Clamping device, cleaning equipment and cleaning system

Abstract

The embodiment of the invention provides a clamping device, cleaning equipment and a cleaning system. The clamping device comprises a mounting base, a plurality of clamping assemblies, a driving structure and an elastic piece. The multiple clamping assemblies are arranged in the circumferential direction of the mounting base at intervals. The clamping assembly comprises a clamping finger, the clamping finger comprises a finger root section and a fingertip section, one end of the finger root section is rotationally connected with the mounting base, the fingertip section is rotationally connected with the end, away from the mounting base, of the finger root section, and the end, away from the finger root section, of the fingertip section is provided with a fingertip part. The driving structure is in transmission connection with the finger root sections so as to drive the finger root sections to rotate relative to the mounting base, and therefore the clamping fingers can be synchronously unfolded or folded on the same side of the mounting base. In the folding process of the clamping fingers, the fingertip parts are constructed to point to the side where the mounting base is located. The elastic piece is connected between the finger root section and the fingertip section and is constructed to enable the fingertip section to have the trend of moving towards the mounting base all the time, so that the clamping device can provide more uniform supporting force and constraint, and the clamping effect of the clamping device is improved.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a clamping device, cleaning equipment and cleaning system. Background Technology

[0002] A cleaning device is a device that automatically cleans a surface as it moves across it. For example, the surface to be cleaned can be a floor, and the cleaning device can include a robotic vacuum cleaner.

[0003] Cleaning equipment typically consists of a main body, wheels, a cleaning module, and clamping devices. The wheels propel the main body across the cleaning surface, while the cleaning module cleans the surface. When the cleaning equipment encounters an obstacle during its movement, two clamping devices can grip the obstacle and remove it.

[0004] However, the two gripping devices have poor gripping ability on spherical obstacles. Therefore, how to improve the gripping ability of the gripping devices on spherical obstacles has become a problem to be solved. Summary of the Invention

[0005] This application provides a clamping device, a cleaning equipment, and a cleaning system that can improve the clamping device's ability to clamp spherical obstacles.

[0006] In a first aspect, embodiments of this application provide a first clamping device, comprising:

[0007] Mounting base;

[0008] Multiple clamping assemblies, including a first clamping assembly, a second clamping assembly, a third clamping assembly, and a fourth clamping assembly arranged circumferentially spaced along the mounting base; each clamping assembly includes a clamping finger, which includes a base segment and a tip segment, one end of the base segment being rotatably connected to the mounting base, and the tip segment being rotatably connected to the end of the base segment facing away from the mounting base, the end of the tip segment facing away from the base segment having a tip portion;

[0009] The drive structure is connected to each finger root segment to drive the finger root segment to rotate relative to the mounting base, so that each gripping finger opens or closes synchronously on the same side of the mounting base.

[0010] During the closing process, the fingertip of the clamping finger is configured to point towards the side where the mounting base is located;

[0011] The clamping assembly also includes an elastic element connected between the base of the finger and the tip of the finger, and is configured to always give the tip of the finger a tendency to move toward the mounting base.

[0012] The first clamping device provided in this application embodiment synchronously drives four clamping components arranged at intervals along the circumference of the mounting base via a drive structure, enabling the base segments of each clamping finger to rotate synchronously relative to the mounting base. When the base segments rotate, each clamping finger can synchronously retract towards the same central area or expand outwards from that area, thereby realizing the opening and closing action of the clamping device. During the retraction process, the tips of each finger point to the side where the mounting base is located, thus working together on the surface of the workpiece to be clamped, completing the clamping function.

[0013] During the retraction of the clamping components, if the workpiece is not centered on any of the clamping fingers, its surface will preferentially contact at least one clamping finger. With the continuous synchronous retraction of the clamping components, the workpiece is subjected to asymmetrical contact forces and pushed until all four clamping fingers evenly contact and clamp it from all sides. This allows the clamping device to automatically position and clamp the workpiece at the center of the four clamping components, ensuring that the workpiece receives uniform clamping force from all four components, thus guaranteeing clamping stability.

[0014] Compared to solutions with only two clamping components, this embodiment uses four clamping components arranged circumferentially and retracting synchronously. This achieves automatic centering (i.e., self-centering), while the four clamping fingers can approach the workpiece from four directions, thus providing more comprehensive coverage and support. For workpieces with complex curved surfaces, such as spheres, the clamping device provides more uniform support and constraint, improving its ability to grip complex shapes and ultimately enhancing its clamping effectiveness.

[0015] Furthermore, by incorporating an elastic element between the base and tip of each gripping finger, the fingertip always tends to rotate towards the mounting base under the pull of the elastic element. During the gripping process, the elastic element deforms and generates a corresponding elastic restoring force, which is converted into a continuous positive pressure on the surface of the workpiece to be gripped by the fingertip through the fingertip segment.

[0016] This allows the gripping device to automatically adapt its fingertips to the shape and size of the parts to be gripped when holding different sizes, thus ensuring effective gripping of parts of varying dimensions. When the drive mechanism stops actively driving or is de-energized, the elastic potential energy stored in the elastic element can still maintain a preload on the parts to be gripped through the fingertips, preventing the parts from slipping out of the grip under gravity or vibration, thereby further ensuring gripping stability.

[0017] When the clamping device accidentally clamps an object that should not be clamped, such as a user's hand, the user can apply an external force to the clamping finger in the opening direction. If the torque generated by this external force is greater than the current elastic restoring torque of the elastic element, it can overcome the preload of the elastic element, forcing the fingertip to rotate relative to the finger base in the opening direction, thereby manually opening the clamping finger to safely release the clamped object. Similarly, when the drive structure cannot actively drive the clamping finger to open due to power failure or malfunction, the clamping device can also be opened by manually applying external force as described above.

[0018] Meanwhile, due to the flexible connection of the elastic element, the fingertips have a certain floating ability. In this way, during the clamping process, each fingertip can float independently at a certain angle according to the actual shape of the surface of the part to be clamped, thereby adaptively conforming to the local contour of the part to be clamped. This allows the clamping fingers to better adapt to parts of different shapes and makes the clamping force distribution more uniform.

[0019] Furthermore, this embodiment of the application synchronously controls the retraction and opening of the four gripping fingers through a single drive structure. At the control level, the upper-level control system of the cleaning equipment only needs to send control commands to this single drive structure to synchronously control the movement state and final pose of all gripping fingers, thereby simplifying the overall control logic and algorithm for the gripping position.

[0020] Compared to solutions with only two gripping components, when gripping a spherical object, the two gripping fingers need to precisely grip symmetrical points on either side of the sphere's center to achieve stable holding. This requires the control system to accurately calculate and control the spatial position and trajectory of each gripping finger to ensure that both fingers simultaneously and accurately reach the target gripping point, making the algorithm quite complex. This application employs a solution where four gripping fingers synchronously converge towards the center. When gripping a spherical object, the four gripping fingers naturally surround the sphere from all sides, eliminating the need for precise control of the specific contact point of each gripping finger on the sphere's surface. This reduces the precision requirements for the gripping position and further simplifies the control algorithm.

[0021] In some embodiments, when the gripping fingers are in the retracted state, the fingertips are retracted to the front side of the mounting base, and the projection of each fingertip on the front side is located in the central region of the front side.

[0022] With this configuration, as the clamping fingers retract, each clamping finger can point from all sides to surround a common center point, enabling the clamping device to automatically position and clamp the workpiece to be clamped to the center area on the front side of the mounting base. This ensures that the workpiece is evenly subjected to clamping force from the four clamping components, thereby guaranteeing clamping stability.

[0023] In some embodiments, the mounting base has a top and a bottom that are oppositely disposed in the thickness direction, a first clamping component and a second clamping component are distributed on both sides of the top of the mounting base, and / or a third clamping component and a fourth clamping component are distributed on both sides of the bottom of the mounting base.

[0024] The first and second clamping components are positioned on either side of the top of the mounting base, creating a spatial distribution along the thickness of the mounting base. As the clamping fingers retract, the two top-positioned fingers approach the top sides of the workpiece from different directions, enclosing and constraining the top of the workpiece, thus improving clamping stability and adaptability.

[0025] The third and fourth clamping components are distributed on both sides of the bottom of the mounting base, creating a spatial distribution along the thickness of the mounting base. As the clamping fingers retract, the two fingers at the bottom can approach the parts to be clamped from different directions on both sides of the bottom, enclosing and constraining the bottom of the parts, thus improving the stability and adaptability of the clamping.

[0026] In some embodiments, the first clamping component and the fourth clamping component are symmetrically distributed on both sides of the mounting base in the thickness direction, and the second clamping component and the third clamping component are symmetrically distributed on both sides of the mounting base in the thickness direction.

[0027] Because the first and fourth clamping components are symmetrically distributed, and the second and third clamping components are also symmetrically distributed, two clamping fingers in the first and fourth clamping components form one set of clamping fingers, and two clamping fingers in the second and third clamping components form another set of clamping fingers. During the retraction of the clamping fingers, if the workpiece deviates from the center plane in the thickness direction, the two symmetrically distributed sets of clamping fingers can evenly contact the surface of the workpiece from both sides. Through continuous synchronous retraction, the workpiece is pushed towards the center plane of the four clamping fingers, thus achieving automatic centering.

[0028] At the same time, the clamping forces of the two clamping fingers in each group can be balanced with each other, so that the four clamping fingers can stably clamp the workpiece at different positions, thereby stabilizing the posture of the workpiece, preventing the workpiece from deflecting in the thickness direction, and improving the clamping effect of the clamping device.

[0029] In some embodiments, the first clamping component and the second clamping component are symmetrically distributed on the top of the mounting base, and the third clamping component and the fourth clamping component are symmetrically distributed on the bottom of the mounting base.

[0030] Because the first and second clamping components are symmetrically distributed, and the third and fourth clamping components are also symmetrically distributed, two clamping fingers from the first and second clamping components form a top set of clamping fingers, and two clamping fingers from the third and fourth clamping components form a bottom set of clamping fingers. During the retraction of the clamping fingers, the symmetrically distributed top and bottom sets of clamping fingers can evenly contact the surface of the workpiece from both the top and bottom sides, and through continuous synchronous retraction movement, push the workpiece towards the center area of ​​the four clamping fingers, thereby achieving automatic centering.

[0031] At the same time, the clamping forces of the two clamping fingers in the top set can be balanced with each other on the upper part of the workpiece to be clamped, and the clamping forces of the two clamping fingers in the bottom set can be balanced with each other on the lower part of the workpiece to be clamped. This allows the four clamping fingers to stably clamp the workpiece at different positions along the thickness direction, thereby stabilizing the posture of the workpiece to be clamped, preventing the workpiece to be clamped from deflecting in the thickness direction, and improving the clamping effect of the clamping device.

[0032] In some embodiments, the elastic element is a torsion spring, the central axis of which is coaxial with the rotation center of the fingertip segment, and the torsion spring has a first end and a second end, the first end being connected to the fingertip segment and the second end being connected to the finger root segment.

[0033] During the rotation of the fingertip segment, the torsion spring is configured to ensure that the fingertip segment always tends to move towards the mounting base.

[0034] With this configuration, when the fingertip rotates relative to the base of the finger, the first end of the torsion spring is forced to rotate with the fingertip, while the second end of the torsion spring, being fixed relative to the base of the finger, undergoes torsional deformation. The elastic restoring torque generated by the torsional deformation acts on the fingertip, thus ensuring that the fingertip always tends to move towards the mounting base, and consequently, that the fingertip itself always tends to move towards the mounting base.

[0035] Due to the flexible connection of the torsion spring, the fingertips have a certain degree of floating capability. In this way, during the clamping process, each fingertip can float independently at a certain angle according to the actual shape of the surface of the workpiece to be clamped, thereby adaptively conforming to the local contour of the workpiece to be clamped. This allows the clamping fingers to better adapt to workpieces of different shapes and makes the clamping force distribution more uniform.

[0036] In some embodiments, the fingertip segment and the finger root segment have an overlapping area at one end where they are connected to each other. One of the fingertip segment and the finger root segment has a protrusion in the overlapping area, and the other has an insertion interface in the overlapping area. The protrusion is inserted into the insertion interface and can rotate within the insertion interface.

[0037] With this configuration, when the base segment and the tip segment are assembled, the protrusion is inserted into the connector, allowing the protrusion to act as a connecting shaft and rotate around its own axis within the connector, thereby achieving a rotatable connection between the tip segment and the base segment.

[0038] In some embodiments, the torsion spring is located between the fingertip segment and the finger root segment, and is sleeved on the outside of the protrusion. This ensures that the geometric axis of the torsion spring is coaxial with the rotation axis of the protrusion, thereby ensuring that the torsion spring can undergo torsional deformation around its own axis when the fingertip segment rotates, providing a stable and directional elastic restoring torque, thus guaranteeing the clamping effect of the clamping device.

[0039] In some embodiments, the fingertip segment has a first groove at a position corresponding to the first end, and the first end is disposed in the first groove.

[0040] The root segment has a second groove at the position corresponding to the second end, and the second end is located in the second groove.

[0041] This configuration, by accommodating the first and second ends of the torsion spring in the first groove of the fingertip segment and the second groove of the finger root segment respectively, allows the ends of the torsion spring to be housed inside the structure that holds the finger, thereby reducing the radial protrusion of the holding finger and saving installation space.

[0042] Meanwhile, the wall of the first groove can limit the displacement of the first end along the direction perpendicular to the bottom wall of the first groove, and the wall of the second groove can limit the displacement of the second end along the direction perpendicular to the bottom wall of the second groove. This prevents the end of the torsion spring from accidentally moving to the side or out of the groove due to force during repeated torsion, thereby ensuring that the torsion spring can act stably and preventing the direction of the torsion spring's force from changing and affecting the tendency of the fingertip segment to always move towards the mounting base, thus improving the reliability of the connection.

[0043] In some embodiments, the end connecting the root segment and the fingertip segment further has a first limiting portion, which is disposed in a portion of the opening of the first groove, and / or, the end connecting the fingertip segment and the root segment further has a second limiting portion, which is disposed in a portion of the opening of the second groove.

[0044] By positioning a first limiting part on the base of the finger within a portion of the opening of the first groove in the fingertip segment, the first limiting part can block that portion of the opening. Thus, once the finger is assembled, the first limiting part prevents the first end of the torsion spring housed within the first groove from dislodging from that portion of the opening, thereby providing further axial and radial limiting for the first end and enhancing the reliability of the first end's fixation on the fingertip segment.

[0045] By positioning a second limiting part on the fingertip segment within a portion of the groove in the second groove of the finger root segment, the second limiting part can block that portion of the groove. After the finger clamping assembly is completed, the second limiting part can prevent the second end, which is contained within the second groove, from dislodging from that portion of the groove, thereby further limiting the second end axially and radially, enhancing the reliability of the second end being fixed on the finger root segment.

[0046] In some embodiments, a portion of the protrusion extends out of the insertion interface and has a slot on the peripheral side;

[0047] The clamping assembly also includes a limiting member, which is sleeved on the outside of the protrusion and partially extends into the slot. This keeps the protrusion in its current position, preventing it from dislodging from the connector, preventing the fingertip from separating from the base of the finger, and ensuring the overall stability of the clamping structure.

[0048] In some embodiments, the clamping device further includes a motor, the drive structure is a worm gear, the mounting base has a receiving cavity, the worm gear is rotatably disposed in the receiving cavity, and the motor is connected to the worm gear to drive the worm gear to rotate relative to the mounting base;

[0049] The finger root segment has an arc-shaped rack portion facing the worm, and the worm meshes with the rack portion of each finger root segment; each rack portion is located within a receiving cavity and is spaced apart around the worm.

[0050] With this configuration, when the motor drives the worm to rotate, the worm's rotational motion is converted into a tangential driving force on the rack through the meshing of the rack's teeth. Since the rack is arc-shaped, the tangential driving force of the worm on the rack directly drives the finger root segments to rotate around their connection point with the mounting base. By controlling the worm's rotation direction, all finger root segments meshing with the worm can be controlled to rotate synchronously inward or outward, thereby achieving synchronous retraction or expansion of all gripping fingers around the center of the mounting base.

[0051] In some embodiments, the surface of the mounting base has a clearance groove at the position corresponding to the rotation trajectory of the finger root segment, and the clearance groove communicates with the receiving cavity;

[0052] The finger root section is located in the clearance groove and is rotatably connected to the mounting base. This design avoids structural interference between the finger root section and the mounting base during rotation, ensuring the stability of the gripping finger during movement.

[0053] In some embodiments, when the gripping finger is in the retracted state, at least a portion of the finger root segment is received within the clearance groove. This arrangement allows the finger root segment to be accommodated within the clearance groove in the retracted state, thereby reducing the overall size of the gripping device in the retracted state and improving the compactness of the structure.

[0054] In some embodiments, the clamping finger further includes a flexible finger sleeve, which is fitted over the fingertip. This configuration allows the flexible finger sleeve to deform and better conform to the local contours of the workpiece when the fingertip contacts the surface of the workpiece during clamping. This not only increases the frictional force of the contact, thereby improving the stability of the clamping, but also reduces the pressure on the surface of fragile or precision workpieces through the elastic cushioning effect of the flexible finger sleeve, protecting the workpiece.

[0055] Meanwhile, the rough or high-friction surface of the flexible finger sleeve can further enhance the anti-slip ability, thereby further improving the stability of clamping and improving the clamping ability of the clamping device.

[0056] Secondly, embodiments of this application also provide a second clamping device, including:

[0057] Mounting base;

[0058] At least three clamping assemblies are arranged circumferentially spaced along the mounting base, each clamping assembly including clamping fingers, the clamping fingers including:

[0059] The root segment is rotatably connected to the mounting base at one end;

[0060] The fingertip segment is rotated and connected to the other end of the finger root segment;

[0061] The drive structure is located on the mounting base and is connected to the transmission of each finger root segment to drive the finger root segments to rotate synchronously relative to the mounting base, thereby causing each gripping finger to open or close.

[0062] The rotational connection between the fingertip segment and the base segment is configured to allow the fingertip segment to rotate outward relative to the base segment when the fingertip segment is subjected to an external force exceeding a threshold.

[0063] The second clamping device provided in this application embodiment, by setting at least three clamping components arranged circumferentially at intervals along the mounting base and simultaneously retracting them, allows multiple clamping components to approach the workpiece from multiple directions, thereby enabling the workpiece to be wrapped and supported in more directions. Thus, for spherical or other complex-shaped workpieces, the clamping device can provide more uniform support and constraint, thereby improving the clamping ability for complex-shaped workpieces and ultimately enhancing the clamping effect of the device.

[0064] During the retraction of the clamping components, if the workpiece is not centered on any of the clamping fingers, its surface will preferentially contact at least one clamping finger. Under the continuous synchronous retraction of the clamping components, the workpiece is subjected to asymmetrical contact forces and pushed until all the clamping fingers evenly contact and clamp it from all sides. This allows the clamping device to automatically position the workpiece at the center of the multiple clamping components, ensuring that the workpiece receives uniform clamping forces from all components, thus guaranteeing clamping stability.

[0065] Compared to solutions with only two clamping components, this embodiment of the application uses at least three clamping components arranged circumferentially and spaced apart, which retract synchronously. This achieves automatic alignment while allowing multiple clamping fingers to approach the workpiece from multiple directions, thus providing more comprehensive coverage and support. For spherical or other complex-shaped workpieces, this clamping device provides more uniform support and constraint, improving its gripping ability and overall clamping effectiveness.

[0066] Meanwhile, the rotational connection between the fingertip and the base of the finger is designed to allow the fingertip to rotate outward relative to the base of the finger when subjected to an external force exceeding a threshold. Therefore, when the clamping device accidentally clamps an object that should not be clamped, such as a user's hand, the user can apply an external force to the clamping finger in the opening direction. If the external force exceeds the threshold, it forces the fingertip to rotate in the opening direction relative to the base of the finger, thereby manually opening the clamping finger to safely release the clamped object and ensure the safety of the clamping device. Similarly, when the drive structure cannot actively drive the clamping finger to open due to power failure or malfunction, the clamping device can also be opened by manually applying external force as described above.

[0067] In some embodiments, when the gripping fingers are in the retracted state, the fingertips are retracted to the front side of the mounting base, and the projection of each fingertip on the front side is located in the central region of the front side.

[0068] With this configuration, as the clamping fingers retract, each clamping finger can point from all sides to surround a common center point, enabling the clamping device to automatically position and clamp the workpiece to be clamped to the center area on the front side of the mounting base. This ensures that the workpiece is evenly subjected to clamping force from the four clamping components, thereby guaranteeing clamping stability.

[0069] In some embodiments, the second clamping device further includes an elastic element connected between the base of the finger and the tip of the finger, configured to apply a biasing force to the tip of the finger to maintain it in a closed position.

[0070] This design ensures that the fingertips, under the biasing force of the elastic element, always tend to rotate towards the mounting base. This allows the clamping device to automatically adapt the fingertips to the shape and size of the parts to be clamped, ensuring effective clamping for different sizes. When the drive structure stops actively or is de-energized, the biasing force applied by the elastic element maintains a preload on the parts to be clamped through the fingertips, preventing them from slipping out of the clamp under gravity or vibration, thus further ensuring clamping stability.

[0071] Meanwhile, by incorporating an elastic element, when the fingertip is subjected to an outward force exceeding the maximum bias force provided by the elastic element (i.e., exceeding a threshold force), the fingertip can overcome the bias force and rotate relative to the base of the finger in a direction away from the mounting seat. Thus, if the clamping device accidentally clamps a component it shouldn't, or if a drive mechanism malfunctions and cannot release the component actively, the clamping finger can be manually opened by applying external force to the fingertip, safely releasing the accidentally clamped component and improving the safety of the clamping device.

[0072] Furthermore, the flexible connection of the elastic element allows the fingertips to have a certain degree of floating capability. During the clamping process, each fingertip can independently float at a certain angle according to the actual shape of the surface of the workpiece, thus adaptively conforming to the local contour of the workpiece. This allows the clamping fingers to better adapt to workpieces of different shapes and makes the clamping force distribution more uniform.

[0073] In some embodiments, the elastic element is a torsion spring, the central axis of which is coaxial with the rotation center of the fingertip segment. The torsion spring has a first end and a second end, the first end being connected to the fingertip segment and the second end being connected to the base of the finger segment.

[0074] With this configuration, when the fingertip rotates relative to the base of the finger, the first end of the torsion spring is forced to rotate with the fingertip, while the second end of the torsion spring, being fixed relative to the base of the finger, undergoes torsional deformation. The elastic restoring torque generated by the torsional deformation acts on the fingertip, thus ensuring that the fingertip always tends to move towards the mounting base, and consequently, that the fingertip itself always tends to move towards the mounting base.

[0075] Due to the flexible connection of the torsion spring, the fingertips have a certain degree of floating capability. In this way, during the clamping process, each fingertip can float independently at a certain angle according to the actual shape of the surface of the workpiece to be clamped, thereby adaptively conforming to the local contour of the workpiece to be clamped. This allows the clamping fingers to better adapt to workpieces of different shapes and makes the clamping force distribution more uniform.

[0076] In some embodiments, the fingertip segment and the finger root segment have an overlapping area at one end where they are connected to each other. One of the fingertip segment and the finger root segment has a protrusion in the overlapping area, and the other has an insertion interface in the overlapping area. The protrusion is inserted into the insertion interface and can rotate within the insertion interface.

[0077] With this configuration, when the base segment and the tip segment are assembled, the protrusion is inserted into the connector, allowing the protrusion to act as a connecting shaft and rotate around its own axis within the connector, thereby achieving a rotatable connection between the tip segment and the base segment.

[0078] In some embodiments, the torsion spring is located between the fingertip segment and the finger root segment, and is sleeved on the outside of the protrusion. This ensures that the geometric axis of the torsion spring is coaxial with the rotation axis of the protrusion, thereby ensuring that the torsion spring can undergo torsional deformation around its own axis when the fingertip segment rotates, providing a stable and directional elastic restoring torque, thus guaranteeing the clamping effect of the clamping device.

[0079] In some embodiments, the fingertip segment has a first groove at a position corresponding to the first end, and the first end is disposed in the first groove.

[0080] The root segment has a second groove at the position corresponding to the second end, and the second end is located in the second groove.

[0081] With this configuration, by accommodating the first end and the second end in the first groove of the fingertip segment and the second groove of the finger root segment respectively, the end of the torsion spring can be housed inside the structure that holds the finger, thereby reducing the radial protrusion of the holding finger and saving installation space.

[0082] In some embodiments, the end connecting the root segment and the fingertip segment further has a first limiting portion, which is disposed in a portion of the opening of the first groove; and / or, the end connecting the fingertip segment and the root segment further has a second limiting portion, which is disposed in a portion of the opening of the second groove.

[0083] By positioning a first limiting part on the base of the finger within a portion of the opening of the first groove in the fingertip segment, the first limiting part can block that portion of the opening. Thus, once the finger is assembled, the first limiting part prevents the first end of the torsion spring housed within the first groove from dislodging from that portion of the opening, thereby providing further axial and radial limiting for the first end and enhancing the reliability of the first end's fixation on the fingertip segment.

[0084] By positioning a second limiting part on the fingertip segment within a portion of the groove in the second groove of the finger root segment, the second limiting part can block that portion of the groove. After the finger clamping assembly is completed, the second limiting part can prevent the second end, which is contained within the second groove, from dislodging from that portion of the groove, thereby further limiting the second end axially and radially, enhancing the reliability of the second end being fixed on the finger root segment.

[0085] Simultaneously, the first and second limiting parts respectively restrict the first and second ends, preventing the elastic element from dislodging from the slot. This ensures that the biasing force generated by the elastic element during the rotation of the fingertip relative to the finger root can be stably applied to the fingertip in a preset direction. This ensures that the clamping force applied to the fingertip is stable and consistent, providing a stable and reliable clamping force when clamping objects of different sizes.

[0086] In some embodiments, a portion of the protrusion extends out of the insertion interface and has a slot on the peripheral side;

[0087] The clamping assembly also includes a limiting member, which is sleeved on the outside of the protrusion and partially extends into the slot. This keeps the protrusion in its current position, preventing it from dislodging from the connector, preventing the fingertip from separating from the base of the finger, and ensuring the overall stability of the clamping structure.

[0088] In some embodiments, the second clamping device further includes a motor, the driving structure is a worm gear, the mounting base has a receiving cavity, the worm gear is rotatably disposed in the receiving cavity, and the motor is connected to the worm gear to drive the worm gear to rotate relative to the mounting base;

[0089] The finger root segments have an arc-shaped rack portion facing the worm, and the worm meshes with the rack portion of each finger root segment;

[0090] Each rack section is located within the receiving cavity and is spaced apart around the worm.

[0091] With this configuration, when the motor drives the worm to rotate, the worm's rotational motion is converted into a tangential driving force on the rack through the meshing of the rack's teeth. Since the rack is arc-shaped, the tangential driving force of the worm on the rack directly drives the finger root segments to rotate around their connection point with the mounting base. By controlling the worm's rotation direction, all finger root segments meshing with the worm can be controlled to rotate synchronously inward or outward, thereby achieving synchronous retraction or expansion of all gripping fingers around the center of the mounting base.

[0092] In some embodiments, the surface of the mounting base has a clearance groove at the position corresponding to the rotation trajectory of the finger root segment, and the clearance groove communicates with the receiving cavity;

[0093] The finger root section is located in the clearance groove and is rotatably connected to the mounting base. This design avoids structural interference between the finger root section and the mounting base during rotation, ensuring the stability of the gripping finger during movement.

[0094] In some embodiments, when the gripping finger is in the retracted state, at least a portion of the finger root segment is received within the clearance groove. This arrangement allows the finger root segment to be accommodated within the clearance groove in the retracted state, thereby reducing the overall size of the gripping device in the retracted state and improving the compactness of the structure.

[0095] In some embodiments, the clamping finger further includes a flexible finger sleeve, which is fitted over the fingertip. This configuration allows the flexible finger sleeve to deform and better conform to the local contours of the workpiece when the fingertip contacts the surface of the workpiece during clamping. This not only increases the frictional force of the contact, thereby improving the stability of the clamping, but also reduces the pressure on the surface of fragile or precision workpieces through the elastic cushioning effect of the flexible finger sleeve, protecting the workpiece.

[0096] Meanwhile, the rough or high-friction surface of the flexible finger sleeve can further enhance the anti-slip ability, thereby further improving the stability of clamping and improving the clamping ability of the clamping device.

[0097] In some embodiments, there are four clamping components, which are evenly distributed around the circumference of the mounting base.

[0098] With this configuration, during the retraction of the clamping components, if the workpiece is not centered on any of the clamping fingers, its surface will preferentially contact at least one clamping finger. Under the continuous, synchronized retraction of the clamping components, the workpiece is subjected to asymmetrical contact forces and pushed until all four clamping fingers evenly contact and clamp it from all sides. This allows the clamping device to automatically position and clamp the workpiece at the center of the four clamping components, ensuring that the workpiece receives uniform clamping force from all four components, thus guaranteeing clamping stability.

[0099] Compared to solutions with only two clamping components, this embodiment uses four clamping components arranged evenly and at intervals along the circumference, which are then simultaneously retracted. This achieves automatic centering (i.e., self-centering), while the four clamping fingers can approach the workpiece from four directions, thus providing more comprehensive coverage and support. For workpieces with complex curved surfaces, such as spheres, the clamping device provides more uniform support and constraint, thereby improving its ability to grip complex shapes and ultimately enhancing its clamping effectiveness.

[0100] Thirdly, embodiments of this application also provide a cleaning device, including a robotic arm and a clamping device as described in any of the above embodiments, wherein a mounting base in the clamping device is mounted on the robotic arm.

[0101] The cleaning equipment provided in this application includes a clamping device as described in any of the above embodiments, thus possessing the beneficial effects of a clamping device. It can be moved to a target position by a robotic arm, and the clamping components are synchronously driven by a drive structure to retract and clamp the object to be clamped. During the retraction process, each clamping component can clamp the object from all sides, achieving stable clamping and automatic centering of spherical or other complex-shaped objects, thus improving the clamping effect.

[0102] Furthermore, since the movement of each gripping finger is synchronously driven by the drive structure, at the control level, the control algorithm of the cleaning equipment only needs to perform trajectory planning and position control on the output of a single drive structure to determine the final pose of all gripping components. This avoids complex collaborative motion trajectory calculations and real-time coordination control for multiple independently driven gripping fingers, thereby simplifying the overall control logic and algorithm complexity of the gripping position of the cleaning equipment and reducing the production cost of the cleaning equipment.

[0103] Fourthly, embodiments of this application also provide a cleaning system, including a base station and the aforementioned cleaning equipment, wherein the base station is used to charge the cleaning equipment.

[0104] The cleaning system provided in this application includes the first type of cleaning device described above, and therefore has the beneficial effects of a cleaning device. It can move the clamping device to the target position via a robotic arm, and the driving structure synchronously drives each clamping component to retract to clamp the object to be clamped. During the retraction process, each clamping component can clamp the object from all sides, achieving stable clamping and automatic centering of spherical or other complex-shaped objects, thus improving the clamping effect. Attached Figure Description

[0105] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0106] Figure 1 This is a schematic diagram of the structure of the cleaning equipment provided in the embodiments of this application;

[0107] Figure 2 for Figure 1 A schematic diagram of the opening of the clamping device;

[0108] Figure 3 for Figure 1 A partial structural diagram of the clamping device;

[0109] Figure 4 for Figure 1 A schematic diagram of the retraction of the clamping device;

[0110] Figure 5 for Figure 2 A schematic diagram of the structure of the middle clamping finger;

[0111] Figure 6 for Figure 2 A schematic diagram of the structure of the clamping finger and the elastic element;

[0112] Figure 7 for Figure 6 A structural diagram from another perspective.

[0113] Figure label:

[0114] 100 - Cleaning equipment;

[0115] 10-Clamping device;

[0116] 1-Mounting base; 11-Top; 12-Bottom; 13-Receiving cavity; 14-Clearing groove;

[0117] 2-Clamping assembly; 2a-First clamping assembly; 2b-Second clamping assembly; 2c-Third clamping assembly; 2d-Fourth clamping assembly;

[0118] 21-Clamping finger;

[0119] 221-Finger root segment; 2211-Protrusion; 2211a-Slot; 2212-Second groove; 2213-First limiting part; 2214-Rack part;

[0120] 222-Fingertip segment; 2221-Fingertip portion; 2222-Interface; 2223-First groove; 2224-Second limiting part;

[0121] 22-Limiting component;

[0122] 23- Flexible finger sleeve;

[0123] 3-Drive structure;

[0124] 4-Elastic element; 41-First end; 42-Second end;

[0125] 5-Limiting structure; 51-Limiting groove; 52-Limiting protrusion;

[0126] 20-Robotic arm;

[0127] 30-Fuselage;

[0128] x - thickness direction. Detailed Implementation

[0129] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0130] This application provides a cleaning device. The cleaning device may include a robotic vacuum cleaner, a floor scrubber, or other equipment capable of cleaning surfaces. For example, the surface to be cleaned may be a floor. The following description primarily uses the scenario of the cleaning device cleaning a floor as an example to illustrate the structure of the cleaning device.

[0131] Figure 1 This is a schematic diagram of the structure of the cleaning equipment 100 provided in the embodiments of this application.

[0132] Please refer to Figure 1 This application provides a cleaning device 100, which includes a body 30, which can be understood as the casing of the cleaning device 100.

[0133] The cleaning device 100 also includes a walking assembly, which includes drive wheels that can be located on the side of the machine body 30 facing the surface to be cleaned. The drive wheels provide power to the machine body 30, enabling it to move and turn. For example, the drive wheels can be rollers.

[0134] The walking assembly also includes driven wheels, which can be located on the side of the machine body 30 facing the surface to be cleaned. When the drive wheels provide power to the machine body 30, the driven wheels can guide and assist the machine body 30 during movement, thereby enhancing the stability of the cleaning equipment 100 during movement. For example, the driven wheels can be swivel casters.

[0135] The cleaning device 100 also includes a cleaning module, which is located on the side of the body 30 facing the surface to be cleaned, i.e., on the bottom surface of the body 30. This allows the cleaning module to contact the surface to be cleaned when it is rotating relative to the body 30, thus mopping the surface and enabling the cleaning device 100 to have a mopping function. In this case, the cleaning module can also be referred to as a mopping module.

[0136] Cleaning modules typically include operable cleaning components. The operation of the cleaning module relative to the main body 30 usually refers to the operation of the cleaning components relative to the main body 30. When the cleaning components operate relative to the main body 30, they contact the surface to be cleaned and mop the surface. For example, the cleaning components can be a rag or similar object.

[0137] Please refer to Figure 1The cleaning equipment 100 also includes a clamping device 10 and a robotic arm 20. The clamping device 10 is mounted on the robotic arm 20, for example, it can be mounted on the end effector of the robotic arm 20, which is mounted on the body 30 of the cleaning equipment 100. When the cleaning equipment 100 encounters an obstacle in its path during movement, the robotic arm 20 can move the clamping device 10 to the location of the obstacle and perform a clamping action to hold the obstacle. After clamping, the robotic arm 20 can move the clamping device 10 and the obstacle to a specific location, such as a trash can or storage area, and then control the clamping device 10 to open and release the obstacle, thereby completing the cleaning task.

[0138] For example, obstacles may be toys, stationery, rags or other miscellaneous items scattered on the surface to be cleaned, which will be collectively referred to as objects to be clamped in the following description.

[0139] In existing technologies, clamping devices typically include two opposing clamping components, which clamp the workpiece by moving in opposite directions. However, when the obstacle is spherical, cylindrical, or has a smooth or curved surface, it is prone to sliding, rotating, or rolling off under the clamping device, resulting in unstable clamping and poor clamping performance. Therefore, improving the clamping capacity of clamping devices has become a technical problem that needs to be solved.

[0140] In view of this, embodiments of this application provide a clamping device, including a mounting base, multiple clamping assemblies, a drive structure, and an elastic element. The multiple clamping assemblies are arranged circumferentially spaced along the mounting base. Each clamping assembly includes a clamping finger, which includes a base segment and a tip segment. One end of the base segment is rotatably connected to the mounting base, and the tip segment is rotatably connected to the end of the base segment facing away from the mounting base. The end of the tip segment facing away from the base segment has a fingertip. The drive structure is drively connected to each base segment to drive the base segment to rotate relative to the mounting base, so that each clamping finger synchronously opens or closes to the same side of the mounting base. During the closing process, the fingertip is configured to point towards the side where the mounting base is located. The elastic element is connected between the base segment and the tip segment and is configured to ensure that the fingertip always has a tendency to move towards the mounting base.

[0141] The clamping device 10 provided in this embodiment synchronously drives four clamping components arranged at intervals along the circumference of the mounting base via a drive structure, enabling the base segments of each clamping finger to rotate synchronously relative to the mounting base. When the base segments rotate, each clamping finger can synchronously retract towards the same central area or open outward from that area, thereby realizing the opening and closing action of the clamping device 10. During the retraction process, the tips of each finger point to the side where the mounting base is located, thus acting together on the surface of the workpiece to be clamped, completing the clamping function of the workpiece.

[0142] Compared to solutions with only two clamping components, this embodiment uses four clamping components arranged circumferentially and retracting synchronously. This achieves automatic alignment while the four clamping fingers approach the workpiece from four directions, thus providing more comprehensive coverage and support. For workpieces with complex curved surfaces, such as spheres or cylinders, the clamping device 10 provides more uniform support and constraint, improving its gripping ability and overall clamping effectiveness.

[0143] Meanwhile, during the clamping process, the elastic element can deform and generate a corresponding elastic restoring force, so that when the clamping device 10 clamps different sizes of parts, the fingertip can automatically adapt to the shape and size of the parts to be clamped, thereby ensuring the clamping effect on parts of different sizes.

[0144] The structure of the clamping device provided in the embodiments of this application will be further described below with reference to the accompanying drawings and examples.

[0145] Figure 2 for Figure 1 A schematic diagram of the opening of the clamping device 10. Figure 3 for Figure 1 A partial structural diagram of the clamping device 10. Figure 4 for Figure 1 A schematic diagram of the retraction of the clamping device 10. Figure 5 for Figure 2 A schematic diagram of the structure of the middle clamping finger 21.

[0146] Please refer to Figures 1 to 5 This application provides a clamping device, including a mounting base 1 and multiple clamping components 2. The mounting base 1 is used to connect to an external actuator or other mounted components. For example, the mounting base 1 can be connected to a robotic arm 20, so that, driven by the robotic arm 20, the clamping components 2 can move to the location where the component to be clamped is to be grasped.

[0147] Please refer to Figure 2 The plurality of clamping components 2 include a first clamping component 2a, a second clamping component 2b, a third clamping component 2c and a fourth clamping component 2d arranged circumferentially spaced along the mounting base 1.

[0148] Please refer to Figure 2 and Figure 5 Specifically, each clamping component 2 includes a clamping finger 21, which includes a root segment 221 and a fingertip segment 222. One end of the root segment 221 is rotatably connected to the mounting base 1, and the fingertip segment 222 is rotatably connected to the end of the root segment 221 away from the mounting base 1. The end of the fingertip segment 222 away from the root segment 221 has a fingertip portion 2221.

[0149] Please refer to Figure 2 , Figure 3 and Figure 5 In this embodiment, the clamping device 10 further includes a drive structure 3. The drive structure 3 is connected to each finger root segment 221 to drive the finger root segment 221 to rotate relative to the mounting base 1, so that each clamping finger 21 opens or closes synchronously on the same side of the mounting base 1.

[0150] During the retraction process of the gripping fingers 21, the fingertips 2221 are configured to point towards the side where the mounting base 1 is located. Thus, the drive structure 3 synchronously drives the four gripping components 2 arranged circumferentially around the mounting base 1, enabling the base segments 221 of each gripping finger 21 to rotate synchronously relative to the mounting base 1. When the base segments 221 rotate, each gripping finger 21 can synchronously retract towards the same central area or open outwards from that area, thereby realizing the opening and closing action of the gripping device 10. During the retraction process, the fingertips 2221 point towards the side where the mounting base 1 is located, thus working together on the surface of the workpiece to be gripped, completing the gripping function.

[0151] During the retraction of each clamping component 2, if the object to be clamped is not at the center of each clamping finger 21, the surface of the object will preferentially contact at least one clamping finger 21. Under the continuous synchronous retraction movement of each clamping component 2, the object to be clamped will be subjected to asymmetrical contact forces and pushed until the four clamping fingers 21 contact and clamp the object evenly from all sides. This allows the clamping device 10 to automatically position the object to be clamped at the center of the four clamping components 2, ensuring that the object is evenly subjected to clamping forces from the four clamping components 2, thereby guaranteeing clamping stability.

[0152] Compared to solutions with only two clamping components 2, this embodiment of the application uses four clamping components 2 arranged circumferentially at intervals and simultaneously retracting them. This achieves automatic alignment while the four clamping fingers 21 approach the workpiece from four directions, thus providing more comprehensive coverage and support. For spherical or other complex-shaped workpieces, the clamping device 10 provides more uniform support and constraint, thereby improving its gripping ability and ultimately enhancing its clamping effectiveness.

[0153] Please refer to Figure 2 , Figure 3 and Figure 5 In this embodiment, the clamping assembly 2 further includes an elastic element 4, which is connected between the base of the finger 221 and the tip of the finger 222, and is configured to make the tip of the finger 2221 always tend to move toward the mounting base 1.

[0154] Specifically, the elastic element 4 is a flexible connector capable of storing and releasing elastic potential energy. When the fingertip segment 222 rotates relative to the finger root segment 221, the elastic element 4 deforms and generates an elastic restoring force that resists the relative rotation, so that the fingertip 2221 always tends to rotate toward the mounting base 1 under the pull of the elastic element 4.

[0155] For example, the elastic element 4 can be a torsion spring or a spring.

[0156] In this way, during the clamping process, the elastic element 4 can deform and generate a corresponding elastic restoring force. The elastic restoring force is converted into a continuous positive pressure on the surface of the workpiece by the fingertip segment 222. This allows the clamping device 10 to automatically adapt the fingertip 2221 to the shape and size of the workpiece when clamping different sizes, thus ensuring the clamping effect for workpieces of different sizes. When the drive structure 3 stops actively driving or is powered off, the elastic potential energy stored in the elastic element 4 can still maintain the preload force on the workpiece by the fingertip 2221, preventing the workpiece from loosening from the clamping state under gravity or vibration, thereby further ensuring the stability of the clamping.

[0157] When the clamping device 10 accidentally clamps an object that should not be clamped, such as a user's hand, the user can apply an external force to the clamping finger 21 in the opening direction. If the torque generated by this external force is greater than the current elastic restoring torque of the elastic element 4, it can overcome the preload of the elastic element 4, forcing the fingertip segment 222 to rotate relative to the finger root segment 221 in the opening direction, thereby manually opening the clamping finger 21 to safely release the clamped object. Similarly, when the drive structure 3 cannot actively drive the clamping finger 21 to open due to power failure or malfunction, the clamping device 10 can also be opened by manually applying an external force as described above.

[0158] Meanwhile, due to the flexible connection of the elastic element 4, the fingertip 2221 has a certain floating ability. In this way, during the clamping process, each fingertip 2221 can float independently at a certain angle according to the actual shape of the surface of the part to be clamped, thereby adaptively conforming to the local contour of the part to be clamped, so that the clamping finger 21 can better adapt to the parts to be clamped of different shapes and make the clamping force distribution more uniform.

[0159] Furthermore, this embodiment uses a single drive structure 3 to synchronously control the retraction and opening of the four gripping fingers 21. At the control level, the upper-level control system of the cleaning device 100 only needs to send control commands to this single drive structure 3 to synchronously control the movement state and final pose of all gripping fingers 21, thereby simplifying the overall control logic and algorithm for the gripping position.

[0160] Compared to the scheme with only two clamping components 2, when clamping a spherical object, the two clamping fingers 21 need to be precisely clamped at symmetrical points on both sides of the sphere's center to achieve stable gripping. This requires the control system to accurately calculate and control the spatial position and trajectory of each of the two clamping fingers 21 to ensure that both fingers 21 simultaneously and accurately reach the target clamping point, making the algorithm quite complex. In contrast, this application uses a scheme where four clamping fingers 21 converge towards the center simultaneously. When clamping a spherical object, the four clamping fingers 21 naturally surround the sphere from all sides, eliminating the need for precise control of the specific contact point of each finger 21 on the sphere's surface. This reduces the precision requirements for the clamping position and further simplifies the control algorithm.

[0161] Please refer to Figures 2 to 4 In some embodiments, when the gripping fingers 21 are in the retracted state, each fingertip 2221 is retracted to the front side of the mounting base 1, and the projection of each fingertip 2221 on the front side is located in the central region of the front side.

[0162] Specifically, the front side of the mounting base 1 is defined as the side of the mounting base 1 away from the workpiece to be mounted. For example, when the mounting base 1 is mounted on the robotic arm 20, the front side of the mounting base 1 is the side away from the robotic arm 20 and facing the workpiece to be clamped.

[0163] In this embodiment, the projection of the fingertip 2221 on the front side is located in the central region of the front side. This means that when viewed from the front side of the mounting base 1, the fingertips 2221 of all the gripping fingers 21 converge and are distributed at the geometric center of the front surface of the mounting base 1. Thus, when the gripping fingers 21 retract, each gripping finger 21 can point from all sides and surround a common center point, enabling the gripping device 10 to automatically position and clamp the workpiece to be gripped to the central region of the front side of the mounting base 1. This ensures that the workpiece is evenly subjected to the clamping force from the four gripping components 2, thereby guaranteeing the stability of the gripping.

[0164] Please refer to Figure 2 , Figure 4 and Figure 5 In some embodiments, the mounting base 1 has a top 11 and a bottom 12 disposed opposite to each other in the thickness direction x, and a first clamping assembly 2a and a second clamping assembly 2b are distributed on both sides of the mounting base 1 at the top 11. A third clamping assembly 2c and a fourth clamping assembly 2d are distributed on both sides of the mounting base 1 at the bottom 12.

[0165] Specifically, by distributing the first clamping component 2a and the second clamping component 2b on both sides of the top 11 of the mounting base 1, the first clamping component 2a and the second clamping component 2b are spatially distributed in the thickness direction x of the mounting base 1. When the clamping fingers 21 are retracted, the two clamping fingers 21 located at the top can approach the two sides of the part to be clamped from different directions, surrounding and constraining the top of the part to be clamped, thereby improving the stability and adaptability of clamping.

[0166] The third clamping component 2c and the fourth clamping component 2d are distributed on both sides of the bottom 12 of the mounting base 1, forming a spatial distribution in the thickness direction x of the mounting base 1. When the clamping fingers 21 retract, the two clamping fingers 21 at the bottom can approach the two sides of the bottom of the workpiece from different directions, surrounding and constraining the bottom of the workpiece, thus improving the stability and adaptability of the clamping.

[0167] It should be noted that "both sides" here only indicates that the clamping components 2 are located in different positions on the top 11 or the bottom 12, and does not limit them to being symmetrical about the center. The specific angular positions of the first clamping component 2a and the second clamping component 2b on the top 11 can be asymmetrical, and the third clamping component 2c and the fourth clamping component 2d on the bottom 12 can also be asymmetrical.

[0168] Meanwhile, the specific distribution of the clamping components 2 is not limited to the above example. In some embodiments, only the first clamping component 2a and the second clamping component 2b may be disposed on both sides of the top 11 of the mounting base 1, while the third clamping component 2c and the fourth clamping component 2d may be disposed in other positions, such as the circumferential side.

[0169] In other embodiments, only the third clamping component 2c and the fourth clamping component 2d may be disposed on both sides of the bottom 12 of the mounting base 1, while the first clamping component 2a and the second clamping component 2b may be disposed in other positions. The distribution positions of the clamping components 2 in the circumferential and thickness x directions of the mounting base 1 can be configured according to the actual clamping space requirements, and this embodiment does not impose specific limitations on this.

[0170] Please refer to Figure 2 , Figure 4 and Figure 5 In some embodiments, the first clamping component 2a and the fourth clamping component 2d are symmetrically distributed on both sides of the mounting base 1 in the thickness direction x, and the second clamping component 2b and the third clamping component 2c are symmetrically distributed on both sides of the mounting base 1 in the thickness direction x.

[0171] Specifically, because the first clamping component 2a and the fourth clamping component 2d are symmetrically distributed, and the second clamping component 2b and the third clamping component 2c are symmetrically distributed, two clamping fingers 21 in the first clamping component 2a and the fourth clamping component 2d form one set of clamping fingers 21, and two clamping fingers 21 in the second clamping component 2b and the third clamping component 2c form another set of clamping fingers 21. During the retraction of the clamping fingers 21, if the workpiece to be clamped deviates from the central plane in the thickness direction x, the two symmetrically distributed sets of clamping fingers 21 can uniformly contact the surface of the workpiece from both sides, and through continuous synchronous retraction movement, push the workpiece to be clamped towards the central plane of the four clamping fingers 21, thereby achieving automatic centering function.

[0172] At the same time, the clamping forces of the two clamping fingers 21 in each group of clamping fingers 21 on the clamped part can be balanced with each other, so that the four clamping fingers 21 can be stably clamped at different positions of the clamped part, thereby stabilizing the posture of the clamped part, preventing the clamped part from deflecting in the thickness direction x, and improving the clamping effect of the clamping device 10.

[0173] It should be noted that this embodiment does not limit the symmetrical distribution of the clamping components 2. The specific angular positions between the first clamping component 2a and the second clamping component 2b, and between the third clamping component 2c and the fourth clamping component 2d, do not need to be symmetrical. The circumferential spacing angle of each clamping component 2 on the mounting base 1 and its offset relative to the x-center plane of the thickness direction can be arranged asymmetrically according to actual needs.

[0174] Please refer to Figure 2 , Figure 4 and Figure 5 In some embodiments, the first clamping component 2a and the second clamping component 2b are symmetrically distributed on the top 11 of the mounting base 1, and the third clamping component 2c and the fourth clamping component 2d are symmetrically distributed on the bottom 12 of the mounting base 1.

[0175] Specifically, due to the symmetrical distribution of the first clamping component 2a and the second clamping component 2b, and the symmetrical distribution of the third clamping component 2c and the fourth clamping component 2d, the two clamping fingers 21 in the first clamping component 2a and the second clamping component 2b form a set of clamping fingers 21 at the top 11, and the two clamping fingers 21 in the third clamping component 2c and the fourth clamping component 2d form a set of clamping fingers 21 at the bottom 12. During the retraction of the clamping fingers 21, the two sets of clamping fingers 21 at the top 11 and the bottom 12, which are symmetrically distributed, can evenly contact the surface of the workpiece to be clamped from the top and bottom sides, respectively. Through continuous synchronous retraction movement, the workpiece to be clamped is pushed towards the central area of ​​the four clamping fingers 21, thereby achieving automatic centering.

[0176] At the same time, the clamping forces of two clamping fingers 21 in the set of clamping fingers 21 at the top 11 on the upper part of the object to be clamped can be balanced with each other, and the clamping forces of two clamping fingers 21 in the set of clamping fingers 21 at the bottom 12 on the lower part of the object to be clamped can be balanced with each other, so that the four clamping fingers 21 can stably clamp the object to be clamped at different positions along the thickness direction x, thereby stabilizing the posture of the object to be clamped, preventing the object to be clamped from deflecting in the thickness direction x, and improving the clamping effect of the clamping device 10.

[0177] It should be noted that this embodiment does not limit the symmetrical distribution of the clamping components 2. The specific angular positions between the first clamping component 2a and the fourth clamping component 2d, and between the second clamping component 2b and the third clamping component 2c, do not need to be symmetrical. The circumferential spacing angle of each clamping component 2 on the mounting base 1 and its offset relative to the x-center plane of the thickness direction can be arranged asymmetrically according to actual needs.

[0178] Figure 6 for Figure 2 A schematic diagram of the structure of the clamping finger 21 and the elastic element 4. Figure 7 for Figure 6 A structural diagram from another perspective.

[0179] Please refer to Figure 2 , Figure 3 , Figure 6 and Figure 7 In some embodiments, the elastic element 4 is a torsion spring, the central axis of which is coaxial with the rotation center of the fingertip segment 222. The torsion spring has a first end 41 and a second end 42, the first end 41 being connected to the fingertip segment 222 and the second end 42 being connected to the finger root segment 221. During the rotation of the fingertip segment 222, the torsion spring is configured to ensure that the fingertip segment 222 always tends to move toward the mounting base 1.

[0180] Specifically, a torsion spring is sleeved on the connecting shaft between the fingertip segment 222 and the finger root segment 221, such that the central axis of the torsion spring coincides with the axis of the connecting shaft. The axis of the connecting shaft is the center of rotation for the fingertip segment 222 relative to the finger root segment 221. The first end 41 of the torsion spring is fixedly connected to the fingertip segment 222, and the second end 42 is fixedly connected to the finger root segment 221. When the fingertip segment 222 rotates relative to the finger root segment 221, the first end 41 of the torsion spring is forced to rotate with the fingertip segment 222, while the second end 42, being fixed relative to the finger root segment 221, undergoes torsional deformation. The elastic restoring torque generated by this torsional deformation acts on the fingertip segment 222, causing the fingertip segment 222 to always tend to move towards the mounting base 1, and consequently, the fingertip segment 2221 to always tend to move towards the mounting base 1.

[0181] Since the elastic element 4 is a torsion spring, its flexible connection allows the fingertip 2221 to have a certain floating ability. In this way, during the clamping process, each fingertip 2221 can float independently at a certain angle according to the actual shape of the surface of the part to be clamped, thereby adaptively conforming to the local contour of the part to be clamped. This allows the clamping finger 21 to better adapt to parts of different shapes and makes the clamping force distribution more uniform.

[0182] In the assembled state, the torsion spring can be preset with an initial torsion angle, so that when the fingertip segment 222 is in the initial position aligned with the finger root segment 221, the torsion spring stores a certain amount of elastic potential energy and generates a preload torque that causes the fingertip segment 222 to rotate toward the mounting base 1. In this way, when there is no external load, the fingertip segment 2221 can have an initial tendency to move toward the mounting base 1, providing a basic preload force for clamping.

[0183] By pre-tightening the torsion spring in the assembled state, when the drive structure 3 stops actively driving or is de-energized, the elastic potential energy stored in the elastic element 4 can still maintain the pre-tightening force on the clamped part through the fingertip 2221, preventing the clamped part from being released from the clamping state under the action of gravity or vibration, thereby further ensuring the stability of clamping.

[0184] It should be noted that the torsion spring may not require preload. During the retraction of the clamping finger 21, the rotation of the fingertip segment 222 relative to the finger base segment 221 will drive the torsion spring to undergo torsional deformation. Therefore, throughout the retraction and clamping process, the torsion spring can continuously provide a tendency for the fingertip 2221 to move towards the mounting base 1, thereby achieving adaptive clamping of the clamped part.

[0185] Please refer to Figure 5 In some embodiments, the fingertip segment 222 and the finger root segment 221 have an overlapping area at one end where they are connected to each other. One of the fingertip segment 222 and the finger root segment 221 has a protrusion 2211 in the overlapping area, and the other has an insertion interface 2222 in the overlapping area. The protrusion 2211 is inserted into the insertion interface 2222 and can rotate within the insertion interface 2222.

[0186] Specifically, in this embodiment, the base segment 221 has a protrusion 2211 in the overlapping area, and the tip segment 222 has an insertion interface 2222 at a corresponding position that matches the protrusion 2211. When the base segment 221 and the tip segment 222 are assembled, the protrusion 2211 is inserted into the insertion interface 2222 of the tip segment 222, so that the protrusion 2211 can act as a connecting shaft and rotate around its own axis within the insertion interface 2222, thereby realizing the rotational connection of the tip segment 222 relative to the base segment 221.

[0187] In other embodiments, the fingertip segment 222 has a protrusion 2211 in the overlapping area, and the finger root segment 221 has an insertion interface 2222 at a corresponding position that matches the protrusion 2211. The protrusion 2211 is inserted into the insertion interface 2222 of the finger root segment 221, and the rotational connection of the fingertip segment 222 relative to the finger root segment 221 is achieved through the cooperation between the protrusion 2211 and the insertion interface 2222. The principle of implementation is the same as that in the aforementioned embodiments, and will not be described again here.

[0188] Please refer to Figure 3 and Figure 5 In some embodiments, the torsion spring is located between the fingertip segment 222 and the finger root segment 221, and is fitted over the protrusion 2211. This makes the geometric axis of the torsion spring (see...) Figure 3 The dotted part can be coaxial with the rotation axis of the protrusion 2211, thereby ensuring that when the fingertip 222 rotates, the torsion spring can be torsional deformed around its own axis to provide a stable and directional elastic restoring torque, thereby ensuring the clamping effect of the clamping device 10.

[0189] Please refer to Figure 3 , Figure 5 , Figure 6 and Figure 7 In some embodiments, the fingertip segment 222 has a first groove 2223 at the position corresponding to the first end 41, and the first end 41 is disposed in the first groove 2223. The root segment 221 has a second groove 2212 at the position corresponding to the second end 42, and the second end 42 is disposed in the second groove 2212.

[0190] Specifically, the fingertip segment 222 has a recessed first groove 2223, the shape of which matches the shape of the first end 41, so that the first end 41 can be embedded in the first groove 2223, thereby achieving a fixed connection between the first end 41 and the fingertip segment 222. Similarly, the base segment 221 has a recessed second groove 2212, the shape of which matches the shape of the second end 42, so that the second end 42 can be embedded in the second groove 2212, thereby achieving a fixed connection between the second end 42 and the base segment 221.

[0191] It should be noted that matching shapes means that the shapes and sizes are the same or similar, in order to ensure the stability of the embedding.

[0192] By accommodating the first end 41 and the second end 42 of the torsion spring in the first groove 2223 of the fingertip segment 222 and the second groove 2212 of the finger root segment 221 respectively, the end of the torsion spring can be housed inside the structure of the clamping finger 21, thereby reducing the radial protrusion of the clamping finger 21 and saving installation space.

[0193] Meanwhile, the groove wall of the first groove 2223 can limit the displacement of the first end 41 along the direction perpendicular to the bottom wall of the first groove 2223, and the groove wall of the second groove 2212 can limit the displacement of the second end 42 along the direction perpendicular to the bottom wall of the second groove 2212. This avoids the end of the torsion spring from accidentally moving to the side or out of the groove due to force during repeated torsion, thereby ensuring that the torsion spring can act stably and preventing the direction of the torsion spring's force from changing and affecting the tendency of the fingertip segment 222 to always move towards the mounting base 1, thus improving the reliability of the connection.

[0194] Please refer to Figure 3 , Figure 5 , Figure 6 and Figure 7 In some embodiments, the end where the root segment 221 connects to the fingertip segment 222 also has a first limiting part 2213, which is provided in part of the groove of the first groove 2223.

[0195] Specifically, by setting a first limiting part 2213 on the base of the finger 221 into a portion of the opening of the first groove 2223 in the fingertip segment 222, the first limiting part 2213 can block that portion of the opening. Thus, after the finger 21 is assembled, the first limiting part 2213 can prevent the first end 41 of the torsion spring housed in the first groove 2223 from dislodging from that portion of the opening, thereby further limiting the axial and radial direction of the first end 41 and enhancing the reliability of the first end 41's fixation on the fingertip segment 222.

[0196] For example, the first limiting part 2213 may cover the protruding structure above part of the groove opening of the first groove 2223, or it may be a sheet-like baffle structure covering the groove opening. This embodiment does not impose any restrictions on this.

[0197] Similarly, the end connecting the fingertip segment 222 and the root segment 221 also has a second limiting part 2224, which is located in a portion of the groove of the second groove 2212. By positioning the second limiting part 2224 on the fingertip segment 222 in a portion of the groove of the second groove 2212 of the root segment 221, the second limiting part 2224 can block that portion of the groove. After the clamping finger 21 is assembled, the second limiting part 2224 can prevent the second end 42, which is accommodated in the second groove 2212, from coming out of that portion of the groove, thereby further limiting the axial and radial direction of the second end 42 and enhancing the reliability of the second end 42 being fixed on the root segment 221.

[0198] For example, the second limiting part 2224 may cover the protruding structure above the groove of the second groove 2212, or it may be a sheet-like baffle structure covering the groove. This embodiment does not impose any restrictions on this.

[0199] It is understandable that by setting the first limiting part 2213 and the second limiting part 2224, the first end 41 and the second end 42 can be restricted respectively, preventing the elastic member 4 from dislodging from the slot. This ensures that during the rotation of the fingertip segment 222 relative to the finger root segment 221, the biasing force generated by the elastic member 4 can be stably applied to the fingertip segment 222 in a preset direction. This ensures that the clamping force applied to the fingertip segment 2221 to the clamped part is stable and consistent, thereby providing a stable and reliable clamping force when clamping parts of different sizes.

[0200] Furthermore, during the rotation of the fingertip segment 222 relative to the finger root segment 221, the first limiting part 2213 moves within the first groove 2223 and its movement range is limited by the groove wall of the first groove 2223, and the second limiting part 2224 moves within the second groove 2212 and its movement range is limited by the groove wall of the second groove 2212. This allows the rotation angle of the fingertip segment 222 relative to the finger root segment 221 to be limited from two positions. This prevents the clamping finger 21 from excessively retracting under the action of the elastic member 4, causing the clamping finger 21 to collide rigidly with other components. At the same time, it also prevents the clamping finger 21 from flipping outward at an excessive angle, ensuring the structural safety and reliability of the clamping finger 21 during the overload release process.

[0201] Please refer to Figure 3 and Figure 5 In some embodiments, a portion of the protrusion 2211 extends out of the insertion interface 2222 and has a slot 2211a on its peripheral side. The clamping assembly 2 also includes a limiting member 22, which is sleeved on the outside of the protrusion 2211 and a portion of the limiting member 22 extends into the slot 2211a.

[0202] Specifically, in the assembled state, one end of the protrusion 2211 extends into the insertion interface 2222, and a groove 2211a is formed on its circumference. The inner diameter of the limiting member 22 is slightly smaller than the outer diameter of the protrusion 2211. During assembly, the limiting member 22 is radially expanded and fitted onto the protrusion 2211, and then moved to the position corresponding to the groove 2211a. At this time, the limiting member 22 contracts under its own elastic restoring force, allowing the inner ring of the limiting member 22 to engage in the groove 2211a. This restricts the protrusion 2211 to its current position, preventing it from dislodging from the insertion interface 2222, preventing the fingertip segment 222 from separating from the finger root segment 221, and ensuring the stability of the overall structure of the clamping finger 21.

[0203] Please refer to Figure 2 , Figure 3 and Figure 5In some embodiments, the clamping device 10 further includes a motor, the drive structure 3 is a worm gear, the mounting base 1 has a receiving cavity 13, the worm gear is rotatably disposed in the receiving cavity 13, and the motor is connected to the worm gear to drive the worm gear to rotate relative to the mounting base 1. The finger root segments 221 have arc-shaped rack portions 2214 on the portion facing the worm gear, and the worm gear meshes with the rack portions 2214 of each finger root segment 221. A portion of each rack portion 2214 is disposed within the receiving cavity 13 and spaced apart circumferentially from the worm gear.

[0204] In this embodiment, the motor is fixedly mounted on the mounting base 1, and the output shaft of the motor is connected to the worm gear to drive the worm gear to rotate around its own axis. An arc-shaped rack portion 2214 is provided on the inner side of each finger root segment 221, that is, on the side facing the center of the mounting base 1. The rack portions 2214 of each finger root segment 221 are arranged at intervals along the circumference of the worm gear and mesh with the worm gear.

[0205] Specifically, the arc-shaped rack portion 2214 has its center at the rotational connection point between the finger root segment 221 and the mounting base 1, and the center of curvature of the rack portion 2214 coincides with the rotational connection point. Thus, when the motor drives the worm to rotate, the worm's rotational motion is converted into a tangential driving force on the rack portion 2214 through the meshing of its teeth. Because the rack portion 2214 is arc-shaped, the tangential driving force of the worm on the rack portion 2214 directly drives the finger root segment 221 to rotate around its connection point with the mounting base 1. By controlling the rotation direction of the worm, all finger root segments 221 meshing with the worm can be controlled to rotate synchronously inward or outward, thereby achieving the synchronous closing or opening of all gripping fingers 21 around the center of the mounting base 1.

[0206] In other embodiments, the drive structure 3 can also achieve synchronous closing and opening of each gripping finger 21 through a gear transmission mechanism. For example, a central gear is connected to the motor output shaft, and a sector gear meshing with the central gear is connected to the inner side of each finger root segment 221. When the motor drives the central gear to rotate, the central gear simultaneously drives all sector gears to rotate synchronously, thereby causing all finger root segments 221 to rotate synchronously inward or outward, achieving synchronous closing and opening of the gripping fingers 21.

[0207] It is understood that this embodiment does not limit the specific form of the drive structure 3. Any drive and transmission mechanism that can realize the synchronous opening and closing action of multiple gripping fingers 21 is applicable and can be selected according to the actual spatial layout, load and accuracy requirements.

[0208] Please refer to Figures 3 to 5 In some embodiments, the surface of the mounting base 1 has a clearance groove 14 at a position corresponding to the rotation trajectory of the finger root segment 221, and the clearance groove 14 communicates with the receiving cavity 13. A portion of the finger root segment 221 is located in the clearance groove 14 and is rotatably connected to the mounting base 1.

[0209] Specifically, a clearance groove 14 is formed on the surface of the mounting base 1, which communicates with the receiving cavity 13. The root region of each finger root segment 221 passes through the corresponding clearance groove 14 and is rotatably connected to the mounting base 1 via a rotating shaft. By setting part of the structure of the finger root segment 221 within the clearance groove 14, the finger root segment 221 can rotate around the connection point as the rotation center. At the same time, the clearance groove 14 prevents structural interference between the finger root segment 221 and the mounting base 1 during rotation, ensuring the stability of the clamped finger 21 during movement.

[0210] Please refer to Figure 4 and Figure 5 In some embodiments, when the gripping finger 21 is in the retracted state, at least a portion of the finger root segment 221 is accommodated in the clearance groove 14.

[0211] When the drive structure 3 drives the finger root segment 221 to rotate, so that the clamping finger 21 is in a fully retracted state, the finger root segment 221 rotates inward around its connection point with the mounting base 1. During the retraction process, the finger root segment 221 swings towards the center of the mounting base 1 and eventually enters the clearance groove 14, either wholly or partially. This allows the finger root segment 221 to be accommodated in the clearance groove 14 in the retracted state, thereby reducing the overall size of the clamping device 10 in the retracted state and improving the compactness of the structure.

[0212] Please refer to Figure 5 In some embodiments, the clamping finger 21 further includes a flexible finger sleeve 23, which is fitted over the outside of the fingertip portion 2221.

[0213] Specifically, the flexible finger sleeve 23 can be made of rubber, silicone, or an elastic polymer material. During the clamping process of the clamping finger 21, when the fingertip 2221 contacts the surface of the workpiece to be clamped through the flexible finger sleeve 23, the flexible finger sleeve 23 can deform to better conform to the local contour of the workpiece. This not only increases the contact friction, thereby improving the stability of the clamping, but also reduces the pressure on the surface of the fragile or precision workpiece to be clamped through the elastic cushioning effect of the flexible finger sleeve 23, thus protecting the workpiece.

[0214] Meanwhile, the rough or high-friction coefficient surface of the flexible finger sleeve 23 can further enhance the anti-slip ability, thereby further improving the stability of clamping and improving the clamping effect of the clamping device 10.

[0215] The clamping device 10 provided in the above embodiments is a first type of clamping device.

[0216] This application embodiment also provides a second clamping device, which differs from the first clamping device in that it includes a mounting base 1, at least three clamping components 2, and a drive structure 3. The rotational connection between the fingertip segment 222 and the finger root segment 221 is configured to allow the fingertip segment 222 to rotate outward relative to the finger root segment 221 when the fingertip segment 222 is subjected to an external force exceeding a threshold.

[0217] The second clamping device provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0218] Please refer to Figure 2 , Figure 3 and Figure 5 The drive structure 3 of the second clamping device and the structure (including the root segment 221 and the tip segment 222) and drive method of the clamping finger 21 in the clamping assembly 2 are the same as or similar to the structure and working principle of the first clamping device described in any of the foregoing embodiments, and will not be repeated here.

[0219] In this embodiment, the second clamping device includes at least three clamping components 2. Exemplarily, the number of clamping components 2 can be three, four, or five; this embodiment does not impose a specific limitation. The multiple clamping components 2 are arranged at intervals along the circumference of the mounting base 1. By providing at least three clamping components 2, the workpiece to be clamped can be simultaneously approached and wrapped from three or more directions during the clamping process. Thus, for spherical or other complex-shaped workpieces, the clamping device 10 can provide more uniform support and constraint, thereby improving the clamping ability for complex-shaped workpieces and ultimately enhancing the clamping effect of the clamping device 10.

[0220] During the retraction of each clamping component 2, if the object to be clamped is not at the center of each clamping finger 21, the surface of the object will preferentially contact at least one clamping finger 21. Under the continuous synchronous retraction movement of each clamping component 2, the object to be clamped will be subjected to asymmetrical contact forces and pushed until each clamping finger 21 contacts and clamps the object evenly from all sides. This allows the clamping device 10 to automatically position the object to be clamped at the center of the multiple clamping components 2, ensuring that the object is evenly subjected to clamping forces from the multiple clamping components 2, thereby guaranteeing clamping stability.

[0221] Compared to solutions with only two clamping components 2, this embodiment of the application uses at least three clamping components 2 arranged circumferentially and retracting synchronously. This achieves automatic alignment while allowing multiple clamping fingers 21 to approach the workpiece from multiple directions, thus providing more comprehensive coverage and support. For spherical or other complex-shaped workpieces, the clamping device 10 provides more uniform support and constraint, improving its gripping ability and overall clamping effectiveness.

[0222] In this embodiment, the rotational connection between the fingertip segment 222 and the finger root segment 221 is configured to allow the fingertip segment 222 to rotate outward relative to the finger root segment 221 when the fingertip segment 222 is subjected to an external force exceeding a threshold.

[0223] It should be noted that the fingertip segment 222 rotates outward relative to the finger root segment 221, that is, the fingertip segment 222 rotates in a direction away from the central area of ​​the mounting base 1, which is opposite to the direction of movement of the driving structure 3 driving the fingertip segment 222 to retract.

[0224] When the clamping device 10 accidentally clamps an object that should not be clamped, such as a user's hand, the user can apply an external force to the clamping finger 21 in the opening direction. If the external force exceeds a threshold, the fingertip segment 222 will be forced to rotate relative to the finger root segment 221 in the opening direction, thereby manually opening the clamping finger 21 to safely release the clamped object and ensure the safety of the clamping device 10. Similarly, when the drive structure 3 cannot actively drive the clamping finger 21 to open due to power failure or malfunction, the clamping device 10 can also be opened by manually applying external force as described above.

[0225] It should be noted that achieving the function of "allowing the fingertip segment 222 to rotate outward relative to the finger root segment 221 when subjected to an external force exceeding a threshold" is not limited to providing biasing force through the elastic element 4. It is understood that any mechanical structure or physical effect that can provide a restoring force to the fingertip segment 222, causing it to tend to retract, and that such restoring force can be overcome by an external force exceeding a preset threshold, can achieve the same overload protection and manual release function. This embodiment does not impose any limitations on this.

[0226] For example, a first magnet and a second magnet with magnetic repulsion can be respectively placed at corresponding positions on the base of the finger 221 and the tip of the finger 222. When the tip of the finger 222 is in the closed position, the repulsive force between the two magnets can provide a magnetic bias voltage to keep the tip of the finger 222 in a closed tendency. When the applied external torque is greater than the threshold torque provided by the magnetic repulsive force, the tip of the finger 222 can overcome the magnetic repulsive force and rotate outward. After the external force is released, the tip of the finger 222 automatically returns to the closed position under the action of the magnetic repulsive force.

[0227] For example, a friction pair can be provided at the rotational connection between the base of the finger 221 and the tip of the finger 222, for instance, by installing a friction pad with a specific coefficient of friction between them. The friction pad can be pre-compressed to provide a preset static friction torque, thereby constituting a threshold torque that keeps the tip of the finger 222 in its current position. When the applied external torque is less than this threshold, the tip of the finger 222 and the base of the finger 221 remain relatively stationary. When the external torque exceeds this threshold, the tip of the finger 222 can overcome the static friction and rotate relative to the base of the finger 221. Different threshold torques can be set by adjusting the clamping force or material of the friction pad.

[0228] For example, an interference fit can be used between the fingertip segment 222 and the finger root segment 221. The binding force generated by the interference fit can form a resistance torque that requires an external torque exceeding a certain threshold to initiate relative rotation. When the applied external torque is less than this resistance torque threshold, the fingertip segment 222 and the finger root segment 221 remain relatively fixed. When the external torque exceeds the threshold, the fingertip segment 222 can overcome the resistance and rotate.

[0229] For example, a high-viscosity damping grease can be filled in the gap between the revolute joint formed by the fingertip segment 222 and the finger root segment 221. When the applied slow and stable external torque is insufficient to overcome the large starting resistance generated by the viscosity of the grease, the fingertip segment 222 will not rotate. When the rapidly applied impact torque or the continuously applied torque exceeds the starting resistance threshold, the fingertip segment 222 can overcome the resistance and rotate.

[0230] Please refer to Figures 2 to 4 In some embodiments, for the second type of clamping device, when the clamping fingers 21 are in the retracted state, the fingertips 2221 are retracted to the front side of the mounting base 1, and the projection of each fingertip 2221 on the front side is located in the central area of ​​the front side. Thus, when all the clamping fingers 21 move synchronously to the fully retracted state under the drive of the drive structure 3, the fingertips 2221 of each clamping finger 21 converge to the central area of ​​the front side of the mounting base 1, so that the clamping device 10 can automatically position and clamp the workpiece to be clamped to the central area of ​​the front side of the mounting base 1. While realizing the self-centering function, it can also ensure that the workpiece to be clamped is evenly subjected to the clamping force from multiple clamping components 2, thereby ensuring the stability of clamping.

[0231] In some embodiments, the second clamping device also includes an elastic element 4, wherein the connection method between the elastic element 4 and the finger root segment 221 and the fingertip segment 222 is the same as that of the first clamping device described above, and the technical effects that can be achieved are the same, which will not be described again here.

[0232] In addition, the second type of clamping device, through the setting of the elastic element 4, can apply a biasing force to the fingertip segment 222 to keep it in a closed position. Under the biasing force of the elastic element 4, the fingertip 2221 can always have a tendency to rotate towards the mounting base 1. This gives the fingertip 2221 a certain floating ability, so that it can adaptively conform to the local contour of the part to be clamped. At the same time, if the clamping device 10 accidentally clamps a part that should not be clamped or the drive structure 3 fails to release actively, the clamping finger 21 can be manually opened by applying external force to the fingertip segment 222 to safely release the part that was accidentally clamped, thus improving the safety of the clamping device 10.

[0233] It should be noted that the biasing force refers to a continuous, unidirectional elastic force or torque applied by the elastic element 4 to the mechanical component. In this embodiment, the biasing force is the elastic restoring force or restoring torque generated when the elastic element 4 deforms and acts on the fingertip segment 222. The direction of this force or torque is configured to make the fingertip segment 222 tend to rotate toward the closing position.

[0234] Please refer to Figure 2 , Figure 3 , Figure 6 and Figure 7 In some embodiments, similar to the first clamping device, the elastic element 4 in the second clamping device can also be a torsion spring. The setting and connection of the torsion spring in the second clamping device are the same as those in the first clamping device, and will not be described again here.

[0235] It is understandable that when the elastic element 4 is a torsion spring, the elastic restoring torque generated by the torsional deformation of the torsion spring acts on the fingertip segment 222, thereby enabling the fingertip segment 222 to always have a tendency to move towards the mounting base 1, and thus enabling the fingertip 2221 to always have a tendency to move towards the mounting base 1, thereby enabling the fingertip 2221 to adaptively conform to the contour of the part to be clamped, and improving the uniformity of the clamping force distribution.

[0236] Please refer to Figure 5 In some embodiments, similar to the first clamping device, the second clamping device also has an overlapping area, a protrusion 2211, and an insertion interface 2222 for the fingertip segment 222 and the finger root segment 221. The connection method between the protrusion 2211 and the insertion interface 2222 is the same as that of the first clamping device, and the achieved effect is also the same: the protrusion 2211 can act as a connecting shaft, rotating around its own axis within the insertion interface 2222, thereby realizing a rotational connection between the fingertip segment 222 and the finger root segment 221. Further details will not be elaborated here.

[0237] Please refer to Figure 3 , Figure 5 , Figure 6 and Figure 7 In some embodiments, similar to the first clamping device, the second clamping device also has a first groove 2223 at the position corresponding to the first end 41 of the elastic member 4, and a second groove 2212 at the position corresponding to the second end 42 of the elastic member 4. The first end 41 of the elastic member 4 is disposed in the first groove 2223, and the second end 42 is disposed in the second groove 2212, so that the end of the torsion spring can be housed inside the structure of the clamping finger 21, thereby reducing the radial protrusion of the clamping finger 21 and saving installation space.

[0238] Please refer to Figure 3 , Figure 5 , Figure 6 and Figure 7 In some embodiments, the second clamping device also has a first limiting part 2213 and / or a second limiting part 2224 as described in the first clamping device. The structure of the first limiting part 2213 and the second limiting part 2224 has the same effect as preventing the end of the torsion spring from coming out, enhancing the connection reliability and ensuring the stability of the clamping force, and will not be described again here.

[0239] Please refer to Figure 3 and Figure 5 In some embodiments, the second clamping device also has a limiting structure as described in the first clamping device above, consisting of a protrusion 2211, a slot 2211a and a limiting member 22. The construction of the limiting structure has the same effect as preventing the fingertip segment 222 from separating axially from the finger root segment 221 and ensuring structural stability, and will not be described again here.

[0240] Please refer to Figure 2 , Figure 3 and Figure 5 In some embodiments, the drive unit of the second clamping device also employs the same transmission structure as described in the first clamping device, consisting of a motor, a worm gear, and an arc-shaped rack portion 2214 meshing with each finger root segment 221. The specific composition, connection relationship, and working principle and effect of synchronously driving all clamping fingers 21 to close or open are the same as those of the drive structure 3, and will not be repeated here.

[0241] In other embodiments, the drive structure 3 can also achieve synchronous closing and opening of each gripping finger 21 through a gear transmission mechanism. For example, a central gear is connected to the motor output shaft, and a sector gear meshing with the central gear is connected to the inner side of each finger root segment 221. When the motor drives the central gear to rotate, the central gear simultaneously drives all sector gears to rotate synchronously, thereby causing all finger root segments 221 to rotate synchronously inward or outward, achieving synchronous closing and opening of the gripping fingers 21.

[0242] Please refer to Figures 3 to 5 In some embodiments, the mounting base 1 of the second clamping device also has the clearance groove 14 as described in the first clamping device. The opening position of the clearance groove 14, its communication relationship with the receiving cavity 13, and its clearance effect on the rotation of the finger root segment 221 are the same, and will not be described again here.

[0243] Please refer to Figure 4 and Figure 5 In some embodiments, the second clamping device, when in the retracted state, also achieves the structural state described in the first clamping device above, where the finger root segment 221 is partially housed in the clearance groove 14. The effect of reducing the overall size and improving the structural compactness is the same, and will not be repeated here.

[0244] Please refer to Figure 5 In some embodiments, the clamping finger 21 of the second clamping device also includes a flexible finger sleeve 23 as described in the first clamping device, the flexible finger sleeve 23 being sleeved on the outside of the fingertip 2221. The structure, material properties, and effects of the flexible finger sleeve 23 in increasing friction, buffering pressure, protecting the surface of the workpiece to be clamped, and enhancing anti-slip ability during the clamping process are the same, and will not be described again here.

[0245] Please refer to Figure 2 , Figure 3 and Figure 5 In some embodiments, there are four clamping components 2, which are evenly distributed around the circumference of the mounting base 1.

[0246] Compared to the scheme with only two clamping components 2, the second clamping device, during the closing process of the clamping components 2, if the object to be clamped is not at the center position of each clamping finger 21, will preferentially contact at least one clamping finger 21. Under the continuous synchronous closing movement of the clamping components 2, the object to be clamped will be subjected to asymmetrical contact forces and pushed until all four clamping fingers 21 contact and clamp the object evenly from all sides, thus automatically positioning and clamping the object to the center position of the four clamping components 2. Therefore, for objects with complex curved surfaces such as spheres, the second clamping device can provide more uniform support and constraint, thereby improving the clamping ability for complex-shaped objects and ultimately enhancing the clamping effect of the second clamping device.

[0247] Please refer to Figure 2 , Figure 3 and Figure 5This application also provides a third clamping device, which differs from the first and second clamping devices described above. The main difference is that the third clamping device includes at least three clamping components 2, each including a clamping arm. At least one clamping arm is movably connected to the drive structure 3 via an elastic member 4. The elastic member 4 is configured to apply a biasing force to the clamping arm to which it is connected, maintaining it in a retracted position, and allowing the clamping arm to rotate outward against the biasing force when subjected to an external force exceeding a threshold.

[0248] The third clamping device provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0249] Please refer to Figure 2 , Figure 3 and Figure 5 The third clamping device provided in this application embodiment, by setting at least three clamping components 2 arranged at intervals along the axial direction of the mounting base 1 and simultaneously retracting each clamping component 2, allows multiple clamping components 2 to approach the workpiece to be clamped from multiple directions, thereby enabling the workpiece to be wrapped and supported in more directions. Thus, for workpieces with complex curved surfaces such as spheres, the clamping device 10 can provide more uniform support force and constraint, thereby improving the clamping ability for workpieces with complex shapes and ultimately enhancing the clamping effect of the clamping device 10.

[0250] In this embodiment, the third clamping device includes at least three clamping components 2. Exemplarily, the number of clamping components 2 can be three, four, or five, and this embodiment does not impose a specific limitation on this.

[0251] During the retraction of each clamping component 2, if the object to be clamped is not at the center of each clamping finger 21, the surface of the object will preferentially contact at least one clamping arm. Under the continuous synchronous retraction movement of each clamping component 2, the object to be clamped will be subjected to asymmetrical contact forces and pushed until each clamping arm contacts and clamps the object evenly from all sides. This allows the clamping device 10 to automatically position the object to be clamped at the center of the multiple clamping components 2, ensuring that the object is evenly subjected to clamping forces from the multiple clamping components 2, thereby guaranteeing clamping stability.

[0252] Compared to solutions with only two clamping components 2, this embodiment of the application uses at least three clamping components 2 arranged circumferentially and retracting synchronously. This achieves automatic alignment while allowing multiple clamping arms to approach the workpiece from multiple directions, thus providing more comprehensive coverage and support. For spherical or other complex-shaped workpieces, the clamping device 10 provides more uniform support and constraint, improving its gripping ability and overall clamping effectiveness.

[0253] Furthermore, by movably connecting at least one clamping arm to the drive structure 3 via the elastic element 4, the clamping arm, under the biasing force of the elastic element 4, always tends to rotate towards the mounting base 1. This allows the clamping device 10 to automatically adapt the clamping arm to the shape and size of the parts to be clamped when clamping different sizes, thus ensuring effective clamping of parts of varying sizes. When the drive structure 3 stops actively driving or is de-energized, the biasing force applied by the elastic element 4 maintains a preload on the parts to be clamped through the clamping arm, preventing the parts from slipping out of the clamping state under gravity or vibration, thereby further ensuring clamping stability.

[0254] Please refer to Figure 2 , Figure 3 and Figure 5 By incorporating the elastic element 4, when the clamping arm is subjected to an outward force exceeding the maximum bias force provided by the elastic element 4 (i.e., exceeding a threshold force), the clamping arm can overcome the bias force and rotate outward. Thus, if the clamping device 10 accidentally clamps a component that should not be clamped, or if the drive structure 3 malfunctions and cannot release the component actively, the clamping arm can be manually opened by applying external force to safely release the accidentally clamped component, thereby improving the safety of the clamping device 10.

[0255] It should be noted that the outward rotation of the clamping arm means that the clamping arm rotates away from the central area of ​​the mounting base 1, which is opposite to the direction of movement of the clamping arm driven by the drive structure 3 to retract.

[0256] Due to the flexible connection of the elastic element 4, the clamping arm has a certain floating capability. In this way, during the clamping process, the clamping arm can float independently at a certain angle according to the actual shape of the surface of the workpiece to be clamped, thereby adaptively conforming to the local contour of the workpiece to be clamped. This allows the clamping arm to better adapt to workpieces of different shapes and makes the clamping force distribution more uniform.

[0257] Please refer to Figure 2 , Figure 3 and Figure 5In some embodiments, the clamping arm includes a fingertip segment 222, and the driving structure 3 has a finger root segment 221 at the position corresponding to each fingertip segment 222. One end of the finger root segment 221 is rotatably connected to the mounting base 1, and the other end of the finger root segment 221 is rotatably connected to the corresponding fingertip segment 222. An elastic member 4 is connected between the finger root segment 221 and the corresponding fingertip segment 222, so that the clamping arm and the driving structure 3 are movably connected through the elastic member 4. Thus, the biasing force applied by the elastic member 4 makes the fingertip 2221 always tend to retract toward the mounting base 1, thereby improving the clamping effect of the clamping arm on the object to be clamped.

[0258] Please refer to Figure 2 , Figure 3 and Figure 5 In some embodiments, the third clamping device further includes a motor, the drive structure 3 is a worm, the finger root segment 221 is provided with a rack portion 2214 that meshes with the worm, the motor is connected to the worm to drive the worm to rotate relative to the mounting base 1.

[0259] The specific structure and connection method of the motor and worm gear have been described in the first type of clamping device mentioned above, and will not be repeated here.

[0260] In this embodiment, the finger root segment 221 is provided with a rack portion 2214 that meshes with the worm gear. Its meshing and transmission principle is the same as that of the first clamping device, and will not be described again here.

[0261] In this embodiment, the rack portion 2214 can be arc-shaped. In this case, the tangential driving force of the worm on the rack portion 2214 will directly drive the finger root segments 221 to rotate around their connection point with the mounting base 1. By controlling the rotation direction of the worm, all finger root segments 221 meshing with the worm can be controlled to rotate synchronously inward or outward, thereby realizing the synchronous retraction or synchronous opening of all clamping arms around the center of the mounting base 1.

[0262] In other embodiments, the rack portion 2214 may also be of other shapes, and the drive structure 3 may also be a gear or other structure. This embodiment does not impose any restrictions on this.

[0263] Please refer to Figure 5 In some embodiments, the clamping arm further includes flexible finger sleeves 23, which are fitted onto the fingertip segment 222 for contacting the part to be clamped. During the clamping process, when the fingertip segment 222 contacts the surface of the part to be clamped through the flexible finger sleeves 23, the flexible finger sleeves 23 can deform to better conform to the local contour of the part to be clamped. This not only increases the frictional force of the contact, thereby improving the stability of the clamping, but also reduces the pressure on the surface of the fragile or precision part to be clamped through the elastic cushioning effect of the flexible finger sleeves 23, thus protecting the part to be clamped.

[0264] Meanwhile, the rough or high-friction coefficient surface of the flexible finger sleeve 23 can further enhance the anti-slip ability, thereby further improving the stability of clamping and improving the clamping ability of the clamping device 10.

[0265] Please refer to Figure 2 , Figure 3 and Figure 5 In some embodiments, there are four clamping arms, which are evenly distributed along the circumference of the mounting base 1.

[0266] Specifically, during the retraction of each clamping arm, if the object to be clamped is not centered on any of the clamping arms, its surface will preferentially contact at least one clamping arm. Under the continuous synchronous retraction movement of each clamping component 2, the object to be clamped will be subjected to asymmetrical contact forces and pushed until all four clamping arms contact and clamp the object evenly from all sides. This allows the clamping device 10 to automatically position and clamp the object to be clamped at the center of the four clamping components 2, ensuring that the object is evenly subjected to clamping forces from the four clamping components 2, thereby guaranteeing clamping stability.

[0267] Compared to solutions with only two gripping arms, the third gripping device employs four circumferentially evenly spaced gripping arms that retract synchronously. This achieves automatic centering (i.e., self-centering) while allowing the four gripping arms to approach the workpiece from four directions, thus providing more comprehensive support and enclosure. For workpieces with complex curved surfaces, such as spheres, the gripping device 10 provides more uniform support and constraint, enhancing its gripping ability and ultimately improving the overall gripping performance of the third type of device.

[0268] Please refer to Figure 2 , Figure 3 , Figure 6 and Figure 7 In some embodiments, similar to the first clamping device, the elastic element 4 in the third clamping device can also be a torsion spring, which is sleeved at the rotational connection between the clamping arm and the drive structure 3.

[0269] Specifically, a torsion spring is sleeved on the rotation axis of the fingertip segment 222 relative to the finger root segment 221, so that the geometric axis of the torsion spring can remain coaxial with the aforementioned rotation axis. In this way, the elastic restoring torque generated by the torsional deformation of the torsion spring can act on the clamping arm, so that the clamping arm always has a tendency to move towards the mounting base 1, and thus the clamping arm ultimately has a tendency to move towards the mounting base 1, thereby enabling the clamping arm to adaptively conform to the contour of the workpiece to be clamped, improving the uniformity of the clamping force distribution.

[0270] Please refer to Figure 3 , Figure 5 , Figure 6 and Figure 7 In some embodiments, a limiting structure 5 is provided between the clamping arm and the driving structure 3. The limiting structure 5 is used to limit the rotation angle of the clamping arm relative to the driving structure 3, so as to limit the rotation angle of the clamping arm within a certain range.

[0271] Specifically, when the clamping arm is in the retracted position under the biasing force of the elastic element 4, or rotates outward under external force, the rotation angle of the clamping arm is limited by the limiting structure 5. This allows the clamping arm to quickly retract to the center area on the front side of the mounting base during the retraction process. Simultaneously, this also limits the maximum angle at which the clamping arm can safely rotate outward, preventing excessive outward rotation during manual release or accidental force application, which could lead to interference with the mounting base 1 or other clamping arms, or overload damage to the elastic element 4, connecting shaft, etc., thus ensuring the structural safety and reliability of the clamping arm during overload release.

[0272] Please refer to Figure 3 , Figure 5 , Figure 6 and Figure 7 In some embodiments, the limiting structure 5 includes a limiting groove 51 and a limiting protrusion 52. One of the limiting groove 51 and the limiting protrusion 52 is disposed on the root segment 221 of the driving structure 3, and the other is disposed on the tip segment 222 of the clamping arm. The limiting protrusion 52 is located in the limiting groove 51 and can move within the limiting groove 51.

[0273] Specifically, a limiting groove 51 is formed on the fingertip segment 222, and a limiting protrusion 52 is provided on the finger root segment 221. The limiting protrusion 52 extends into the limiting groove 51 of the fingertip segment 222. When the fingertip segment 222 rotates relative to the finger root segment 221, the limiting groove 51 on the fingertip segment 222 moves relative to the limiting protrusion 52 on the finger root segment 221. When the fingertip segment 222 rotates to its limit angle, one end of the groove wall of the limiting groove 51 contacts and abuts against the limiting protrusion 52, thereby preventing the fingertip segment 222 from continuing to rotate in that direction, thus achieving mechanical limitation on the rotation direction of the fingertip segment 222.

[0274] In this embodiment, the limiting groove 51 includes a first groove 2223 or a second groove 2212, and the limiting protrusion 52 includes a first limiting part 2213 and a second limiting part 2224. The first groove 2223 is formed on the fingertip segment 222, and the second groove 2212 is formed on the finger root segment 221. The first limiting part 2213 is disposed in a portion of the opening of the first groove 2223, and the second limiting part 2224 is disposed in a portion of the opening of the second groove 2212. Thus, during the rotation of the fingertip segment 222 relative to the finger root segment 221, the first limiting part 2213 moves within the first groove 2223 and its movement range is limited by the groove wall of the first groove 2223, while the second limiting part 2224 moves within the second groove 2212 and its movement range is limited by the groove wall of the second groove 2212. This allows the rotation angle of the fingertip segment 222 relative to the finger root segment 221 to be limited from two positions, ensuring the stability and accuracy of the limiting.

[0275] In addition, similar to the first and second clamping devices mentioned above, the first end 41 and the second end 42 of the torsion spring in this embodiment can also be respectively disposed in the first groove 2223 and the second groove 2212, thereby being blocked by the first limiting part 2213 and the second limiting part 2224, so as to prevent the torsion spring from coming out while ensuring the stability of the clamping force. This will not be elaborated further here.

[0276] Please refer to Figure 1 This application also provides a cleaning device 100, including a first, second, or third clamping device in any of the above embodiments. The mounting base 1 in the clamping device 10 is mounted on the robotic arm 20. For example, the mounting base 1 can be mounted on the end effector of the robotic arm 20.

[0277] For example, the mounting base 1 can be detachably mounted to the end effector of the robotic arm 20.

[0278] The specific structure of the clamping device 10 has been described in the above embodiments and will not be repeated here.

[0279] In this embodiment, the robotic arm 20 is mounted on the body 30 of the cleaning device 100. The robotic arm 20 has multiple joints and can perform multi-degree-of-freedom movements under the control of the drive device, thereby driving the clamping device 10 to move in three-dimensional space. When the cleaning device 100 moves on the surface to be cleaned and encounters a part to be clamped, the drive device can control the movement of the robotic arm 20 to position the clamping device 10 at the spatial position of the part to be clamped. Subsequently, the clamping device 10 can perform operations such as opening and closing to clamp the part to be clamped, thereby completing the cleaning task.

[0280] Please refer to Figure 1 and Figure 3The cleaning device 100 provided in this application includes the clamping device 10 in any of the above embodiments, and therefore has the beneficial effects of the clamping device 10. It can be moved to the target position by the robotic arm 20, and the clamping components 2 are synchronously driven by the drive structure 3 to retract to clamp the object to be clamped. During the retraction process, each clamping component 2 can automatically center and clamp the object to be clamped from all sides, achieving stable clamping and automatic centering of spherical or other complex-shaped objects, thus improving the clamping effect.

[0281] Furthermore, since the movement of each clamping component 2 is synchronously driven by the drive structure 3, at the control level, the control algorithm of the cleaning device 100 only needs to perform trajectory planning and position control on the output of a single drive structure 3 to determine the final pose of all clamping components 2. This avoids complex cooperative motion trajectory calculations and real-time coordination control for multiple independently driven clamping components 2, thereby simplifying the overall control logic and algorithm complexity of the clamping position of the clamping device 10 by the cleaning device 100 and reducing the production cost of the cleaning device 100.

[0282] Please refer to Figure 1 This application also provides a cleaning system, including a base station and a cleaning device 100 as described in any of the above embodiments, wherein the base station is used to charge the cleaning device 100.

[0283] The specific structure of the cleaning equipment 100 has been described in the above embodiments and will not be repeated here.

[0284] Please refer to Figure 1 and Figure 3 The cleaning system provided in this application includes the cleaning device 100 in any of the above embodiments, and therefore has the beneficial effects of the cleaning device 100. It can move the clamping device 10 to the target position via the robotic arm 20, and the driving structure 3 synchronously drives each clamping component 2 to retract to clamp the object to be clamped. During the retraction process, each clamping component 2 can automatically center and clamp the object from all sides, achieving stable clamping and automatic centering of complex-shaped objects such as spheres or cylinders, thus improving the clamping effect.

[0285] The embodiments or implementation methods in this application are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other.

[0286] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0287] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, display structure, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or device.

[0288] The term "and / or" used in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0289] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0290] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A clamping device for use in cleaning equipment, characterized in that, include: Mounting base; A plurality of clamping assemblies, including a first clamping assembly, a second clamping assembly, a third clamping assembly, and a fourth clamping assembly arranged circumferentially spaced along the mounting base; each clamping assembly includes a clamping finger, the clamping finger including a base segment and a tip segment, one end of the base segment being rotatably connected to the mounting base, the tip segment being rotatably connected to the end of the base segment opposite to the mounting base, and the end of the tip segment opposite to the base segment having a fingertip portion; A driving structure is connected to each of the finger root segments to drive the finger root segments to rotate relative to the mounting base, so that each of the clamping fingers opens or closes synchronously on the same side of the mounting base. During the retraction process, the fingertip of the clamping finger is configured to point towards the side where the mounting base is located; The clamping assembly also includes an elastic element connected between the base of the finger and the tip of the finger, and configured to always cause the tip of the finger to tend to move toward the mounting base.

2. The clamping device according to claim 1, characterized in that, When the clamping fingers are in the retracted state, the tips of each finger are retracted to the front side of the mounting base, and the projection of each finger tip on the front side is located in the central region of the front side.

3. The clamping device according to claim 1, characterized in that, The mounting base has a top and a bottom that are oppositely disposed in the thickness direction, the first clamping component and the second clamping component are distributed on both sides of the top of the mounting base, and / or the third clamping component and the fourth clamping component are distributed on both sides of the bottom of the mounting base.

4. The clamping device according to claim 3, characterized in that, The first clamping component and the fourth clamping component are symmetrically distributed on both sides of the mounting base in the thickness direction, and the second clamping component and the third clamping component are symmetrically distributed on both sides of the mounting base in the thickness direction.

5. The clamping device according to claim 3, characterized in that, The first clamping assembly and the second clamping assembly are symmetrically distributed at the top of the mounting base, and the third clamping assembly and the fourth clamping assembly are symmetrically distributed at the bottom of the mounting base.

6. The clamping device according to claim 1, characterized in that, The elastic element is a torsion spring, the central axis of which is coaxial with the rotation center of the fingertip segment. The torsion spring has a first end and a second end, the first end being connected to the fingertip segment and the second end being connected to the finger root segment. The torsion spring is configured to give the fingertip a tendency to move toward the side where the mounting base is located.

7. The clamping device according to claim 6, characterized in that, The fingertip segment and the finger root segment have an overlapping area at one end where they are connected. One of the fingertip segment and the finger root segment has a protrusion in the overlapping area, and the other has an insertion interface in the overlapping area. The protrusion is inserted into the insertion interface and can rotate within the insertion interface.

8. The clamping device according to claim 7, characterized in that, The torsion spring is located between the fingertip segment and the finger root segment, and is sleeved on the outside of the protrusion.

9. The clamping device according to claim 8, characterized in that, The fingertip segment has a first groove at the position corresponding to the first end, and the first end is disposed in the first groove. The finger root segment has a second groove at the position corresponding to the second end, and the second end is disposed in the second groove.

10. The clamping device according to claim 9, characterized in that, The end where the finger root segment connects to the fingertip segment also has a first limiting part, which is located in a portion of the opening of the first groove; and / or, the end where the fingertip segment connects to the finger root segment also has a second limiting part, which is located in a portion of the opening of the second groove.

11. The clamping device according to claim 7, characterized in that, Part of the protrusion extends out of the insertion interface and has a slot on its peripheral side; The clamping assembly further includes a limiting member, which is sleeved on the outside of the protrusion and a portion of the limiting member extends into the slot.

12. The clamping device according to any one of claims 1-11, characterized in that, It also includes a motor, the drive structure is a worm gear, the mounting base has a receiving cavity, the worm gear is rotatably disposed in the receiving cavity, and the motor is connected to the worm gear to drive the worm gear to rotate relative to the mounting base; The finger root segment has an arc-shaped rack portion facing the worm, and the worm meshes with the rack portion of each finger root segment; a portion of each rack portion is disposed within the receiving cavity and is spaced apart in the circumferential direction of the worm.

13. The clamping device according to claim 12, characterized in that, The surface of the mounting base has a clearance groove at a position corresponding to the rotation trajectory of the finger root segment, and the clearance groove communicates with the receiving cavity; The portion of the finger root segment is located in the clearance groove and is rotatably connected to the mounting base.

14. The clamping device according to claim 13, characterized in that, When the clamping finger is in the retracted state, at least a portion of the finger root segment is accommodated within the clearance groove.

15. The clamping device according to any one of claims 1-11, characterized in that, The clamping finger also includes a flexible finger sleeve, which is fitted over the outside of the fingertip.

16. A clamping device, characterized in that, include: Mounting base; At least three clamping assemblies are arranged circumferentially spaced along the mounting base, each clamping assembly including a clamping finger, the clamping finger comprising: The root segment is rotatably connected to the mounting base at one end; The fingertip segment is rotatably connected to the other end of the finger root segment; A drive structure is disposed on the mounting base and is connected to each of the finger root segments to drive the finger root segments to rotate synchronously relative to the mounting base, thereby causing each of the clamping fingers to open or close. The rotational connection between the fingertip segment and the finger root segment is configured to allow the fingertip segment to rotate outward relative to the finger root segment when the fingertip segment is subjected to an external force exceeding a threshold.

17. The clamping device according to claim 16, characterized in that, When the clamping fingers are in the retracted state, the tips of each finger are retracted to the front side of the mounting base, and the projection of each finger tip on the front side is located in the central region of the front side.

18. The clamping device according to claim 17, characterized in that, It also includes an elastic element connected between the base of the finger and the tip of the finger, configured to apply a biasing force to the tip of the finger to maintain it in a closed position.

19. The clamping device according to claim 18, characterized in that, The elastic element is a torsion spring, the central axis of which is coaxial with the rotation center of the fingertip segment. The torsion spring has a first end and a second end, the first end being connected to the fingertip segment and the second end being connected to the finger root segment.

20. The clamping device according to claim 19, characterized in that, The fingertip segment and the finger root segment have an overlapping area at one end where they are connected. One of the fingertip segment and the finger root segment has a protrusion in the overlapping area, and the other has an insertion interface in the overlapping area. The protrusion is inserted into the insertion interface and can rotate within the insertion interface.

21. The clamping device according to claim 20, characterized in that, The torsion spring is located between the fingertip segment and the finger root segment, and is sleeved on the outside of the protrusion.

22. The clamping device according to claim 21, characterized in that, The fingertip segment has a first groove at the position corresponding to the first end, and the first end is disposed in the first groove; the finger root segment has a second groove at the position corresponding to the second end, and the second end is disposed in the second groove.

23. The clamping device according to claim 22, characterized in that, The end where the finger root segment connects to the fingertip segment also has a first limiting part, which is located in a portion of the opening of the first groove; and / or, the end where the fingertip segment connects to the finger root segment also has a second limiting part, which is located in a portion of the opening of the second groove.

24. The clamping device according to claim 20, characterized in that, Part of the protrusion extends out of the insertion interface and has a slot on its peripheral side; The clamping assembly further includes a limiting member, which is sleeved on the outside of the protrusion and a portion of the limiting member extends into the slot.

25. The clamping device according to any one of claims 16-24, characterized in that, It also includes a motor, the drive structure is a worm gear, the mounting base has a receiving cavity, the worm gear is rotatably disposed in the receiving cavity, and the motor is connected to the worm gear to drive the worm gear to rotate relative to the mounting base; The finger root segment has an arc-shaped rack portion facing the worm, and the worm meshes with the rack portion of each of the finger root segments; Each of the rack portions is disposed within the receiving cavity and spaced apart circumferentially from the worm.

26. The clamping device according to claim 25, characterized in that, The surface of the mounting base has a clearance groove at a position corresponding to the rotation trajectory of the finger root segment, and the clearance groove communicates with the receiving cavity; The portion of the finger root segment is located in the clearance groove and is rotatably connected to the mounting base.

27. The clamping device according to claim 26, characterized in that, When the clamping finger is in the retracted state, at least a portion of the finger root segment is accommodated within the clearance groove.

28. The clamping device according to any one of claims 16-24, characterized in that, The clamping finger also includes a flexible finger sleeve, which is fitted over the outside of the fingertip.

29. The clamping device according to claim 16, characterized in that, There are four clamping components, which are evenly distributed along the circumference of the mounting base.

30. A cleaning device, characterized in that, include: robotic arm; The clamping device according to any one of claims 1-29, wherein the mounting base of the clamping device is mounted on the robotic arm.

31. A cleaning system, characterized in that, include: Base station; The cleaning device as claimed in claim 30, wherein the base station is used to charge the cleaning device.

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