A gripper

Abstract

The present application provides a kind of clamp jaw, comprising: multiple clamp jaw bodies are distributed symmetrically relative to the direction of axis of clamp jaw, each clamp jaw body is equipped with air bag and cartilage;The material of clamp jaw body includes flexible material, cartilage is arranged inside clamp jaw body, cartilage includes multiple knuckles distributed along the direction of axis, adjacent knuckles in multiple knuckles are rotatably connected;The first side surface of clamp jaw body towards the axis of clamp jaw is clamping surface, air bag is arranged on the second side surface of clamp jaw body away from the axis of clamp jaw, the first distance of cartilage to first side surface is less than the second distance of cartilage to second side surface;When air bag expands and makes clamp jaw body bend towards clamping surface, at least part of knuckles in multiple knuckles relatively rotate, and cartilage bends along with clamp jaw body.This clamp jaw can output larger clamping force, and good fitting and covering effect can be generated to the clamped object simultaneously.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of clamping, in particular to a clamping jaw. BACKGROUND

[0002] In recent years, with the development of scientific fields such as industrial automation, computer science and material bionics, flexible clamping jaws made of flexible materials have been widely used in many fields such as biomedical, disaster rescue, scientific exploration, aerospace and wearable devices due to their good adaptability and flexibility. The flexible clamping jaw is mainly made of stretchable and bendable flexible materials such as silica gel. The softer flexible material can make the clamping jaw deform more easily, and can better fit and cover the clamped object, but it will also reduce the output clamping force. Although increasing the hardness of the flexible material can increase the clamping force of the clamping jaw, it will also reduce the fitting and covering effect of the clamped object.

[0003] Therefore, a clamping jaw is provided, which can output a larger clamping force while also providing a good fitting and covering effect on the clamped object. SUMMARY

[0004] The summary includes a clamping jaw, which includes a plurality of clamping jaw bodies symmetrically distributed with respect to the axial direction of the clamping jaw, each clamping jaw body being provided with an air bag and a cartilage; the material of the clamping jaw body includes a flexible material, the cartilage is arranged inside the clamping jaw body, the cartilage includes a plurality of joints distributed along the axial direction, and adjacent joints in the plurality of joints are rotatably connected; a first side of the clamping jaw body facing the clamping jaw axis is a clamping surface, the air bag is arranged on a second side of the clamping jaw body away from the clamping jaw axis, a first distance from the cartilage to the first side is less than a second distance from the cartilage to the second side; when the air bag is inflated to bend the clamping jaw body towards the clamping surface, at least some of the joints in the plurality of joints rotate relative to each other, and the cartilage bends with the clamping jaw body.

[0005] In some embodiments, adjacent joints in the plurality of joints are rotatably connected by a connecting segment, and the rigidity of the connecting segment is less than the rigidity of the joints.

[0006] In some embodiments, one end of the clamping jaw body along the axial direction is a fixed end, and the other end is a free end, the clamping jaw body is provided with a negative pressure cavity inside, the negative pressure cavity is arranged between the cartilage and the fixed end; the clamping jaw body is embedded with a first reinforcing member and a second reinforcing member, the first reinforcing member is located between the negative pressure cavity and the clamping surface, the second reinforcing member is located on the back side of the negative pressure cavity away from the clamping surface, and the second reinforcing member is connected with the cartilage.

[0007] In some embodiments, the negative pressure cavity is provided with a contraction structure, which is foldable along the normal direction of the clamping surface.

[0008] In some embodiments, the ratio of the size of the first reinforcing member to the size of the negative pressure cavity is 0.3-0.8 along the direction from the fixed end to the free end.

[0009] In some embodiments, the cartilage is provided with a negative pressure passage, which communicates with the negative pressure cavity, and a plurality of negative pressure holes on the cartilage, which are directed towards the clamping surface.

[0010] In some embodiments, the clamping jaw body is further provided with a plurality of suction cavities on the clamping surface, each of the plurality of suction cavities communicates with at least one negative pressure hole, the side of the suction cavity away from the negative pressure hole is provided with a flexible film, and the flexible film is provided with a plurality of micropores.

[0011] In some embodiments, each of the plurality of micropores is arranged in a staggered manner with the negative pressure hole.

[0012] In some embodiments, for any two suction cavities: the size of the micropore corresponding to the suction cavity close to the fixed end is smaller than the size of the micropore corresponding to the suction cavity away from the fixed end; the number of micropores corresponding to the suction cavity close to the fixed end is smaller than the number of micropores corresponding to the suction cavity away from the fixed end.

[0013] In some embodiments, the cartilage is provided with a third reinforcing member, and the negative pressure passage is arranged in the third reinforcing member.

[0014] In some embodiments, the angle between the central axis direction of the air bag and the normal direction of the clamping surface is 0°-30°.

[0015] The beneficial effects brought by the above invention content include but are not limited to: (1) through the cooperation of the clamping jaw body, the air bag and the cartilage, the clamping jaw can be flexibly bent when inflated, providing effective clamping capacity. (2) The use of flexible materials can improve the clamping force of the clamping jaw while ensuring the clamping effect of the clamping jaw, increase the safety of the clamped object, and reduce the risk of injury. (3) The design of the negative pressure passage and the negative pressure hole enables the clamping jaw to better adsorb the object when clamping, while enhancing the clamping effect by uniformly applying negative pressure, ensuring that the object will not slide. BRIEF DESCRIPTION OF DRAWINGS

[0016] The present application will be further illustrated in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same numbers represent the same structures, wherein:

[0017] Figure 1is a structural schematic diagram of a clamp jaw according to some embodiments of the present application;

[0018] Figure 2 is an exploded structural schematic diagram of a clamp jaw according to some embodiments of the present application;

[0019] Figure 3 is a structural schematic diagram of a clamp jaw when the air bag is not fully inflated according to some embodiments of the present application;

[0020] Figure 4 is a cross-sectional structural schematic diagram of a clamp jaw according to some embodiments of the present application;

[0021] Figure 5 is a cross-sectional structural schematic diagram of an air bag according to some embodiments of the present application;

[0022] Figure 6 is a cross-sectional structural schematic diagram of a cartilage according to some embodiments of the present application;

[0023] Figure 7 is a structural schematic diagram of a clamp jaw when the air bag is fully inflated according to some embodiments of the present application;

[0024] Figure 8 is a cross-sectional structural schematic diagram of a clamp jaw fixed end according to some embodiments of the present application;

[0025] Figure 9 is a cross-sectional schematic diagram of a positive pressure passage according to some embodiments of the present application;

[0026] Figure 10 is a cross-sectional structural schematic diagram of a clamp jaw when the negative pressure cavity is contracted according to some embodiments of the present application;

[0027] Figure 11 is a structural schematic diagram of a cartilage according to some embodiments of the present application;

[0028] Figure 12 is a cross-sectional structural schematic diagram of a negative pressure passage according to some embodiments of the present application;

[0029] Figure 13 is a cross-sectional structural schematic diagram of a clamp jaw along an axis A-A according to some embodiments of the present application;

[0030] Figure 14 is a cross-sectional schematic diagram of a partial structure of a clamp jaw according to some embodiments of the present application.

[0031] Explanation of reference signs: 1, jaw main body; 11, first side surface; 12, second side surface; 13, fixed end; 14, free end; 15, negative pressure cavity; 16, first reinforcing member; 17, contraction structure; 18, adsorption cavity; 180, flexible film; 181, micropore; 182, reinforcing rib; 2, air bag; 3, cartilage; 30, bone joint; 301, connecting section; 31, second reinforcing member; 32, negative pressure passage; 33, negative pressure hole; 34, third reinforcing member; 4, rubber-coated structural member; 5, sealing structural member; 51, threaded hole; 52, air hole; 52-1, first air hole; 52-2, second air hole; 53, elastic member; 61, positive pressure passage; 62, fourth reinforcing member; 10, target object. DETAILED DESCRIPTION

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some examples or embodiments of the present application, and for those skilled in the art, the present application can also be applied to other similar scenarios without creative labor on the basis of these drawings. Unless it is obvious from the language environment or otherwise stated, the same reference signs in the drawings represent the same structure or operation.

[0033] It should be understood that the "system", "device", "unit" and / or "module" used herein is a method for distinguishing different components, elements, parts, sections or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0034] As shown in the present application, unless the context clearly indicates otherwise, the words "one", "a", "an" and / or "the" do not refer to the singular, but can also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list, and the method or device can also include other steps or elements.

[0035] Figure 1 is a structural schematic view of a jaw according to some embodiments of the present application. Figure 2 is an exploded structural schematic view of a jaw according to some embodiments of the present application. Figure 3 is a structural schematic view of a jaw when the air bag is not fully inflated according to some embodiments of the present application.

[0036] In some embodiments, as Figures 1-3As shown, the gripper includes a plurality of gripper bodies 1, air bags 2 and cartilages 3 distributed symmetrically along the axial direction of the gripper. The material of the gripper body 1 includes a flexible material, the cartilage 3 is arranged inside the gripper body 1, and the cartilage 3 includes a plurality of joints 30 distributed along the axial direction, and adjacent joints 30 in the plurality of joints 30 are rotatably connected; the first side surface 11 of the gripper body 1 towards the gripper axis is a gripping surface, and the air bag 2 is arranged on the second side surface 12 of the gripper body 1 away from the gripper axis. In some embodiments, the first distance from the cartilage to the first side surface is less than the second distance from the cartilage to the second side surface. When the air bag 2 expands to bend the gripper body 1 towards the gripping surface, at least part of the joints 30 in the plurality of joints 30 rotate relative to each other, and the cartilage 3 bends with the gripper body 1.

[0037] The gripper body 1 refers to the main structure of the gripper, which is used to bear and connect other components of the gripper. The flexible material of the gripper body 1 can be a high-strength polymer (for example, a thermoplastic elastomer TPU) or a material such as silica gel.

[0038] The axis of the gripper refers to the central axis of the gripper. For example, as shown in the figure, Figure 3 The gripper axis is the axis D1-D1.

[0039] The first side surface 11 of the gripper body 1 is the surface of the gripper towards the target object 10 during use, which is also called the gripping surface. It can be understood that when the gripper clamps the target object 10, the gripping surface is in contact with the target object 10. The second side surface 12 of the gripper body 1 is the surface of the gripper away from the target object 10 during use. The target object 10 refers to the object to be grasped.

[0040] In some embodiments, the gripper body 1 has a hollow structure, and the air bag 2 and the cartilage 3 are embedded in the hollow structure of the gripper body 1, thereby being located inside the gripper body 1. In some embodiments, the cartilage 3 can also be directly embedded in the gripper body 1 during the molding process of the gripper body 1, without the need to pre-arrange a hollow structure in the gripper body 1.

[0041] In some embodiments, the number of gripper bodies 1 can be set according to requirements. For example, as shown in the figure, Figure 3 The gripper includes two gripper bodies 1. In some embodiments, the number of gripper bodies 1 can also be 3, 4, etc.

[0042] In some embodiments, the gripper body 1 can be bent towards the gripping surface.

[0043] In some embodiments, the gripper body 1 can be bent by the expansion of the air bag 2.

[0044] In some embodiments, the gripper body 1 can be bent by the deformation of the cartilage 3.

[0045] In some embodiments, the bending of the jaw body 1 can be achieved by the inflation of the air bag 2 and the deformation of the cartilage 3.

[0046] The principle of the bending of the jaw body 1 can be seen from the following description.

[0047] The air bag 2 is a driving element of the jaw, which is used to generate force by the inflation of the gas to bend the jaw body 1 to the clamping surface. The material of the air bag 2 can be a film material (such as polyethylene or polyurethane) and the like.

[0048] In some embodiments, a plurality of air bags 2 are arranged on the second side surface 12. The number of air bags 2 can be set according to the requirements. For example, as shown in Figures 1-3 six air bags 2 are arranged on the second side surface 12.

[0049] In some embodiments, the air bag 2 is connected with an external air source. The external air source can be a gas pump, which can uniformly inflate or deflate the air bag 2 to expand or contract the air bag 2.

[0050] In some embodiments, the included angle between the central axis direction of the air bag 2 and the normal direction of the clamping surface is 0°-30°.

[0051] Figure 4 is a cross-sectional structure schematic view of a jaw according to some embodiments of the present application.

[0052] The central axis direction of the air bag 2 refers to the length direction of the air bag 2. For example, as shown in Figure 4 the central axis direction of the air bag 2 is the axis B-B direction. The normal direction of the clamping surface refers to the direction perpendicular to the clamping surface. For example, as shown in Figure 4 the normal direction of the clamping surface is the axis D2-D2 direction, and the included angle between the central axis direction of the air bag 2 and the normal direction of the clamping surface is α. The value of α is 10°-30°.

[0053] In some embodiments, the included angle between the central axis direction of the air bag 2 and the normal direction of the clamping surface is 10°-15°, 15°-20°, 20°-25°, or 25°-30°.

[0054] In some embodiments, the included angle between the central axis direction of the air bag 2 and the normal direction of the clamping surface is 10°, 14°, 18°, 22°, 26° or 30°.

[0055] Figure 5 is a cross-sectional structure schematic view of an air bag according to some embodiments of the present application.

[0056] In some embodiments, as shown in Figure 5As shown, the force F generated by the inflation of airbag 2 can be decomposed into a component force Fa along the central axis of airbag 2 and a component force Fr along the gripping surface. The component force Fa along the central axis of airbag 2 is the gripping force for grasping the target object 10. The component force Fr along the gripping surface can cause airbag 2 to deform along the gripping surface. The larger the angle between the central axis of airbag 2 and the normal direction of the gripping surface, the higher the degree of tilt of airbag 2, and the larger the component force Fa along the central axis of airbag 2.

[0057] In some embodiments, when an external air source inflates the airbag 2, the force generated by the expansion of the airbag 2 can cause the airbag 2 to deform along the gripping surface direction, thereby causing the gripper body 1 to deform along the gripping surface direction and fit against the surface of the target object 10. The component of the force generated by the expansion of the airbag 2 along the central axis of the airbag 2 can provide a gripping force, so that the gripper body 1 can grip the target object 10 tightly.

[0058] In some embodiments of the present invention, the gripping force of the gripper can be improved by arranging the airbag 2 at an angle, while reducing the axial deformation of the gripper.

[0059] Cartilage 3 is a bony structure inside the gripper body 1. Cartilage 3 simulates the interphalangeal joints of a human finger to apply clamping force to the target object 10. In some embodiments, compared to the gripper body 1, cartilage 3 is made of a material with higher hardness, i.e., the hardness of cartilage 3 is greater than that of gripper body 1. For example, cartilage 3 can be made of engineering plastics, composite materials, etc. In some embodiments, the first distance from cartilage 3 to the first side (e.g., ...) Figure 2 The distance a1 shown is less than the second distance from the cartilage to the second lateral surface (as shown). Figure 2 As shown in a2), the cartilage 3 is positioned closer to the first side 11 than the second side, and moves synchronously with the gripper body 1. The cartilage 3 can be fixed inside the gripper body 1 with adhesive, or it can be integrally formed with the gripper body 1.

[0060] In some embodiments, the number of sacral segments 30 constituting the cartilage 3 can be set based on experience or requirements. For example, as shown in the figure, the cartilage 3 includes five sacral segments 30. In some embodiments, the multiple sacral segments 30 can be rotatably connected by means of pins or hinge structures.

[0061] Figure 6 This is a schematic cross-sectional view of cartilage according to some embodiments of this specification. In some embodiments, such as Figure 6 As shown, adjacent vertices 30 among the multiple vertices 30 are rotatably connected by a connecting segment 301, the stiffness of which is less than that of the vertices.

[0062] In some embodiments, when the air bag 2 is inflated to bend the jaw body 1 towards the clamping surface, the connecting section between at least some of the plurality of bone segments is bent to cause the relative rotation of at least some of the bone segments, and the cartilage 3 is bent along with the jaw body 1.

[0063] Figure 7 is a structural schematic diagram of the jaw when the air bag is fully inflated according to some embodiments of the present application.

[0064] In some embodiments, before the target object 10 is gripped, the jaw is placed on both sides of the target object 10, and at this time the air bag 2 is not inflated and the jaw body 1 is in a relaxed state. In some embodiments, after the jaw is placed in position, the air bag 2 is inflated to inflate the air bag 2, as shown in Figure 3 , the force F generated by the inflation of the air bag 2 causes the jaw body 1 to bend towards the clamping surface, and the cartilage 3 bends along with the jaw body 1, so that the jaw tightens the target object 10, as shown in Figure 7 , and controls the jaw to grip the target object 10 to the target position.

[0065] Some embodiments of the present application provide effective clamping capability by designing the jaw body 1, the air bag 2 and the cartilage 3 to be flexible when inflated, while using flexible materials to improve the clamping force of the jaw while ensuring the clamping effect, increase the safety of the clamped object, and reduce the risk of injury.

[0066] In some embodiments, as shown in Figures 1-4 , the jaw body 1 has a fixed end 13 at one end along the axis direction (such as axis D1-D1) and a free end 14 at the other end, and the jaw body 1 has a negative pressure cavity 15 inside, which is arranged between the cartilage 3 and the fixed end 13. In some embodiments, the jaw body 1 is embedded with a first reinforcing member 16 and a second reinforcing member 31, the first reinforcing member 16 is located between the negative pressure cavity 15 and the clamping surface, and the second reinforcing member 31 is located on the back side of the negative pressure cavity 15 away from the clamping surface, and the second reinforcing member 31 is connected with the cartilage 3.

[0067] The fixed end 13 is used to fix the jaw body 1.

[0068] Figure 8 is a cross-sectional structural schematic diagram of the fixed end of the jaw according to some embodiments of the present application.

[0069] In some embodiments, as shown in Figures 1-4 and Figure 8 , the fixed end 13 of the jaw includes a rubberized structural member 4 and a sealing structural member 5.

[0070] The encapsulation structure 4 is used to encapsulate the sealing structure 5 and the jaw body 1. The encapsulation structure 4 is made of a flexible material, such as rubber or polymer, and has an encapsulation process on the encapsulation structure 4. The encapsulation structure 4 is arranged between the sealing structure 5 and the jaw body 1.

[0071] The sealing structure 5 is used to form a relatively closed structure inside the jaw. The sealing structure 5 is arranged on the top of the fixed end 13.

[0072] In some embodiments, as shown in FIG. 1, the sealing structure 5 includes a threaded hole 51, a vent hole 52, and an elastic member 53. The sealing structure 5, the encapsulation structure 4, and the jaw body 1 can be connected together through the threaded hole 51 and the threaded hole 51. The vent hole 52 is used to connect an external air source. The elastic member 53 is used to form a gas-tight closed state around the vent hole 52. The elastic member 53 is arranged close to the vent hole 52. Figure 8

[0073] Figure 9 FIG. 6 is a cross-sectional view of a positive pressure passage according to some embodiments of the present application.

[0074] In some embodiments, as shown in FIG. 1, the jaw further includes a positive pressure passage 61. The positive pressure passage 61 is used to connect the air bag 2 and the external air source. Figure 4 Figure 9 In some embodiments, as shown in FIG. 1, the jaw further includes a positive pressure passage 61. The positive pressure passage 61 is used to connect the air bag 2 and the external air source.

[0075] In some embodiments, as shown in FIG. 1, the vent hole 52 includes a first vent hole 52-1. The first vent hole 52-1 connects the external air source and the positive pressure passage 61, and the external air source can inflate the air bag 2 through the first vent hole 52-1 and the positive pressure passage 61 to expand the air bag 2. In some embodiments, the external air source includes a deflation valve, and opening the deflation valve can release the gas in the air bag 2, and the air bag 2 shrinks. Figure 4 In some embodiments, as shown in FIG. 1, the jaw includes a fourth reinforcing member 62, and the positive pressure passage 61 is arranged inside the fourth reinforcing member 62. The fourth reinforcing member 62 divides the positive pressure passage 61 into two parts. In some embodiments, the fourth reinforcing member 62 is made of a rigid material. The fourth reinforcing member 62 can prevent the positive pressure passage 61 from being blocked after the air bag 2 is inflated.

[0076] Figure 9 The negative pressure cavity 15 is a cavity for carrying negative pressure gas.

[0077] In some embodiments, as shown in FIG. 1, the jaw further includes a positive pressure passage 61. The positive pressure passage 61 is used to connect the air bag 2 and the external air source.

[0078] In some embodiments, as shown in FIG. 1, the vent hole 52 includes a first vent hole 52-1. The first vent hole 52-1 connects the external air source and the positive pressure passage 61, and the external air source can inflate the air bag 2 through the first vent hole 52-1 and the positive pressure passage 61 to expand the air bag 2. In some embodiments, the external air source includes a deflation valve, and opening the deflation valve can release the gas in the air bag 2, and the air bag 2 shrinks. Figure 4 ​​​As shown, the vent hole 52 includes a second vent hole 52-2. The second vent hole 52-2 connects an external air source and the negative pressure passage 32, and the external air source can pump negative pressure into the negative pressure cavity 15 via the second vent hole 52-2, so as to shrink the negative pressure cavity 15, and at the same time, the shrinkage force generated by the negative pressure of the negative pressure cavity 15 is transmitted to the cartilage 3 through the negative pressure passage 32.

[0079] The first reinforcing member 16 is used to enhance the structural strength of the wall surface of the negative pressure cavity 15 close to the clamping surface. In some embodiments, the first reinforcing member 16 is a rigid structure.

[0080] In some embodiments, the ratio of the size of the first reinforcing member 16 to the size of the negative pressure cavity 15 is 0.3-0.8 in the direction from the fixed end 13 to the free end 14 (i.e. the direction of the axis A-A as shown). Figure 4

[0081] In some embodiments, the ratio of the size of the first reinforcing member 16 to the size of the negative pressure cavity 15 is 0.3-0.5, 0.5-0.8, etc.

[0082] In some embodiments, the ratio of the size of the first reinforcing member 16 to the size of the negative pressure cavity 15 is 0.7.

[0083] In some embodiments, the ratio of the size of the first reinforcing member 16 to the size of the negative pressure cavity 15 is 0.3, 0.4, 0.5, 0.6, 0.8, etc.

[0084] The shorter the length of the first reinforcing member 16, the more the part of the bottom wall of the negative pressure cavity 15 close to the clamping surface can be deformed, and the easier it is to drive the cartilage 3 to move downward. If the first reinforcing member 16 is too short, the support strength of the negative pressure cavity 15 will be insufficient, which may cause the whole bottom wall to shrink away from the clamping surface, so that the top wall of the negative pressure cavity 15 cannot shrink enough, affecting the downward movement of the cartilage 3.

[0085] In some embodiments of the present application, by reasonably designing the ratio of the first reinforcing member 16 to the negative pressure cavity 15, the balance between the firmness and flexibility of the clamping jaw when clamping can be ensured, and the clamping performance can be improved.

[0086] In some embodiments, as shown, the negative pressure cavity 15 is provided with a contraction structure 17 which is foldable along the normal direction of the clamping surface. Figures 1-2

[0087] The contraction structure 17 is used to improve the contraction ability of the negative pressure cavity 15. In some embodiments, the contraction structure 17 is arranged on the two side outer walls of the negative pressure cavity 15 adjacent to the clamping surface.

[0088] ​​In some embodiments, the contraction structure 17 can be in a corrugated shape, a laminated structure or an elastic structure, so that the contraction structure 17 is compressed or folded along the normal direction of the clamping surface. In turn, the negative pressure cavity 15 is capable of being contracted along the normal direction of the clamping surface.

[0089] Figure 10 is a schematic diagram of the cross-sectional structure of the clamping jaw when the negative pressure cavity is contracted according to some embodiments of the present application. In some embodiments, as shown in Figure 10 when the air bag 2 is contracted, the contraction structure 17 is driven to contract, causing the negative pressure cavity 15 to deform, and the deformation of the negative pressure cavity 15 drives the second reinforcing member 31 to deform the cartilage 3 towards the clamping surface.

[0090] In some embodiments of the present application, the contraction structure 17 is arranged to enable the clamping jaw to change shape flexibly during operation, adapt to different clamping positions and operation modes, and further enhance the adaptability of the clamping jaw. At the same time, the contraction structure 17 can also make the negative pressure cavity 15 contract more in the normal direction of the clamping surface.

[0091] The second reinforcing member 31 is used to connect the wall surface constituting the negative pressure cavity 15 and the cartilage 3, thereby enhancing the structural strength of the wall surface constituting the negative pressure cavity 15. In some embodiments, the second reinforcing member 31 is made of a rigid material. The second reinforcing member 31 is fixedly connected to the cartilage 3.

[0092] In some embodiments, when the negative pressure cavity 15 is contracted, due to the presence of the first reinforcing member 16, the bottom side of the negative pressure cavity 15 close to the clamping surface is stationary, and the back side away from the clamping surface is contracted, and through the second reinforcing member 31 of the cartilage 3, the cartilage 3 is driven to move downward as a whole.

[0093] Figure 11 is a schematic diagram of the structure of the cartilage according to some embodiments of the present application.

[0094] In some embodiments, as shown in Figure 4 and Figures 10-11 The cartilage 3 is provided with a negative pressure passage 32, which communicates with the negative pressure cavity 15, and a plurality of negative pressure holes 33 are provided on the cartilage 3, which are directed towards the clamping surface.

[0095] The negative pressure passage 32 is a channel inside the cartilage 3 for transmitting negative pressure. In some embodiments, as shown in Figure 11 the negative pressure holes 33 communicate with the negative pressure passage 32. When the negative pressure cavity 15 is connected to negative pressure, negative pressure is generated in the negative pressure passage 32 communicating with the negative pressure cavity 15, and the target object 10 is adsorbed through the negative pressure holes 33, so that the clamping surface of the clamping jaw body 1 is fitted and adsorbed to the surface of the target object 10.

[0096] Figure 12 is a schematic diagram of the cross-sectional structure of the negative pressure passage according to some embodiments of the present application.

[0097] In some embodiments, as shown in Figure 12 The third reinforcing member 34 is arranged in the cartilage 3, and the negative pressure passage 32 is arranged in the third reinforcing member 34.

[0098] The third reinforcing member 34 is used to strengthen the strength of the negative pressure passage 32. In some embodiments, the third reinforcing member 34 is a rigid material. As shown in Figure 12 The third reinforcing member 34 divides the negative pressure passage 32 into two parts, thereby preventing the connecting passage from being blocked after the cartilage 3 is deformed.

[0099] In some embodiments of the present application, the arrangement of the third reinforcing member 34 in the cartilage 3 improves the overall strength and stability of the cartilage 3, so that the clamping jaw can withstand greater clamping force in actual application, while ensuring the integrity of the negative pressure passage 32.

[0100] The negative pressure hole 33 is a hole on the cartilage 3 for adsorbing the target object 10.

[0101] In some embodiments, each bone segment of the cartilage 3 corresponds to at least one negative pressure hole 33.

[0102] In some embodiments of the present application, the arrangement of different numbers of negative pressure holes 33 can meet different adsorption requirements of the target object 10, thereby increasing the use scenarios of the clamping jaw.

[0103] In some embodiments of the present application, the arrangement of the negative pressure passage 32 and the negative pressure hole 33 in the cartilage 3 enables the clamping jaw to better adsorb objects during clamping, while the uniform application of negative pressure enhances the clamping effect and ensures that the objects will not slide.

[0104] In some embodiments, the material of the cartilage 3 includes polyurethane or thermoplastic elastomer.

[0105] In some embodiments of the present application, the selection of the material of the cartilage 3 (polyurethane or thermoplastic elastomer) endows the clamping jaw with good elasticity and wear resistance, prolongs the service life, and provides clamping performance suitable for different working conditions.

[0106] In some embodiments of the present application, the arrangement of the negative pressure cavity 15 and the reinforcing member can enhance the rigidity and supportability of the clamping jaw, reduce the risk of deformation during clamping, and make the clamping more stable. At the same time, the cooperation of the first reinforcing member 16 and the second reinforcing member 31 can maintain the structure of the negative pressure cavity 15, reduce the deformation of the negative pressure cavity 15 in the direction from the fixed end 13 to the free end 14, and thus facilitate the bending of the cartilage 3 close to the clamping surface.

[0107] Figure 13 is a cross-sectional structure schematic view of the clamping jaw along the axis A-A according to some embodiments of the present application. Figure 14 is a cross-sectional schematic view of a partial structure of the clamping jaw according to some embodiments of the present application.

[0108] In some embodiments, as shown in Figure 4 , Figure 10 and Figures 13-14 , a plurality of suction cavities 18 are further provided on the clamping surface of the clamping jaw body 1, each of the plurality of suction cavities 18 is in communication with at least one negative pressure hole 33, and a flexible film 180 is provided on the side of the suction cavity 18 away from the negative pressure hole 33, and a plurality of micropores 181 are provided on the flexible film 180.

[0109] The suction cavity 18 is a cavity for providing a negative pressure environment when clamping the target object 10. The suction cavity 18 can provide a local negative pressure to increase the stability and anti-skid performance of the clamping jaw when clamping the target object 10.

[0110] In some embodiments, the wall thickness of the cartilage 3 along the normal direction of the clamping surface is greater than or equal to 1 / 3 of the distance from the end of the air bag 2 close to the clamping surface to the end of the suction cavity 18 away from the clamping surface. For example, as shown in Figure 11 , the wall thickness of the cartilage 3 along the normal direction of the clamping surface is d, as shown in Figure 10 , the distance from the end of the air bag 2 close to the clamping surface to the end of the suction cavity 18 away from the clamping surface is b, and d is greater than or equal to 1 / 3 of b.

[0111] In some embodiments of the present application, the wall thickness of the cartilage 3 is designed to ensure a certain rigidity while maintaining the necessary flexibility, thereby improving the cushioning performance of the clamping jaw and helping to prevent damage to the clamped objects.

[0112] In some embodiments, as shown in Figure 13 , the plurality of suction cavities 18 are connected by reinforcing ribs 182. The reinforcing ribs 182 are made of rigid material, and the reinforcing ribs 182 can prevent the suction cavities 18 from deforming along the clamping surface, thereby improving the stability of clamping.

[0113] The flexible film 180 is a surface film structure of the suction cavity 18 close to the target object 10. In some embodiments, the flexible film 180 is made of flexible material, so that the suction cavity 18 can better fit the surface of the target object 10 and increase the suction force.

[0114] The micropore 181 is a hole structure on the surface of the flexible film 180. The micropore 181 is made of the same material as the flexible film 180.

[0115] In some embodiments, the micropore 181 is in communication with the inside of the suction cavity 18. Through the structural design of the micropore 181, the negative pressure can be transmitted through the pores, so that an effective negative pressure environment is formed in the suction cavity 18.

[0116] In some embodiments, each of the plurality of micropores 181 is arranged in a staggered manner with the negative pressure hole 33.

[0117] In some embodiments, for the adsorption cavity 18 not in contact with the target object 10, the surface of the adsorption cavity 18 is deformed to contact the negative pressure hole 33 due to the negative pressure, so that the surface of the adsorption cavity 18 can block the negative pressure hole 33, and the outlet of the negative pressure hole 33 forms a sealed structure, thereby ensuring the adsorption force of the adsorption cavity 18 on the target object 10.

[0118] In some embodiments of the present application, the staggered arrangement of the micropores 181 can optimize the distribution of negative pressure, further enhance the clamping effect, prevent local pressure concentration, and reduce the risk of object damage during clamping.

[0119] In some embodiments, the number of corresponding micropores 181 of each of the plurality of adsorption cavities 18 is 1-6.

[0120] In some embodiments, the number of corresponding micropores 181 of each of the plurality of adsorption cavities 18 is 1-3 or 3-6, etc.

[0121] In some embodiments, the number of corresponding micropores 181 of each of the plurality of adsorption cavities 18 is 1, 2, 3, 4, 5, or 6.

[0122] The more the number of micropores 181, the larger the overall adsorption area of the adsorption cavity 18, and the more dispersed the pressure. The fewer the number of micropores 181, the smaller the overall adsorption area of the adsorption cavity 18, and the greater the pressure borne by each micropore 181.

[0123] In some embodiments of the present application, by setting an appropriate number of micropores 181 for each adsorption cavity 18, the adsorption force can be more reasonably distributed, effective clamping can be achieved, and the uniformity of clamping area and force application can be considered.

[0124] In some embodiments, the diameter of the micropore 181 is 0.5-2.0mm.

[0125] In some embodiments, the diameter of the micropore 181 is 0.5-1.0mm, 1.0-1.5mm, 1.5-2.0mm, etc.

[0126] In some embodiments, the diameter of the micropore 181 is 0.5mm, 1.0mm, 1.5mm, 2.0mm, etc.

[0127] In some embodiments of the present application, the reasonable diameter design of the micropore 181 can optimize the airflow channel, avoid excessive attraction or loosening of the object, and enhance the controllability and accuracy of the clamping jaw.

[0128] In some embodiments, the size of the micropore 181 corresponding to the adsorption cavity 18 close to the fixed end 13 is smaller than the size of the micropore 181 corresponding to the adsorption cavity 18 away from the fixed end 13; the number of micropores 181 corresponding to the adsorption cavity 18 close to the fixed end 13 is smaller than the number of micropores 181 corresponding to the adsorption cavity 18 away from the fixed end 13.

[0129] In some embodiments, the closer the suction cavity 18 is to the fixed end 13, the greater the clamping force needs to be borne during clamping. Reducing the size of the micropores 181 and reducing the number of micropores 181 helps to ensure that each micropore 181 can effectively bear a higher negative pressure, avoiding pressure dispersion caused by too many pores, thereby increasing the stability of the clamping process. For example, the micropores 181 corresponding to the suction cavity 18 near the fixed end 13 have a diameter of 1 mm, and the micropores 181 corresponding to the suction cavity 18 away from the fixed end 13 have a diameter of 3 mm, and the diameter of the micropores 181 increases in the direction from the fixed end 13 to the free end 14; the number of micropores 181 corresponding to the suction cavity 18 near the fixed end 13 is 2, and the number of micropores 181 corresponding to the suction cavity 18 away from the fixed end 13 is 6, and the number of micropores 181 increases in the direction from the fixed end 13 to the free end 14.

[0130] In some embodiments of the present application, the design of micropores 181 of different sizes and numbers enables the clamping jaw to better achieve negative pressure balance when clamping objects, especially when clamping long strip-shaped objects, thereby increasing the reliability of clamping.

[0131] In some embodiments of the present application, the design of multiple suction cavities 18 and flexible membranes 180 can improve clamping efficiency and safety, prevent object sliding, and maintain good grabbing ability under different pressure conditions. The design of multiple suction cavities 18 can uniformly disperse the pressure applied during clamping to different areas of the clamping surface, which helps to better adapt to objects of different shapes and surfaces.

[0132] In some embodiments, before the clamping jaw grabs the target object 10, the external air source introduces positive pressure gas through the positive pressure passage 61 to inflate the air bag 2, drive the clamping jaw to deform, and make the clamping jaw preliminarily adhere to the clamped object, as shown in Figure 3 At this time, the flexible membrane 180 of the suction cavity 18 close to the clamping surface deforms according to the surface of the target object 10, making the clamping jaw adhere to the target object 10 better. After the preliminary adhesion is completed, the external air source introduces negative pressure gas through the negative pressure passage 32, and the negative pressure cavity 15 shrinks to deform, driving the cartilage 3 to bend towards the clamping surface through the third reinforcing member 34, so that the clamping jaw as a whole produces radial displacement, increasing the clamping force and wrapping of the clamping jaw. At the same time, the negative pressure generated in the negative pressure hole 33 causes the suction cavity 18 to deform, and the flexible membrane 180 of the suction cavity 18 adheres to the target object 10, as shown in Figure 7 and Figure 14 At this time, the micropores 181 in contact with the target object 10 produce adsorption effect on the target object 10, while the micropores 181 of the suction cavity 18 not in contact with the clamped object deform to produce sealing effect (as shown in Figure 14 by blocking the negative pressure hole 33 of the cartilage 3), thereby completing the adsorption and grabbing action of the clamping jaw.

[0133] The foregoing detailed description has set forth various embodiments of the application via the use of specific terminology. As such, it is to be understood that whenever a particular embodiment is described, that embodiment is intended to serve as a representative example, and is not intended to limit the scope of the application. Those skilled in the art will recognize that the application can be practiced with modification and alteration, and that the application is not limited to the particulars described above. Such modifications and alterations may, however, be made within the scope and spirit of the application as set forth in the appended claims and disclosed above.

[0134] Also, the use of "one embodiment," "an embodiment," or "some embodiments," along with their derivatives, in the present disclosure, are not necessarily an exhaustive listing of embodiments of the application. Other embodiments of the application can include other features, not expressly mentioned or described herein.

[0135] In addition, the order of presentation of the processing elements and sequences described herein, the use of numbering and letters, or the use of other designations and terminology are not intended to limit the order in which the processes and methods of the present application are performed. While various embodiments of the application have been discussed above, it should be appreciated that, unless otherwise stated, these embodiments represent only a presently preferred examples of various aspects of the application. Thus, it will be appreciated that a latitude of modification, various features, and substitutions are possible, without departing a spirit of the application.

[0136] Similarly, it is also noted that, in the interest of simplifying the present disclosure, certain features of the application that are, for clarity, described above and illustrated in the drawings as being incorporated in a single embodiment may, in actual practice, be incorporated separately of that single embodiment or in multiple embodiments, individually or in various combinations, and nothing in the above should be interpreted as a limitation on the overall scope of the application, as such scope is described in the claims.

[0137] Some embodiments use numerical designations to describe components, quantities, etc. It should be understood that such numerical designations used in the description of embodiments are, in some instances, modified by the terms "about," "approximately," or "substantially" in some instances. Unless otherwise indicated, "about," "approximately," or "substantially" indicates that the value of the number can vary from the stated number by ±20%. Accordingly, in some embodiments, numerical parameters are approximations and can vary depending upon the desired characteristics set forth in each instance. In some embodiments, numerical parameters should be considered in the context of the number of significant digits used for the quantity. Although the numerical ranges and parameters setting forth the broad scope of the application are approximations, the numerical values set forth in the specific examples are reported as precisely as possible. Any numerical value, however, can contain certain errors necessarily resulting from the standard deviation found in their respective testing measurements.

[0138] Finally, it should be understood that the embodiments described herein are merely exemplary of the principles of the application. Other embodiments can be devised without departing from the scope of the application. Accordingly, the scope of the application is not intended to be limited to the described embodiments, but rather the scope is intended to be defined by the appended claims as broadly as they can be reasonably interpreted.

Claims

1. A gripper characterized by, The gripper comprises a plurality of gripper bodies which are symmetrically distributed with respect to the axial direction of the gripper, each of the gripper bodies being provided with an air bag and cartilage: The material of the gripper body comprises a flexible material, the cartilage is arranged inside the gripper body, the cartilage comprises a plurality of joints which are arranged along the axial direction, adjacent joints in the plurality of joints are rotatably connected; The first side of the gripper body towards the gripper axis is a gripping surface, the air bag is arranged on the second side of the gripper body away from the gripper axis, the first distance from the cartilage to the first side is less than the second distance from the cartilage to the second side; One end of the gripper body along the axial direction is a fixed end, the other end is a free end, the gripper body is provided with a negative pressure cavity inside, the negative pressure cavity is arranged between the cartilage and the fixed end; The first reinforcing member and the second reinforcing member are embedded in the gripper body, the first reinforcing member is located between the negative pressure cavity and the gripping surface, the second reinforcing member is located on the back side of the negative pressure cavity away from the gripping surface, and the second reinforcing member is connected with the cartilage; When the air bag expands to bend the gripper body towards the gripping surface, adjacent joints in the plurality of joints are connected through connecting segments; the connecting segments between at least part of the joints are bent, so that the at least part of the joints rotate relatively, driving the cartilage to bend with the gripper body.

2. The jaw of claim 1, wherein The rigidity of the connecting segment is less than the rigidity of the joint.

3. The jaw of claim 1 wherein, The negative pressure cavity is provided with a contraction structure which can be folded along the normal direction of the gripping surface.

4. The jaw of claim 1 wherein, In the direction from the fixed end to the free end, the ratio of the size of the first reinforcing member to the size of the negative pressure cavity is 0.3-0.

8.

5. The jaw of claim 1 wherein, The cartilage is provided with a negative pressure passage which communicates with the negative pressure cavity, and a plurality of negative pressure holes are arranged on the cartilage and face the gripping surface.

6. The jaw of claim 5, wherein A plurality of suction cavities are further arranged on the gripping surface of the gripper body, each of the plurality of suction cavities communicates with at least one negative pressure hole, a flexible membrane is arranged on the side of the suction cavity away from the negative pressure hole, and a plurality of micropores are arranged on the flexible membrane.

7. The jaw of claim 6 wherein, Each of the plurality of micropores is arranged in a staggered manner with the negative pressure hole.

8. The jaw of claim 7, wherein, For any two suction cavities: The size of the micropore corresponding to the suction cavity close to the fixed end is smaller than the size of the micropore corresponding to the suction cavity away from the fixed end; The number of micropores corresponding to the suction cavity close to the fixed end is less than the number of micropores corresponding to the suction cavity away from the fixed end.

9. The jaw of claim 5 wherein, The cartilage is provided with a third reinforcing member, and the negative pressure passage is arranged in the third reinforcing member.

10. The jaw of claim 1 wherein, The included angle between the central axis direction of the air bag and the normal direction of the gripping surface is 0°-30°.

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