexible base returns to an initial configuration to release the object. The power mechanism is configured to be connected to both ends of the first extension direction of the flexible base to stretch or retract the flexible base in the first extension direction thereof.

[0008] According to a fourth aspect of the present application, a method for operating an object using a gripper device is provided. The gripper device comprises a gripper according to any one of the embodiments of the present application, and further comprises a power mechanism. The gripper comprises at least a flexible base and a flexible portion. The flexible base is configured to be stretched or retracted in a first extension direction thereof, and has a first stretchability. The flexible portion is fixed to the flexible base, and has a second stretchability smaller than the first stretchability. When the flexible base is stretched, the flexible portion is transformed into a three-dimensional configuration under the constraint of the flexible portion to at least partially wrap around an object to achieve grasping. When the flexible base is retracted, the flexible base returns to an initial configuration to release the object. The power mechanism is configured to be connected to both ends of the first extension direction of the flexible base to stretch or retract the flexible base in the first extension direction thereof.

[0009] The object handling method comprises the following process. The gripper device is moved to one side of an object to be gripped, so that one side of the flexible base body on which the flexible part is fixed is away from the object. When the object is to be gripped, the flexible base body is stretched in the first extension direction thereof by the power mechanism, and is converted into a three-dimensional spatial configuration under the constraint of the flexible part to at least partially wrap the object to achieve gripping. When the object is to be released, the flexible base body is released and retracted in the first extension direction thereof by the power mechanism, and returns to the initial spatial configuration to release the object.

[0010] According to a fifth aspect of the present application, a manufacturing method of a gripper is provided. The manufacturing method comprises the following process. A flexible base body having a first stretchability and capable of being stretched or released and retracted in the first extension direction thereof is provided. A flexible part having a second stretchability is fixed on the flexible base body, the second stretchability being less than the first stretchability, and the deviation between the first stretchability and the second stretchability causes the flexible base body to stretch unstably in cooperation with the constraint of the flexible part in the stretched state, so as to convert the flexible base body into a three-dimensional spatial configuration to at least partially wrap an object to achieve gripping.

[0011] Compared with the prior art, the beneficial effects of the embodiments of the present application are as follows.

[0012] Compared with the existing mechanical gripper and flexible gripper, the gripper provided by the present application can grasp an object by deforming the flexible base body through mechanical stretching, which is simple to control and can grasp an object without complex feedback control. After grasping, no energy is required until release, so the energy saving is more excellent.

[0013] The flexible base body of the gripper provided by the present application has a wide range of object types to grasp, and has great advantages in grasping objects with sharp surfaces.

[0014] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0015] In the drawings, which are not necessarily drawn to scale, like numerals can describe similar components in different views. Like numerals having different letter suffixes can represent different instances of similar components. The drawings illustrate generally, by way of example, various embodiments of the disclosed application and are not intended to limit the disclosed embodiments to the embodiments specifically illustrated. The same reference numerals in different drawings can identify the same or similar elements. Such embodiments of the inventive subject matter can be employed as desired in various embodiments of the application. The embodiments of the application described herein are exemplary and not intended to be limiting, except in the appended claims.

[0016] Figure 1 A perspective view of a gripper according to a first embodiment of the present application;

[0017] Figure 2 A front view of a gripper according to a first embodiment of the present application, the arrow direction in the figure represents the stretching direction of the flexible substrate;

[0018] Figure 3 A front view of a gripper according to a first embodiment of the present application after being stretched;

[0019] Figure 4 A Figure 3 A sectional view in A-A direction;

[0020] Figure 5 A schematic view of a gripper according to a first embodiment of the present application in a state of gripping an object;

[0021] Figure 6 A top view of a gripper according to a second embodiment of the present application;

[0022] Figure 7 A top view of a gripper according to a third embodiment of the present application;

[0023] Figure 8 A longitudinal sectional view of a gripper according to a third embodiment of the present application in a state of being stretched;

[0024] Figure 9 A top view of a gripper according to a fourth embodiment of the present application;

[0025] Figure 10 A longitudinal sectional view of a gripper according to a fourth embodiment of the present application in a state of being stretched;

[0026] Figure 11 A flow chart of a manufacturing method of a gripper according to an embodiment of the present application.

[0027] Corresponding components in the figures: 1 - flexible substrate; 2 - flexible part; 21 - first flexible unit group; 22 - second flexible unit group; 23 - wrapping cavity; 3 - object. DETAILED DESCRIPTION

[0028] In order to better understand the technical solutions of the embodiments of the present application, the following will be described in detail in combination with the drawings and specific embodiments.

[0029] The embodiments of the present application provide a gripper. As shown in Figure 1 and Figure 2 , the gripper at least includes two parts of a flexible substrate 1 and a flexible part 2.

[0030] The flexible base body 1 is configured to be stretchable or retractable in a first extension direction thereof, and the flexible base body 1 has a first stretchability.

[0031] The first extension direction of the flexible base body 1 in the present embodiment and the following embodiments refers to a direction in which the overall extension of the flexible base body 1 can be embodied. For example, when the flexible base body 1 is rectangular or strip-shaped, the first extension direction refers to the length direction thereof.

[0032] The flexible part 2 is fixed to the flexible base body 1, and the flexible part 2 has a second stretchability smaller than the first stretchability.

[0033] As shown in Figure 3 and Figure 5 , when the flexible base body 1 is stretched in the first extension direction, the flexible base body 1 is converted into a three-dimensional spatial configuration under the constraint of the flexible part 2 to at least partially wrap the object 3 to achieve the grasping of the object 3. When the flexible base body 1 is retracted, the flexible base body 1 can restore the initial configuration to release the grasped object 3.

[0034] The initial configuration here represents the state of the flexible base body 1 before being stretched, i.e. Figure 2 the state of the flexible base body in .

[0035] The gripper provided in the present embodiment can grasp the object 3 through the deformation of the flexible base body 1, and the control is simple, and a variety of objects 3 with different shapes, sizes and material properties can be grasped without complex feedback control.

[0036] In addition, the gripper of the present embodiment achieves grasping by at least partially wrapping the object, and the grasping range is wide, which has great advantages in grasping irregular or sharp objects 3 with sharp surfaces.

[0037] The first stretchability of the flexible base body 1 in the present embodiment is smaller than the second stretchability of the flexible part 2, which can be understood as that the deformation ability of the flexible base body 1 is significantly greater than that of the flexible part 2 when the flexible base body 1 is stretched. Based on the difference in stretchability between the two, the flexible base body 1 is stretched under the constraint of the flexible part 2 to cause the flexible base body 1 to lose stability, and is converted into a three-dimensional spatial configuration under the action of the stretch instability.

[0038] As for the specific difference between the first stretchability of the flexible base body 1 and the second stretchability of the flexible part 2, it can be determined according to the specific situation.

[0039] In some embodiments, as shown in Figure 2 and Figure 5As shown, the flexible base 1 is a sheet structure extending along its first extension direction, which is relatively soft in texture. When the flexible base 1 is stretched, the flexible base 1 can directly wrap around the object 3 to achieve the grasping of the object 3, and the flexible base 1 is simple in structure, can be manufactured by using a wide range of common materials, is low in cost, and is convenient to process.

[0040] Further, the flexible part 2 is fixed between the two ends of the flexible base 1 in the first extension direction. When the flexible base 1 is stretched, the places where the flexible base 1 is stretched to instability mainly concentrate between the two ends of the flexible base 1 in the first extension direction.

[0041] The distance between the flexible part 2 and the two ends of the flexible base 1 is greater than a first threshold value, so as to reserve stretching space for the two ends of the flexible base 1, facilitating the stretching and / or releasing operation thereof.

[0042] As shown in Figure 2 , Figure 3 and Figure 4 , in some embodiments, the flexible base 1 can be a strip-shaped sheet structure. Correspondingly, the first extension direction of the flexible base 1 is the length direction thereof, and the flexible part 2 is arranged at the middle part of the flexible base 1.

[0043] When the flexible base 1 is stretched, the two sides of the middle part of the flexible base 1 will be laterally destabilized and bent downward under the constraint of the flexible part 2, so as to make the middle part of the flexible base 1 arch upward to form a bridge-like structure, that is, to complete the conversion of the three-dimensional configuration. At this time, an open wrapping cavity 23 will be formed in the middle part of the flexible part 2, through which the object 3 can be wrapped and clamped by the two opposite sides of the flexible base 1 to abut against the object 3.

[0044] Of course, in other embodiments, the flexible base 1 can also be a sheet structure of other shapes.

[0045] For example, as shown in Figure 6 , the flexible base 1 is a sheet structure similar to an ellipse or a rhombus. The flexible part 2 is arranged at the middle part of the flexible base 1, and can grasp the two opposite corners of the flexible base 1 to stretch the flexible base 1, and the middle part of the flexible base 1 is stretched to instability to grasp the object 3.

[0046] It should be noted that the above embodiments only show that the initial configuration of the flexible base 1 is a planar sheet structure, that is, the initial configuration is a two-dimensional plane. When the flexible base 1 is stretched, the flexible base 1 will be converted from a two-dimensional plane to a three-dimensional space configuration to grasp the object 3; when the flexible base 1 is released, the flexible base 1 will be restored from the three-dimensional space configuration to the two-dimensional plane to release the object 3.

[0047] In some embodiments, the flexible base 1 can also be a strip-shaped piece structure with a slight curvature. That is, the initial shape of the flexible base 1 can also be a three-dimensional space modeling, and the flexible part 2 is arranged at both ends of the flexible base 1. When the flexible base 1 is stretched, the curvature of the middle part of the flexible base 1 will become larger when the stretching instability occurs, and it can also be used to wrap the object 3 to be grabbed.

[0048] In the embodiment, the flexible part 2 is arranged on the side of the flexible base 1 away from the object 3 to be grabbed. When the flexible base 1 is stretched, it can be wrapped around the object 3 to be grabbed through the side opposite to the object 3.

[0049] For example, as shown in FIG. 1, the flexible part 2 is arranged on the upper surface of the flexible base 1. When the flexible base 1 is stretched, the flexible base 1 will stretch downward towards the object 3 to be grabbed to wrap the object 3 and achieve the grabbing of the object 3. Figure 2

[0050] In some embodiments, the flexible part 2 includes a plurality of flexible units. The plurality of flexible units are arranged at intervals in the first extension direction of the flexible base 1. When the flexible base 1 is stretched in the first extension direction, the plurality of flexible units arranged at intervals on the flexible base 1 can ensure that there are enough areas on the flexible base 1 to stretch and become unstable to form the required continuous three-dimensional space modeling, so as to be able to grab multiple objects 3 at one time, or to grab an elongated object extending in the longitudinal direction, thereby improving the grabbing efficiency.

[0051] Of course, the plurality of flexible units of the embodiment can also be combined into one flexible unit arranged on the flexible base 1.

[0052] As shown in FIG. 1, the shape of each flexible unit of the embodiment can adopt a strip shape. An angle is arranged between the second extension direction of each flexible unit and the first extension direction of the flexible base 1, and the angle is greater than zero degrees, so as to ensure that the flexible base 1 will become unstable when stretched. Figures 1 to 3 For the second extension direction of the flexible unit in the embodiment, it can be understood as the length direction thereof.

[0053] The angle between the second extension direction of the flexible base 1 and the first extension direction of the flexible base 1 deviates from a right angle by less than a second threshold value. The second threshold value is 90 degrees.

[0054] In some cases, it is preferred that the angle between the second extension direction of the flexible base 1 and the first extension direction of the flexible base 1 is close to a right angle. When the angle between the second extension direction of the flexible base 1 and the first extension direction of the flexible base 1 is 90 degrees, the degree of stretching instability of the middle part of the flexible base 1 is the highest, and the clamping force on the object 3 is the largest.

[0055]

[0056] ​​The plurality of flexible units of the embodiment are parallel to each other, so that the flexible base 1 can be ensured to be oriented to occur tensile instability.

[0057] As for other parameters of the flexible units, such as at least one of the geometric size, the spacing from each other, and the first extension direction, can be determined according to the target object 3 to be grasped. For example, the parameters of the flexible units can be determined by considering the spatial configuration, the extension direction, the weight, etc. of the target object 3 to be grasped, so that the manufactured gripper is particularly suitable for grasping the target object 3.

[0058] As shown in Figure 7 and Figure 8 , in some embodiments, the plurality of flexible units are divided into two first flexible unit groups 21. The two first flexible unit groups 21 are arranged at intervals in a second extension direction perpendicular to the first extension direction of the flexible base 1.

[0059] The number of flexible units in the two flexible units is the same, so that when the flexible base 1 is stretched, the regions on the flexible base 1 corresponding to the two groups of flexible units can respectively occur tensile instability.

[0060] As shown in Figure 8 , when the flexible base 1 is stretched in the case of being provided with two first flexible unit groups 21, the bottom of the stretched base will form two wrapping cavities 23 under the constraint of the two flexible unit groups. Both of the two wrapping cavities 23 can be used to wrap the object 3 to achieve the grasping of the object 3, thereby increasing the number of objects 3 grasped by the flexible base 1.

[0061] Of course, in the embodiment, only the number of the first flexible unit groups 21 is two. In other embodiments, the number of the first flexible unit groups 21 can also be more than two. As long as the plurality of flexible unit groups are arranged at intervals in the second extension direction perpendicular to the first extension direction of the flexible base 1.

[0062] As shown in Figure 9 and Figure 10 , the flexible base 1 can also be provided with a second flexible unit group 22 between the two first flexible unit groups 21. The flexible units in the second flexible unit group 22 are a plurality of and arranged at intervals. Different from the first flexible unit group 21, the second extension direction of each flexible unit in the second flexible unit group 22 is respectively consistent with the first extension direction of the flexible base 1.

[0063] As shown in Figure 10As shown, two first flexible unit groups 21 and one second flexible unit group 22 are arranged on the flexible base 1. When the flexible base 1 is stretched, the area between the two wrapping cavities 23 formed after the stretching of the flexible base 1 is no longer concave downward but convex upward, so that a larger wrapping cavity 23 is formed at the bottom of the flexible base 1. In this way, the flexible base 1 can grasp an object 3 with a larger volume.

[0064] The number of flexible units in the second flexible unit group 22 in the embodiment can also be multiple. The multiple flexible units are arranged at intervals along the first extension direction of the flexible base 1.

[0065] The material of the flexible base 1 in the embodiment is different from the material of the flexible part 2. The material of the flexible base 1 can be rubber, silica gel or other materials with a higher degree of flexibility. Correspondingly, the material of the flexible part 2 is metal, plastic, paper, ceramic or other materials with a lower degree of flexibility. In this way, the stretchability of the flexible base 1 and the stretchability of the flexible base 1 can be ensured to have a certain deviation.

[0066] Alternatively, the material of the flexible base 1 can be the same as the material of the flexible part 2, but the flexibility of the two is different. For example, the flexible base 1 and the flexible part 2 are both textiles. The flexible base 1 and the flexible part 2 are woven with textile threads, but the flexible base 1 is knitted, the flexible base 1 is woven, and the flexible part 2 is directly woven on the flexible base 1. This structure is simple, convenient for the whole gripper processing, and has a lower cost.

[0067] Because the flexibility of weaving is less than the flexibility (stretchability) of knitting, when the flexible base 1 is stretched, it can also be stretched to instability.

[0068] As shown in Figure 1 and Figure 2 The flexible part 2 in the embodiment can be directly adhered to the flexible base 1. This connection method is simple and convenient for connecting the flexible part 2 and the flexible base 1.

[0069] Alternatively, the flexible part 2 and the flexible base 1 are integrally formed, thereby facilitating the overall processing.

[0070] The embodiment of the application also provides a gripper device. The gripper device at least includes the gripper in any of the above embodiments and a power mechanism connected with the flexible base 1.

[0071] The power mechanism is respectively connected with both ends of the flexible base 1 in the first extension direction, so as to stretch the flexible base 1 or release and retract the flexible base 1 in the first extension direction.

[0072] In a specific embodiment, the power mechanism can be two groups of telescopic members, which can be air cylinders or hydraulic cylinders or other driving members with telescopic function.

[0073] Two groups of telescopic members are located at both ends of the first extension direction of the flexible base 1. The telescopic ends of the two groups of telescopic members are connected with the flexible base 1 respectively, and the stretching and retraction of the flexible base 1 are realized through the coordinated telescoping of the two telescopic members.

[0074] Alternatively, the power mechanism can also be two groups of rotating members, and the rotating members can be driving members such as reels with rotating functions.

[0075] The two groups of rotating members are also located at both ends of the first extension direction of the flexible base 1. The two ends of the first extension direction of the flexible member are wound on the rotating members respectively, and the stretching and retraction of the flexible base 1 are realized through the synchronous rotation of the two rotating members.

[0076] The gripper device structure of the embodiment does not require a complex driving mechanism. The gripper device can be used to grab objects 3 on an automatic production line, where the objects 3 can be food, cosmetics, glassware, fresh food, 3C products, etc.

[0077] The embodiment of the application also provides a mechanical arm. The mechanical arm includes the gripper device of any of the above embodiments, and the gripper device is provided at the distal end of the mechanical arm. The distal end here can be understood as the free end or the grabbing end of the mechanical arm.

[0078] The embodiment of the application also provides an operation method of the gripper device. The operation method at least includes the following process.

[0079] The gripper device is moved above the object 3 to be grabbed, and the side of the flexible base 1 away from the flexible part 2 is made to face the object 3 to be grabbed, so that the flexible base 1 is stretched to one side of the object 3 to be grabbed when stretched to wrap the object 3.

[0080] When the gripper device is to grab the object 3, the power mechanism is used to stretch the flexible base 1 in the first extension direction of the flexible base 1, and the flexible base 1 is converted into a three-dimensional spatial configuration under the constraint of the flexible part 2 to at least partially wrap the object 3 to achieve grabbing.

[0081] When the gripper device is to release the object 3, the power mechanism is used to release and retract the flexible base 1 in the first extension direction of the flexible base 1, and the flexible base 1 restores the initial spatial configuration under the constraint of the flexible part 2 to release the object 3.

[0082] The operation method of the gripper device of the embodiment is simple, and only relies on the driving power mechanism to make the gripper experience the stretching and releasing processes, so that the grabbing and releasing actions of the object 3 can be completed.

[0083] As shown in Figure 11 The embodiment of the application also provides a manufacturing method of a gripper. The manufacturing method includes the following process.

[0084] Step S100, providing a flexible base body 1 having a first stretchability and capable of being stretched or released in a first extension direction thereof.

[0085] Step S101, fixing a flexible part 2 having a second stretchability on the flexible base body 1. Wherein the second stretchability of the flexible part 2 is less than the first stretchability of the flexible base body 1, and there is a deviation between the first stretchability and the second stretchability, so that the flexible base body 1 is stretched in a stretching state in cooperation with the constraint of the flexible part 2 to cause a tensile instability, thereby converting the flexible base body 1 into a three-dimensional spatial configuration to at least partially wrap the object 3 to achieve grasping.

[0086] The flexible part 2 having the second stretchability fixed on the flexible base body 1 of the embodiment can further include fixing a plurality of strip-shaped flexible units on the flexible base body 1 in a sheet structure on a side away from the object 3 to be grasped, and spaced apart along the first extension direction of the flexible base body 1, as the flexible part 2.

[0087] The flexible part 2 is fixed on the flexible base body 1 in various ways in the embodiment, such as the flexible part 2 adhering to the flexible base body 1.

[0088] Specifically, the material of the flexible base body 1 is rubber, silicone or elastic fabric. The material of the flexible part 2 is any one of metal, plastic, paper and ceramic, and the flexible part 2 can be directly pasted on the flexible base body 1 by glue.

[0089] Alternatively, the flexible part 2 is formed by weaving on the flexible base body 1. Specifically, the flexible base body 1 and the flexible part 2 are both fabrics. The flexible base body 1 is formed by knitting, and the flexible part 2 is formed by weaving. The flexible material and the flexible part 2 are selected from the same material of textile thread, and the flexible part 2 is directly woven on the surface of the flexible base body 1 after the flexible base body 1 is formed.

[0090] Alternatively, the flexible part 2 is integrally formed with the flexible base body 1. Specifically, the uncured flexible part 2 is adhered to the flexible base body 1, and the flexible part 2 is cured by a conventional curing method to be integrally formed with the flexible base body 1.

[0091] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "preferably", "specifically" or "optionally" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0092] While the embodiments of the application have been shown and described, it is to be understood that the embodiments can be varied, modified, substituted and changed by those skilled in the art without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A gripper, characterized in that, The gripper at least comprises: a flexible base configured to be stretched or retracted in a first extension direction thereof, and having a first stretchability; a flexible part fixed to the flexible base, and having a second stretchability less than the first stretchability; wherein, in the case that the flexible base is stretched, the flexible part is transformed into a three-dimensional configuration under the constraint of the flexible part to at least partially wrap the object to achieve grasping, and in the case that the flexible base is retracted, the flexible base returns to the initial configuration to release the object.

2. The grasper of claim 1, wherein, The deviation of the first stretchability and the second stretchability causes the flexible base to stretch unstably in the case of being stretched in cooperation with the constraint of the flexible part.

3. The grasper of claim 1, wherein, The flexible base is a sheet structure extending in the first extension direction thereof, and the flexible part is fixed between two ends of the flexible base in the first extension direction, and the distance between the two ends is greater than a first threshold.

4. The grasper of claim 3, wherein, The flexible part comprises a plurality of flexible units, and the plurality of flexible units are arranged in the first extension direction on a side of the flexible base away from the object to be grasped.

5. The grasper of claim 4, wherein, The plurality of flexible units are divided into at least two groups, and the flexible units in each group are arranged in a second extension direction perpendicular to the first extension direction.

6. The grasper of claim 4, wherein, The angle between the second extension direction of each flexible unit and the first extension direction of the flexible base deviates from a right angle by less than a second threshold.

7. The grasper of claim 6, wherein, The second threshold is 90 degrees.

8. The gripper of claim 3, wherein, The flexible part is adhered and fixed to the flexible base, the material of the flexible base is rubber, silica gel or elastic fabric, and the material of the flexible part is any one of metal, plastic, paper and ceramic.

9. The gripper of claim 3, wherein, The flexible base is a knitted fabric, and the flexible part is formed by weaving on the flexible base as a knitted fabric.

10. The gripper of claim 3, wherein, The flexible base and the flexible part are integrally formed.

11. The gripper of claim 4, wherein, The geometric parameters of the flexible units are set according to the object to be grasped.

12. A gripper device, the configuration comprising: the gripper according to any one of claims 1-11; and a power mechanism configured to be connected to two ends of the first extension direction of the flexible base to stretch or retract the flexible base in the first extension direction thereof. The power mechanism at least comprises two telescopic members connected to the two opposite ends of the flexible base respectively, and the two telescopic members are cooperatively telescoped to stretch the flexible base or retract the flexible base.

13. The gripper device of claim 12, wherein, The power mechanism at least comprises two rotating members connected to the two opposite ends of the flexible base respectively, and the two rotating members are cooperatively rotated to stretch the flexible base or retract the flexible base.

14. The gripper device of claim 12, wherein, The mechanical arm comprises the gripper device according to claim 12, and the gripper device is arranged at the distal end of the mechanical arm.

15. A robot arm, characterized in that, The object operation method comprises the following process:

16. An object handling method using the gripper device according to claim 12, characterized by, moving the gripper device to a side of the object to be grasped, so that the side of the flexible base fixed with the flexible part is away from the object; ​ In the case of grabbing an object, the flexible base is stretched in its first direction of extension by the power mechanism, and is converted into a three-dimensional spatial configuration under the constraint of the flexible part to at least partially wrap the object to achieve grabbing; In the case of releasing an object, the flexible base is released and retracted in its first direction of extension by the power mechanism, and returns to the initial spatial configuration to release the object.

17. A method of manufacturing a gripper, characterized by, The process includes the following steps: providing a flexible base with a first stretchability and capable of being stretched or retracted in its first direction of extension; fixing a flexible part with a second stretchability on the flexible base, the second stretchability being less than the first stretchability, and the deviation between the first stretchability and the second stretchability causing the flexible base to stretch unstably in cooperation with the constraint of the flexible part when stretched, thereby converting the flexible base into a three-dimensional spatial configuration to at least partially wrap the object to achieve grabbing.

18. The manufacturing method according to claim 17, wherein Fixing a flexible part with a second stretchability on the flexible base specifically includes: fixing a plurality of strip-shaped flexible units on the flexible base of the sheet structure as the flexible part, spaced apart in the first direction of extension of the flexible base away from the side of the object to be grabbed.

19. The manufacturing method according to claim 17, wherein Fixing a flexible part with a second stretchability on the flexible base specifically includes: adhesively fixing the flexible part on the flexible base, the material of the flexible base being rubber or silicone, and the material of the flexible part being any one of metal, plastic, paper and ceramic; or, providing the flexible base as a knitted fabric, and forming the flexible part on the flexible base by weaving; or, adhering an uncured flexible part to the flexible base with the first stretchability, and curing the flexible part to be integrated with the flexible base.

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