A flexible clamping device

Abstract

The application provides a flexible clamping device, which comprises a clamping part and a first cavity; a control film is arranged on one side of the first cavity close to the clamping part; at least a part of one end of the clamping part close to the first cavity is connected with the control film; the first cavity is communicated with an external air source through a first communication hole; when the first cavity is filled with air from the external air source, the control film moves towards the clamping part, thereby driving the clamping part to expand outward; when the first cavity is extracted with air from the external air source, the control film moves away from the clamping part, thereby driving the clamping part to contract inward. The device is simple and accurate in operation, has good clamping force on objects with different shapes and sizes, and is simple in structure, easy to manufacture and maintain, and fast in response speed.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of clamping, in particular to a flexible clamping device. BACKGROUND

[0002] In recent years, with the development of scientific fields such as industrial automation, computer science and material bionics, the clamping device made of flexible material has been widely used in many fields and scenes such as biomedical, disaster rescue, scientific exploration, aerospace and wearable devices due to its good adaptability and flexibility. However, the existing flexible clamping device or flexible clamping jaw is difficult to accurately control the clamping force when clamping objects, and it is often difficult to effectively clamp complex or irregular objects. And the structure is complex, the manufacturing cost is high, and the corresponding speed is slow.

[0003] Therefore, in view of the above problems, a flexible clamping device is provided, which is simple and accurate to operate, has good clamping force for objects of different shapes and sizes, and has a simple structure and is easy to manufacture and maintain, and has a fast response speed. SUMMARY

[0004] One or more embodiments of the present specification provide a flexible clamping device, characterized in that it comprises a clamping part and a first cavity; the first cavity is provided with a control film close to one side of the clamping part, the clamping part is at least partially connected with the control film close to one end of the first cavity, and the first cavity is communicated with an external gas source through a first communication hole; when the first cavity is filled with gas by the external gas source, the control film moves towards the clamping part, thereby driving the clamping part to expand outward; when the first cavity is extracted by the external gas source, the control film moves away from the clamping part, thereby driving the clamping part to contract inward.

[0005] In some embodiments, the clamping part comprises at least two clamping jaws, each of which comprises a webbed structure and at least two reinforcing ribs, the webbed structure is connected with the control film close to one end of the first cavity, and the webbed structure is arranged between two adjacent reinforcing ribs, and the webbed structure is made of flexible material.

[0006] In some embodiments, the flexible clamping device further comprises a housing, the first cavity and the control film are arranged in the housing, one end of the at least two reinforcing ribs is connected with the housing, and the other end of the reinforcing rib is connected with the end of the webbed structure away from the first cavity.

[0007] In some embodiments, the clamping portion comprises a second cavity, the second cavity being in communication with the first cavity, the second cavity being capable of expanding outwardly or contracting inwardly, the webbed structure being connected to the second cavity; when the first cavity is filled with gas by the external gas source, the second cavity expands to drive the webbed structure to expand outwardly; when the first cavity is extracted with gas by the external gas source, the second cavity contracts to drive the webbed structure to contract inwardly.

[0008] In some embodiments, the second cavity is arranged at one end of the webbed structure close to the first cavity.

[0009] In some embodiments, a third cavity is arranged on the reinforcing rib, the third cavity being arranged along the extension direction of the reinforcing rib, the third cavity being in communication with the first cavity.

[0010] In some embodiments, the cavity wall of the second cavity comprises at least one first bend, the webbed structure comprises at least one second bend, the at least one first bend being connected to at least part of the at least one second bend correspondingly.

[0011] In some embodiments, the first communication hole is arranged on the top wall of the first cavity, when the external gas source continuously extracts the gas in the first cavity, the control film gradually moves towards the top wall of the first cavity until the control film covers the first communication hole.

[0012] In some embodiments, the flexible clamping device further comprises a fourth cavity, the fourth cavity being in communication with the first cavity through a second communication hole, the fourth cavity being in communication with the external gas source, the fourth cavity being extendable and contractable along a preset direction; when the control film covers the second communication hole and the extraction of the gas in the first cavity is still continued, the fourth cavity contracts along the preset direction, thereby driving the clamping portion to move along the preset direction.

[0013] In some embodiments, the side wall of the first cavity is made of rigid material, the control film is connected to the side wall of the first cavity through at least one bend, the bend being made of flexible material.

[0014] The beneficial effects of the present specification include but are not limited to: (1) through the cooperation of the first cavity and the control film, the expansion and contraction of the clamping part can be realized according to the change of air pressure, which is simple and accurate in operation, and the structure is simple and easy to manufacture and maintain. Driven by an external air source, the response speed is fast, the energy consumption is low, and it meets the design concept of energy saving and environmental protection; (2) the web-shaped structure can make the flexible clamping device adapt to objects of different shapes and sizes, improve the versatility, and cooperate with the reinforcing ribs to effectively guarantee the clamping force of the flexible clamping device, thereby solving the problem of the covering effect of extremely fragile food or objects; (3) the flexible design can reduce damage to the object, and is suitable for fragile or sensitive objects; (4) the expansion and contraction of the second cavity can control the deformation of the web-shaped structure, realize the opening and closing effect similar to the palm, and the web-shaped structure can be attached to the object to realize the deformation, and the clamped object has a good all-around covering effect. BRIEF DESCRIPTION OF DRAWINGS

[0015] The present specification 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:

[0016] Figure 1 is a perspective structural schematic view of a flexible clamping device according to some embodiments of the present specification;

[0017] Figure 2 is a cross-sectional structural schematic view of a flexible clamping device according to some embodiments of the present specification;

[0018] Figure 3 is a deformation structural schematic view of a control film when the first cavity is filled with gas according to some embodiments of the present specification;

[0019] Figure 4 is a deformation structural schematic view of a control film when the first cavity is extracted gas according to some embodiments of the present specification;

[0020] Figure 5 is a perspective structural schematic view of a flexible clamping device according to some embodiments of the present specification;

[0021] Figure 6 is an unfolded structural schematic view of a web-shaped structure according to some embodiments of the present specification;

[0022] Figure 7 is a distribution schematic view of a clamping jaw according to some embodiments of the present specification;

[0023] Figure 8 is a distribution schematic view of a clamping jaw according to some embodiments of the present specification;

[0024] Figure 9 is an exemplary schematic diagram of a control film in a relaxed state according to some embodiments of the present specification;

[0025] Figure 10 is an exemplary schematic diagram of a control film in an inflated state according to some embodiments of the present specification;

[0026] Figure 11 is an exemplary schematic diagram of a control film in a deflated state according to some embodiments of the present specification;

[0027] Figure 12 is a schematic diagram of a cross-sectional structure of a flexible clamping device according to some embodiments of the present specification;

[0028] Figure 13 is a schematic diagram of a structure of a flexible clamping device when clamping an object according to some embodiments of the present specification;

[0029] Figure 14 is a schematic diagram of a bottom view of a flexible clamping device when clamping an object according to some embodiments of the present specification.

[0030] Legend: 1, clamping portion; 10, clamping jaw; 11, web structure; 12, reinforcing rib; 13, second cavity; 14, third cavity; 2, first cavity; 3, control film; 31, curved portion; 41, first communication hole; 42, second communication hole; 43, limiting structure; 5, shell; 51, sealing structure; 52, threaded hole; 6, fourth cavity. DETAILED DESCRIPTION

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some examples or embodiments of the present specification, and for those skilled in the art, the present specification can also be applied to other similar scenarios without creative labor. Unless it is obvious from the language environment or otherwise stated, the same reference numbers in the drawings represent the same structures or operations.

[0032] It should be understood that the "system", "device", "unit" and / or "module" used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0033] As indicated in the present specification, unless the context clearly indicates otherwise, the words "one", "an", "a", and / or "the" do not mean "only one", "single" or "one and only one", but are intended to cover both the singular noun and its plural versions. Generally, the terms "comprise", "comprising", "comprises" and "comprised of" indicate the inclusion of a stated step or element but not the exclusion of any other steps or elements which can be included in the method or device.

[0034] Figure 1 is a perspective view of a flexible clamping device according to some embodiments of the present specification. Figure 2 is a cross-sectional view of a flexible clamping device according to some embodiments of the present specification. Figure 3 is a schematic view of a flexible clamping device according to some embodiments of the present specification, showing the deformation of the control membrane when the first cavity is filled with gas. Figure 4 is a schematic view of a flexible clamping device according to some embodiments of the present specification, showing the deformation of the control membrane when the first cavity is extracted with gas.

[0035] In some embodiments, the flexible clamping device comprises a clamping portion 1 and a first cavity 2. The first cavity 2 is provided with a control membrane 3 on a side close to the clamping portion 1, and the clamping portion 1 is at least partially connected to the control membrane 3 on an end close to the first cavity 2. The first cavity 2 is in communication with an external gas source through a first communication hole 41. In some embodiments, when the first cavity 2 is filled with gas from the external gas source, the control membrane 3 moves towards the clamping portion 1, thereby causing the clamping portion 1 to expand outward. In some embodiments, when the first cavity 2 is extracted with gas from the external gas source, the control membrane 3 moves away from the clamping portion 1, thereby causing the clamping portion 1 to contract inward.

[0036] The clamping portion 1 is used to contact and clamp an object. In some embodiments, the clamping portion 1 is made of a flexible material, such as silicone, rubber, polyurethane (PU), thermoplastic elastomer (TPE), etc.

[0037] In some embodiments, the clamping portion 1 has a cavity structure inside. The clamping portion 1 can expand outward to increase the range of the spatial structure and clamp the object into the cavity structure. The clamping portion 1 can contract inward to clamp the object and prevent it from falling. The outward expansion of the clamping portion 1 can be the movement of the end of the clamping portion 1 away from the first cavity 2 in a direction away from the central axis of the clamping portion 1. The inward contraction of the clamping portion 1 can be the movement of the end of the clamping portion 1 away from the first cavity 2 in a direction close to the central axis of the clamping portion 1. In some embodiments, as shown in Figure 2 the central axis of the clamping portion 1 can be the axis D1-D1. The central axis can also be the axis of symmetry (e.g. the axis of rotational symmetry) of the clamping portion 1.

[0038] In some embodiments, the clamping portion 1 comprises a plurality of clamping sub-portions, and the clamping portion 1 can clamp an object by cooperation of the plurality of clamping sub-portions. For example, the clamping portion 1 can comprise a plurality of clamping sub-portions arranged along a circumferential direction of a ring structure. Each clamping sub-portion is provided with a support structure and a flexible cover layer covering the support structure. The outward expansion of the clamping portion 1 can be a movement of the clamping portion 1 away from the end of the first cavity 2 towards the center of the ring structure, and the inward contraction of the clamping portion 1 can be a movement of the clamping portion 1 away from the end of the first cavity 2 towards the center of the ring structure.

[0039] In some embodiments, the clamping portion 1 can further comprise at least two clamping jaws 10, and each clamping jaw 10 comprises a web structure 11 and at least two reinforcing ribs 12. For more details, please refer to the relevant description below.

[0040] The first cavity 2 is used to drive the control film 3 to move by pressure change.

[0041] The control film 3 is used to deform itself by pressure change of the first cavity 2 and drive the clamping portion 1 to move. In some embodiments, the control film 3 is made of flexible material, such as silicone, rubber, PU or hot TPE, etc.

[0042] In some embodiments, as shown in Figure 2 , the control film 3 is arranged on the side of the first cavity 2 close to the clamping portion 1 along the central axis (such as axis D1-D1) of the clamping portion 1, and at least part of the end of the clamping portion 1 close to the first cavity 2 is connected with the control film 3.

[0043] In some embodiments, the clamping portion has a movable part, one end of which is movably arranged, and the control film can control the rotation of the movable part to realize the change of the position inside and outside, etc.

[0044] The first communication hole 41 is used to provide a passage for the external gas source to fill or extract gas. In some embodiments, the side wall of the first communication hole 41 is made of rigid material, such as plastic, metal, etc., so as to avoid deformation of the first communication hole 41 during gas extraction.

[0045] In some embodiments, as shown in Figure 1 and Figure 2 , the flexible clamping device further comprises a sealing structure 51 arranged at the end of the first cavity away from the clamping portion 1.

[0046] The sealing structure 51 is used to seal the inside of the flexible clamping device to form an airtight structure. In some embodiments, the sealing structure 51 is connected with the side wall of the first cavity by encapsulation process to achieve sealing effect.

[0047] In some embodiments, as shown in Figure 2As shown, the first communication hole 41 is arranged through the sealing structure 51 and the top wall of the first cavity 2.

[0048] In some embodiments, the sealing structure 51 is provided with a threaded hole 52, which can be connected with an external fixing support to fix the flexible clamping device.

[0049] The external air source is used to provide a power source for the clamping device to clamp and release the object. In some embodiments, the external air source can be a bidirectional air pump, a compressed air system, etc.

[0050] In some embodiments, when clamping the object, the flexible clamping device needs to be close to the clamped object first. If the size of the clamped object is small, the flexible clamping device can directly approach the clamped object and at least partially accommodate the clamped object into the cavity structure of the clamping part. If the size of the clamped object is small, the external air source is used to fill the gas into the first cavity 2, at this time, the gas pressure in the first cavity 2 is increased, the control film 3 moves towards the clamping part 1 under the action of positive pressure, drives the clamping part 1 to expand outward, so as to open and approach the surface of the object (as shown in Figure 3 The external air source is used to extract the gas from the first cavity 2, at this time, the gas pressure in the first cavity 2 is decreased, the control film 3 moves away from the clamping part 1 under the action of negative pressure, drives the clamping part 1 to contract inward (as shown in Figure 4 The clamped object is clamped. After the clamping process of the object is completed, as shown in Figure 3 The external air source is used to fill the gas into the first cavity 2, which can make the control film 3 move towards the clamping part 1, drive the clamping part 1 to expand outward, so as to release the clamped object; at the same time, the movement of the control film 3 towards the clamping part 1 can generate a pushing force on the object, preventing the clamped object from adhering to the control film 3.

[0051] In some embodiments of the present specification, the first cavity and the control film cooperate to achieve the expansion and contraction of the clamping part according to the change of the gas pressure, which is simple and accurate in operation, and the structure is simple and easy to manufacture and maintain. Driven by the external air source, the response speed is fast, the energy consumption is low, and it meets the design concept of energy saving and environmental protection.

[0052] It should be noted that the above description of the flexible clamping device is for convenience of description only, and cannot limit the present specification to the scope of the embodiments. It can be understood that, for those skilled in the art, after understanding the principle of the device, the various components of the flexible clamping device can be combined or connected with other devices without departing from the principle.

[0053] In some embodiments, as shown in Figure 1As shown, the flexible gripping device further comprises a housing 5, the first cavity 2 and the control film 3 are arranged in the housing 5, one end of the at least two reinforcing ribs 12 is connected with the housing 5, and the other end of the reinforcing ribs 12 is connected with the end of the webbed structure 11 away from the first cavity 2.

[0054] The housing 5 is used to support, accommodate and protect the components of the flexible gripping device. In some embodiments, the housing 5 can be made of lightweight materials such as lightweight metals or high-strength plastics. In some embodiments, the housing 5 can be cylindrical, and the axis of the housing 5 can be coaxial with the central axis of the gripping part 1.

[0055] In some embodiments, a sealing structure 51 is arranged at the end of the housing 5 away from the gripping part 1. In some embodiments, the sealing structure 51 is connected with the housing 5 by a gluing process to achieve a sealing effect.

[0056] Some embodiments of the present specification take the housing 5 as the core support structure of the flexible gripping device, which not only protects the internal components, but also provides a stable mounting platform and convenient integration, suitable for various industrial and automation scenarios.

[0057] Figure 5 is a perspective structural schematic diagram of a flexible gripping device according to some other embodiments of the present specification. Figure 6 is an unfolded structural schematic diagram of a webbed structure according to some embodiments of the present specification.

[0058] In some embodiments, as shown in Figures 5-6 the gripping part 1 comprises at least two clamping jaws 10, each clamping jaw 10 comprises a webbed structure 11 and at least two reinforcing ribs 12, the end of the webbed structure 11 close to the first cavity 2 is connected with the control film 3, the webbed structure 11 is arranged between two adjacent reinforcing ribs 12, and the webbed structure 11 is made of flexible material.

[0059] In some embodiments, the gripping part 1 can grip or release the clamped object by folding and opening the at least two clamping jaws 10.

[0060] The number of clamping jaws 10 can be set according to requirements. In some embodiments, as shown in Figures 1-5 the gripping part 1 comprises two clamping jaws 10.

[0061] Figure 7 is a schematic diagram of the distribution of clamping jaws according to some embodiments of the present specification. Figure 8 is a schematic diagram of the distribution of clamping jaws according to some other embodiments of the present specification.

[0062] In some embodiments, as shown in Figure 7 the gripping part 1 comprises three clamping jaws 10. In some embodiments, as shown in Figure 8As shown, the clamping portion 1 comprises 4 clamping jaws 10. In some embodiments, the clamping portion 1 can comprise more clamping jaws 10.

[0063] The webbed structure 11 is configured to achieve the opening and closing of the clamping jaws 10 by deformation. In some embodiments, the webbed structure 11 can be a thin film structure.

[0064] In some embodiments, as shown in FIG. 1, the webbed structure 11 is a folded fan structure, and the webbed structure 11 can be folded or unfolded along the circumferential direction. For example, as shown in FIG. 2, the webbed structure 11 can be folded along the circumferential direction. For another example, as shown in FIG. 3, the webbed structure 11 can be unfolded along the circumferential direction. Figures 1-6 Figure 5 In some embodiments, as shown in FIG. 1, the webbed structure 11 is a folded fan structure, and the webbed structure 11 can be folded or unfolded along the circumferential direction. For example, as shown in FIG. 2, the webbed structure 11 can be folded along the circumferential direction. For another example, as shown in FIG. 3, the webbed structure 11 can be unfolded along the circumferential direction. Figure 6 Figure 6 In some embodiments, as shown in FIG. 1, the webbed structure 11 is a folded fan structure, and the webbed structure 11 can be folded or unfolded along the circumferential direction. For example, as shown in FIG. 2, the webbed structure 11 can be folded along the circumferential direction. For another example, as shown in FIG. 3, the webbed structure 11 can be unfolded along the circumferential direction.

[0065] The reinforcing rib 12 is configured to provide support for the clamping jaw 10, and to enhance the rigidity and stability of the clamping jaw 10. In some embodiments, the reinforcing rib 12 is a rigid or semi-rigid material, such as plastic, nylon, metal, etc. The elastic modulus of the reinforcing rib 12 is greater than the elastic modulus of the webbed structure 11.

[0066] In some embodiments, the webbed structure 11 is distributed with at least two reinforcing ribs 12 along the circumferential direction. Each reinforcing rib 12 is distributed along the longitudinal direction of the webbed structure 11 (e.g., the direction of the axis D1-D1). For example, as shown in FIG. 4, the webbed structure 11 is distributed with 3 reinforcing ribs 12 along the circumferential direction. For another example, as shown in FIG. 5, the webbed structure 11 is distributed with 4 reinforcing ribs 12 along the circumferential direction. Figure 5 Figures 7-8 In some embodiments, the webbed structure 11 is distributed with at least two reinforcing ribs 12 along the circumferential direction. Each reinforcing rib 12 is distributed along the longitudinal direction of the webbed structure 11 (e.g., the direction of the axis D1-D1). For example, as shown in FIG. 4, the webbed structure 11 is distributed with 3 reinforcing ribs 12 along the circumferential direction. For another example, as shown in FIG. 5, the webbed structure 11 is distributed with 4 reinforcing ribs 12 along the circumferential direction.

[0067] In some embodiments, the webbed structure 11 is close to the control film 3. For example, as shown in FIG. 1, the webbed structure 11 is close to the control film 3. For another example, as shown in FIG. 6, the webbed structure 11 is close to the control film 3. Figure 3 Figure 6 In some embodiments, when the first cavity 2 is filled with gas, the control film 3 moves towards the clamping portion 1, thereby driving the webbed structure 11 of the clamping portion 1 to unfold along the circumferential direction, and the two reinforcing ribs 12 of the clamping portion 1 move away from each other, thereby driving the clamping portion 1 to expand outward. In some embodiments, as shown in FIG. 1 and FIG. 6, when the first cavity 2 is filled with gas, the control film 3 moves towards the clamping portion 1, thereby driving the webbed structure 11 of the clamping portion 1 to unfold along the circumferential direction, and the two reinforcing ribs 12 of the clamping portion 1 move away from each other, thereby driving the clamping portion 1 to expand outward. Figure 4 Figure 5 In some embodiments, when the first cavity 2 is filled with gas, the control film 3 moves towards the clamping portion 1, thereby driving the webbed structure 11 of the clamping portion 1 to unfold along the circumferential direction, and the two reinforcing ribs 12 of the clamping portion 1 move away from each other, thereby driving the clamping portion 1 to expand outward. In some embodiments, as shown in FIG. 1 and FIG. 6, when the first cavity 2 is filled with gas, the control film 3 moves towards the clamping portion 1, thereby driving the webbed structure 11 of the clamping portion 1 to unfold along the circumferential direction, and the two reinforcing ribs 12 of the clamping portion 1 move away from each other, thereby driving the clamping portion 1 to expand outward.

[0068] ​​​​​Some embodiments of the present disclosure provide the webbed structure 11 to make the flexible clamping device adaptable to objects of different shapes and sizes, thereby improving versatility. Meanwhile, the reinforcing ribs 12 can effectively guarantee the clamping force of the flexible clamping device, thereby solving the problem of the wrapping effect on extremely fragile food or objects. The flexible design of the webbed structure 11 can reduce damage to the object and is suitable for fragile or sensitive objects.

[0069] In some embodiments, each clamping jaw 10 includes a webbed structure 11. When the first cavity 2 is filled with gas, the webbed structure 11 can expand circumferentially and drive the clamping jaw 10 to expand outward.

[0070] In some embodiments, each clamping jaw 10 includes at least two reinforcing ribs 12. The at least two reinforcing ribs 12 are arranged in the axial direction (e.g., the direction of the axis D1-D1). When the first cavity 2 is filled with gas, the at least two reinforcing ribs 12 move away from each other at the distal end of the first cavity 2 and drive the clamping jaw 10 to expand outward.

[0071] Figure 9 is an exemplary schematic view of the control film in a relaxed state according to some embodiments of the present disclosure.

[0072] In some embodiments, as shown in Figure 2 and Figure 9 , the side wall of the first cavity 2 is made of a rigid material, and the control film 3 is connected to the side wall of the first cavity 2 through at least one bending portion 31, which is made of a flexible material. In some embodiments, the side wall of the first cavity 2 is annular.

[0073] In some embodiments, the side wall of the first cavity 2 can be made of plastic, metal, etc.

[0074] The bending portion 31 is used to transitionally connect the first cavity 2 and the control film 3. In some embodiments, the bending portion 31 is an annular structure. The bending portion 31 is annular and connected to one end of the side wall of the first cavity 2. In some embodiments, the bending portion 31 can be made of silicone, rubber, PU, or hot TPE, etc.

[0075] Figure 10 is an exemplary schematic view of the control film in an inflated state according to some embodiments of the present disclosure. Figure 11 is an exemplary schematic view of the control film in a deflated state according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 10 , when the first cavity 2 is filled with gas, the control film 3 moves towards the clamping portion 1, and the bending portion 31 bends away from the first cavity 2. In some embodiments, as shown in Figure 11 , when the first cavity 2 is deflated, the control film 3 moves away from the clamping portion 1, and the bending portion 31 bends towards the first cavity 2.

[0076] In some embodiments of the present disclosure, by setting the side wall of the first cavity 2 to be a rigid material, the overall deformation of the first cavity 2 can be avoided, the structure is stable, and the control film 3 is more likely to deform.

[0077] In some embodiments, as shown in Figure 2 The first communication hole 41 is arranged on the top wall of the first cavity 2. When the external gas source continuously extracts the gas in the first cavity 2, the control film 3 gradually moves towards the top wall of the first cavity 2 until the control film 3 covers the first communication hole 41.

[0078] The top wall of the first cavity 2 refers to the top wall surface of the first cavity 2 away from the clamping part 1. When the external gas source continuously extracts the gas in the first cavity 2, the negative pressure generated in the first cavity 2 causes the control film 3 to gradually move towards the top wall of the first cavity 2 until the control film 3 covers the first communication hole 41, and a sealed chamber is formed inside the first cavity 2. When the external gas source stops extracting the gas, the control film 3 no longer deforms.

[0079] In some embodiments of the present disclosure, by covering the first communication hole 41 with the control film 3, the first cavity 2 can form an airtight structure, the internal gas pressure is stable, the clamping part 1 no longer deforms, and the flexible clamping device forms a self-locking effect, thereby controlling the deformation of the clamping part 1 within a certain range and avoiding excessive extrusion of the clamped object.

[0080] Figure 12 is a cross-sectional structure schematic diagram of a flexible clamping device according to another embodiment of the present disclosure.

[0081] In some embodiments, as shown in Figure 5 and Figure 12 The clamping part 1 includes a second cavity 13, the second cavity 13 is in communication with the first cavity 2, the second cavity 13 can expand outwardly or contract inwardly, and the web structure 11 is connected with the second cavity 13. In some embodiments, when the first cavity 2 is filled with gas by the external gas source, the second cavity 13 expands to drive the web structure 11 to expand outwardly; when the gas in the first cavity 2 is extracted by the external gas source, the second cavity 13 contracts to drive the web structure 11 to contract inwardly.

[0082] The second cavity 13 is used to drive the web structure 11 to move by changing the gas pressure. The second cavity 13 is made of flexible material, for example, silica gel, rubber, PU or hot TPE, etc. In some embodiments, the second cavity 13 can expand away from the central axis of the clamping part 1; or, the second cavity 13 can contract towards the central axis of the clamping part 1.

[0083] In some embodiments, the second cavity 13 is arranged inside the housing 5 and distributed circumferentially along the inside of the housing 5.

[0084] In some embodiments, the second cavity 13 and the first cavity 2 can be connected by a pipe or directly communicated.

[0085] In some embodiments, the outer wall of the second cavity 13 is fixedly connected with the webbed structure 11, so that the expansion or contraction of the second cavity 13 can drive the webbed structure 11 to deform.

[0086] In some embodiments, when the first cavity 2 is filled with gas from an external gas source, the gas also enters the second cavity 13, and the second cavity 13 expands to drive the webbed structure 11 to expand circumferentially and outwardly.

[0087] In some embodiments of the present specification, the deformation of the webbed structure 11 can be controlled by the expansion and contraction of the second cavity 13, achieving the effect of opening and closing similar to a palm. The webbed structure 11 can be attached to the object being clamped to achieve a good all-around wrapping effect on the clamped object, so that the clamping force of the clamping jaw 10 is evenly distributed on the surface of the clamped object, thereby making the clamping jaw 10 more closely fit the clamped object.

[0088] In some embodiments, as shown in FIGS. 1 and 2, the second cavity 13 is arranged at one end of the webbed structure 11 close to the first cavity 2. Figure 5 and Figure 9 In some embodiments, the second cavity 13 is arranged at one end of the webbed structure 11 close to the first cavity 2.

[0089] In some embodiments, the side wall of the second cavity 13 is fixed on the webbed structure 11. For example, the side wall of the second cavity 13 can be connected by adhesion, buckling or mechanical fixation, etc.

[0090] In some embodiments of the present specification, the second cavity 13 is arranged at one end of the webbed structure 11 close to the first cavity 2, and the connection part is close to the first cavity 2, so as to facilitate the expansion and contraction of the webbed structure. At the same time, the additional support structure is reduced, and the complexity of the device is reduced.

[0091] In some embodiments, the cavity wall of the second cavity 13 comprises at least one first bend, the webbed structure 11 comprises at least one second bend, and at least one first bend is connected with at least part of at least one second bend.

[0092] The first bend and the second bend can be a bent structure or a curved structure. A plurality of first bends can form a pleated structure or a corrugated structure of the cavity wall of the second cavity 13. A plurality of second bends can form a pleated structure or a corrugated structure on the webbed structure 11. When the first bend and the second bend are a plurality, the plurality of first bends are distributed circumferentially along the flexible clamping device, and the plurality of second bends are distributed circumferentially along the flexible clamping device.

[0093] In some embodiments, the first bend and the second bend are flexible structures.

[0094] In some embodiments, the included angle or bending amplitude of the first bend and the included angle or bending amplitude of the second bend can be changed, so as to realize the expansion and contraction of the second cavity 13 along the width direction of the clamping part 1.

[0095] In some embodiments, when the first cavity 2 is filled with gas by an external gas source, the second cavity 13 expands, the included angle or bending amplitude of the first bend increases, the included angle or bending amplitude of the second bend connected with the first bend synchronously increases, and the webbed structure 11 is expanded outward and expanded radially, so that the clamping jaw 10 is expanded away from the end of the second cavity 13. At the same time, the first cavity 2 drives the control film 3 to move away from the first cavity 2, so that the clamping jaw 10 is expanded outward.

[0096] In some embodiments of the present specification, by setting the first bend and the second bend, the webbed structure 11 can simulate the action of the fingers outwardly spreading like a palm, so that the clamping jaw 10 is adaptively fitted to the clamped object, and is suitable for clamping various shapes of objects, thereby increasing the application scenarios of the flexible clamping device.

[0097] In some embodiments, as shown in Figure 12 A third cavity 14 is arranged on the reinforcing rib 12, the third cavity 14 is arranged along the extension direction of the reinforcing rib 12, and the third cavity 14 is in communication with the first cavity 2.

[0098] The third cavity 14 is used to drive the reinforcing rib 12 to bend. In some embodiments, the third cavity 14 is made of flexible material, such as silicone, rubber, PU or hot TPE, etc. In some embodiments, the third cavity 14 is a long strip structure, and the long strip structure extends along the extension direction of the reinforcing rib 12.

[0099] Figure 13 is a structure schematic view of the flexible clamping device when clamping an object according to some embodiments of the present specification. Figure 14 is a bottom view schematic view of the flexible clamping device when clamping an object according to some embodiments of the present specification. In some embodiments, as shown in Figure 13 and Figure 14 The expansion of the third cavity 14 can drive the reinforcing rib 12 to bend outwardly or inwardly, so that the clamping jaw 10 is more fitted to the curved surface of the clamped object.

[0100] In some embodiments, the third cavity 14 is in communication with the first cavity 2 through a pipeline or directly, so as to ensure the synchronization of the air pressure.

[0101] Some embodiments of the present disclosure, by setting the third cavity 14, the bending of the reinforcing rib 12 in the axial direction can be controlled, so that the clamping part 1 can further expand outwardly and bend, thereby enabling the flexible clamping device to conform to and clamp more objects of various shapes.

[0102] In some embodiments, the second cavity 13 is arranged at the end of the clamping part 1 away from the first cavity 2.

[0103] In some embodiments, when the first cavity 2 is filled with gas by the external gas source, the second cavity 13 expands to drive the webbed structure 11 to expand outwardly away from the end of the first cavity 2; when the first cavity 2 is extracted by the external gas source, the second cavity 13 contracts to drive the webbed structure 11 to contract inwardly away from the end of the first cavity 2.

[0104] In some embodiments, the reinforcing rib 12 includes a third cavity 14, the third cavity 14 is arranged along the extension direction of the reinforcing rib 12, and the second cavity 13 communicates with the first cavity 2 through the third cavity 14, thereby communicating with the external gas source.

[0105] Some embodiments of the present disclosure arrange the second cavity 13 at the end of the clamping part 1 away from the first cavity 2, so that the end of the clamping part 1 has more degrees of freedom, thereby enabling the webbed structure 11 to open more widely, and thereby enabling the flexible clamping device to clamp larger objects.

[0106] In some embodiments, as shown in Figures 12-13 , the flexible clamping device further includes a fourth cavity 6, the fourth cavity 6 communicates with the first cavity 2 through a second communication hole 42, the fourth cavity 6 communicates with the external gas source, and the fourth cavity 6 is extendable and retractable along a preset direction; when the control film 3 covers the second communication hole 42, and the gas in the first cavity 2 is still continuously extracted, the fourth cavity 6 retracts along the preset direction, thereby driving the clamping part 1 to move along the preset direction.

[0107] The fourth cavity 6 is used to drive the clamping part 1 to move along a preset direction as a whole. The preset direction is the direction in which the fourth cavity 6 retracts or expands. The preset direction can be set according to requirements. For example, as shown in Figures 12-13 , the preset direction is the direction of the central axis of the flexible clamping device (such as the direction of the axis D1-D1).

[0108] In some embodiments, the fourth cavity 6 can be provided with multiple bending parts along the preset direction, and the retraction or expansion of the fourth cavity 6 along the preset direction can be achieved by changing the angles of the bending parts.

[0109] The second communication hole 42 is used to provide a gas passage between the first cavity 2 and the second cavity 13.

[0110] In some embodiments, as shown in Figure 4 andFigures 12-13 As shown, a limiting structure 43 is arranged between the fourth cavity 6 and the first cavity 2, and the limiting structure 43 is provided with a through second communication hole 42, and the fourth cavity 6 and the first cavity 2 are communicated through the second communication hole 42.

[0111] The limiting structure 43 is used to limit the deformation range of the control film 3 of the first cavity 2. In some embodiments, the limiting structure 43 is a rigid material. In some embodiments, when the gas in the first cavity 2 is extracted by the external gas source, the control film 3 moves away from the clamping part 1 until the control film 3 completely covers the second communication hole 42, the limiting structure 43 limits the deformation of the first cavity 2 close to the limiting structure 43, and a sealed chamber is formed in the first cavity 2, and the external gas source stops extracting the gas, and the control film 3 no longer deforms.

[0112] In some embodiments, the fourth cavity 6 can be communicated with the external gas source through the first communication hole 41.

[0113] In some embodiments, as Figures 12-13 , by extracting the gas in the first cavity 2 through the external gas source, when the control film 3 moves in the direction close to the first cavity 2 until the control film 3 covers the second communication hole 42, and the gas in the first cavity 2 is still continuously extracted, the fourth cavity 6 is contracted in the axial direction (such as the direction of the axis D1-D1), thereby driving the clamping part 1 to move in the axial direction (such as the direction of the axis D1-D1).

[0114] In some embodiments of the present specification, by arranging the fourth cavity 6, the axial pulling of the grabbed object can be realized, so that the clamped object has a tendency to actively separate from the flexible clamping device, and the clamped object is prevented from adhering to the flexible clamping device.

[0115] The above has described the basic concept, and it is obvious that the above detailed disclosure is only used as an example and does not constitute a limitation on the present specification. Although it is not explicitly stated here, those skilled in the art can make various modifications, improvements and corrections to the present specification. Such modifications, improvements and corrections are suggested in the present specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of the present specification.

[0116] Finally, it should be understood that the embodiments described in the present specification are only used to illustrate the principles of the embodiments of the present specification. Other variations can also belong to the scope of the present specification. Therefore, as an example but not limitation, alternative configurations of the embodiments of the present specification can be considered as consistent with the teachings of the present specification. Accordingly, the embodiments of the present specification are not limited to the embodiments explicitly introduced and described in the present specification.

Claims

1. A flexible gripping device, characterized in that, The clamp part, the first cavity, the shell and the fourth cavity are included. The first cavity is provided with a control film near one side of the clamp part, and at least part of an end of the clamp part near the first cavity is connected with the control film; the first cavity is communicated with an external air source through a first communication hole; the clamp part includes at least two clamping jaws, each of the clamping jaws includes a webbed structure and at least two reinforcing ribs, the webbed structure is a folded fan structure and is folded or unfolded in a circumferential direction; an end of the webbed structure near the first cavity is connected with the control film, and the webbed structure is arranged between two adjacent reinforcing ribs; the webbed structure is made of a flexible material. The first cavity and the control film are arranged in the shell, one end of the at least two reinforcing ribs is connected with the shell, and the other end of the reinforcing ribs is connected with an end of the webbed structure away from the first cavity. When the first cavity is filled with gas from the external air source, the control film moves towards the clamp part, drives the webbed structure to unfold in the circumferential direction, and the ends of the at least two reinforcing ribs away from the first cavity move away from each other, thereby driving the clamp part to expand outward. When the first cavity is extracted by the external air source, the control film moves away from the clamp part, drives the webbed structure to fold in the circumferential direction, thereby driving the clamp part to contract inward. The clamp part includes a second cavity, the second cavity is communicated with the first cavity, the second cavity can expand outward or contract inward, and the webbed structure is connected with the second cavity; the second cavity is arranged at an end of the webbed structure near the first cavity; a third cavity is arranged on the reinforcing rib, the third cavity is arranged along the extension direction of the reinforcing rib, and the third cavity is communicated with the first cavity; when the first cavity is filled with gas from the external air source, the second cavity expands to drive the webbed structure to expand outward; when the first cavity is extracted by the external air source, the second cavity contracts to drive the webbed structure to contract inward. The first communication hole is arranged on a top wall of the first cavity; when the external air source continuously extracts the gas in the first cavity, the control film gradually moves towards the top wall of the first cavity until the control film covers the first communication hole; the fourth cavity is communicated with the first cavity through a second communication hole, the fourth cavity is communicated with the external air source, and the fourth cavity is telescopic in a preset direction. When the control film covers the second communication hole and the gas in the first cavity is still continuously extracted, the fourth cavity contracts in the preset direction, thereby driving the clamp part to move in the preset direction.

2. The apparatus of claim 1, wherein, The cavity wall of the second cavity includes at least one first bend, the webbed structure includes at least one second bend, and at least part of the at least one first bend is connected with the at least one second bend.

3. The apparatus of claim 1, wherein, The side wall of the first cavity is made of a rigid material, the control film is connected with the side wall of the first cavity through at least one bend, and the bend is made of a flexible material.

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