Flexible gripper

Abstract

The application discloses a flexible gripper, which comprises a driving assembly and a transmission assembly installed in a shell and connected with each other, a clamping piece arranged outside the shell and comprising first and second clamping parts and first and second deformation parts and a connecting part, one end of the connecting part being rigidly connected to the transmission assembly and the other end being elastically connected to the first and second clamping parts, the first and second clamping parts being symmetrically arranged along a first direction, the first deformation part being connected between the first clamping part and the shell, and the second deformation part being connected between the second clamping part and the shell; when the transmission assembly moves along a second direction, the connecting part can be forced to make the first and second deformation parts deform, so that the first and second clamping parts simultaneously move along a third direction and approach or move away from each other, thereby realizing clamping and loosening of an object. The flexible gripper has the advantages of improved opening synchronization of the first and second clamping parts, stable clamping, high clamping precision and reduced risk of damaging precise and fragile micro devices / components.

Description

Technical Field

[0001] This invention relates to the field of precision machining technology, and in particular to a flexible gripper suitable for holding micro-devices / components. Background Technology

[0002] In automated operations such as precision electronics manufacturing, semiconductor packaging, and the transfer and assembly of micro-components, micro-grippers are the core actuators for achieving precise clamping and stable transfer of micro-devices / components. Their clamping synchronization, motion symmetry, and clamping accuracy directly determine the yield rate of product processing and transfer, as well as the operational stability of automated equipment.

[0003] Currently, most grippers used in the industry for holding micro-devices / components employ traditional gear and rack transmission structures. The driving power is transmitted to the left and right gripping parts through the meshing of the gears and racks, thus achieving gripping and releasing. However, gear and rack transmission structures are prone to misalignment due to factors such as meshing clearance, assembly tolerances, and component wear. This can lead to the two gripping parts not achieving perfectly synchronized opening and closing movements, resulting in the grippers failing to provide stable clamping of micro-devices / components. Consequently, issues such as gripping misalignment, unilateral pressure, and loosening or detachment can easily occur. This not only causes misalignment and transfer failures but can also damage delicate and fragile micro-devices / components due to pressure, severely impacting the operational accuracy and production efficiency of automated production lines. Furthermore, the rigid transmission characteristics of gear and rack structures, lacking flexible buffer space, cannot accommodate the subtle dimensional errors of micro-devices / components during clamping, further increasing the risk of damage. Summary of the Invention

[0004] The technical solution of the present invention is as follows: A flexible gripper is provided, comprising a housing, a driving assembly, a transmission assembly, and a clamping member; wherein, the driving assembly is mounted on the housing; the transmission assembly is mounted on the housing and connected to the driving assembly; the clamping member is disposed outside the housing, and the clamping member is an integrated structure, comprising a first clamping part, a second clamping part, a first deformable part, a second deformable part, and a connecting part; one end of the connecting part is rigidly connected to the transmission assembly, and the other end of the connecting part is elastically connected to the first clamping part and the second clamping part; the first clamping part and the second clamping part extend along a first direction and are symmetrically arranged; the first deformable part connects the first clamping part and the housing, and the second deformable part connects the second clamping part and the housing; the transmission assembly can be driven by the driving assembly... The downward movement is caused, and a force is applied to the connecting portion along the second direction, so that the first deformable portion and the second deformable portion deform, thereby causing the first clamping portion and the second clamping portion to move simultaneously along the third direction and move closer or further apart from each other; wherein, the second direction, the first direction, and the third direction intersect each other; the connecting portion includes a first rigid portion and a third deformable portion and a fourth deformable portion, the third deformable portion is connected between the first clamping portion and the first rigid portion, the fourth deformable portion is connected between the second clamping portion and the first rigid portion, the first rigid portion is connected to the transmission assembly, when the transmission assembly applies a force to the first rigid portion, the third deformable portion and the fourth deformable portion can deform simultaneously, thereby applying a force to the first clamping portion and the second clamping portion simultaneously through the third deformable portion and the fourth deformable portion.

[0005] Preferably, both the third deformable portion and the fourth deformable portion extend along the second direction, and at least one of both is provided.

[0006] Preferably, the connecting portion further includes a second rigid portion and a third rigid portion, wherein the second rigid portion is located between the first deformable portion and the third deformable portion and is fixed to the first rigid portion, and the third rigid portion is located between the second deformable portion and the fourth deformable portion and is fixed to the first rigid portion.

[0007] Preferably, the connecting portion further includes a fifth deformable portion, a sixth deformable portion, a fourth rigid portion, and a fifth rigid portion. The fifth deformable portion extends along the third direction and connects to the first rigid portion and the fourth rigid portion, and the fourth rigid portion is also connected to the third deformable portion. The sixth deformable portion extends along the third direction and connects to the first rigid portion and the fifth rigid portion, and the fifth rigid portion is also connected to the fourth deformable portion. The first rigid portion applies force to the first clamping portion through the fifth deformable portion, the fourth rigid portion, and the third deformable portion, and applies force to the second clamping portion through the sixth deformable portion, the fifth rigid portion, and the fourth deformable portion.

[0008] Preferably, the lengths of the first deformable portion and the second deformable portion are L1, and the lengths of the third deformable portion and the fourth deformable portion are L2, and L1:L2 = 2~2.5.

[0009] Preferably, in the third direction, the thickness of the first deformable portion and the second deformable portion is W1, the thickness of the third deformable portion and the fourth deformable portion is W2, the thickness of the fourth rigid portion and the fifth rigid portion is W3, and W1:W2=1~1.5, W3:W2=4~6.

[0010] Preferably, the bottom surface of the first clamping part is provided with a first protruding platform, and the top end of the third deformable part is connected to the first protruding platform; the bottom surface of the second clamping part is provided with a second protruding platform, and the top end of the fourth deformable part is connected to the second protruding platform.

[0011] Preferably, the length of the third deformable portion is greater than the length of the fifth deformable portion, the length of the fourth deformable portion is greater than the length of the sixth deformable portion, and the stiffness of the third deformable portion is greater than or equal to the stiffness of the fifth deformable portion, and the stiffness of the fourth deformable portion is greater than or equal to the stiffness of the sixth deformable portion.

[0012] Preferably, both the first clamping portion and the second clamping portion include a first clamping segment, a second clamping segment, a third clamping segment, and a fourth clamping segment. The second clamping segment is connected between the first clamping segment and the third clamping segment and is set at an angle to both the first clamping segment and the third clamping segment. The fourth clamping segment is connected to the end of the third clamping segment and is bent relative to the third clamping segment. When the first clamping segment is elastically connected to the connecting portion, both the first clamping segment and the third clamping segment extend along the first direction, and the fourth clamping segment of the first clamping portion and the second clamping portion protrudes towards each other along the third direction.

[0013] Preferably, the lengths of the first clamping segment, the second clamping segment, the third clamping segment, and the fourth clamping segment decrease sequentially, which helps to reduce plastic deformation and thus reduces the deformation of the clamping end when elastically clamping the object, making the clamping more stable.

[0014] Preferably, the outer diameters of the first clamping segment, the second clamping segment, the third clamping segment, and the fourth clamping segment gradually decrease, which helps to reduce plastic deformation and thus reduces the deformation of the clamping end when elastically clamping the object, making the clamping more stable.

[0015] Preferably, the clamping member further includes a first mounting portion and a second mounting portion, the first deformable portion being connected between the first mounting portion and the first clamping portion, the second deformable portion being connected between the second mounting portion and the second clamping portion, and the first mounting portion and the second mounting portion being respectively mounted on the housing.

[0016] Preferably, one end of the housing is provided with a first mounting surface and a second mounting surface located on the same plane. The first mounting part is mounted on one of the first mounting surface and the second mounting surface, and the second mounting part is mounted on the other of the first mounting surface and the second mounting surface. The first mounting surface and the second mounting surface are located on the same plane, which is beneficial for providing a high-precision mounting reference for the clamping part, and also facilitates high-precision machining.

[0017] Preferably, the first deformable portion and the second deformable portion extend along the second direction or extend at an angle relative to the second direction, and the first deformable portion and the second deformable portion are symmetrically arranged, which is conducive to elastic deformation and reduces plastic deformation, and is conducive to elastically clamping the object.

[0018] Preferably, at least one of the first deformable portion and the second deformable portion are provided.

[0019] Preferably, the first deformable portion and the second deformable portion are arranged in parallel; in the projection plane perpendicular to the first direction, the endpoint of the first clamping portion away from the first deformable portion along the third direction is the first endpoint, the connection point between the first deformable portion and the first mounting portion is the second endpoint, the endpoint of the second clamping portion away from the second deformable portion along the third direction is the third endpoint, the connection point between the second deformable portion and the second mounting portion is the fourth endpoint, the angle between the line connecting the first endpoint and the second endpoint and the plane where the first mounting portion is located is between 45° and 60°, and the angle between the line connecting the third endpoint and the fourth endpoint and the plane where the second mounting portion is located is also between 45° and 60°.

[0020] Preferably, the extension lines of the first deformable portion and the second deformable portion intersect to form an angle; in the projection plane perpendicular to the first direction, the angle between the extension line of the first deformable portion and the plane where the first mounting portion is located is between 35° and 45°, and the angle between the extension line of the second deformable portion and the plane where the second mounting portion is located is between 35° and 45°. Preferably, the extension line of the first deformed part intersects the extension line of the third deformed part to form an angle; in the projection plane perpendicular to the first direction, the angle formed by the intersection of the extension line of the first deformed part and the extension line of the third deformed part is between 45° and 55°, and the angle formed by the intersection of the extension line of the second deformed part and the extension line of the fourth deformed part is between 45° and 55°.

[0021] Preferably, the transmission assembly includes a first transmission member and a second transmission member. The first transmission member is connected to the drive assembly and can rotate under the drive of the drive assembly. One end of the second transmission member is connected to the first transmission member, and the other end is connected to the connecting portion. The second transmission member can reciprocate along the second direction under the drive of the first transmission member, thereby applying force to the connecting portion.

[0022] Preferably, the second transmission member includes a first transmission connection portion and a second transmission connection portion, the first transmission connection portion being sleeved on the outside of the first transmission member and threadedly connected to the first transmission member, and the second transmission connection portion being connected to the connection portion.

[0023] Preferably, the housing has a through hole, through which the second transmission connection part passes out of the housing and is connected to the connection part.

[0024] Preferably, the flexible gripper further includes a guide assembly, which includes a slidingly engaged guide rail and a slider. One of the guide rail and the slider is mounted on the housing, and the other of the guide rail and the slider is mounted on the transmission assembly.

[0025] Compared with the prior art, the flexible gripper of the present invention has the following effects: First, the gripper is an integrated structure, including a first gripping part, a second gripping part, a first deformable part, a second deformable part, and a connecting part. One end of the connecting part is rigidly connected to the transmission component, and the other end of the connecting part is elastically connected to the first gripping part and the second gripping part. The first deformable part is connected between the housing and the first gripping part, and the second deformable part is connected between the housing and the second gripping part. In this way, when the transmission component applies force to the connecting part, the first deformable part and the second deformable part can deform, thereby causing the first gripping part and the second gripping part to move simultaneously along a third direction and move closer or further away from each other, so as to realize the gripping or releasing of micro devices / components, thereby improving the opening and closing synchronization of the first gripping part and the second gripping part and the gripping stability, thereby improving the gripping accuracy. Second, the first gripping part and the second gripping part are elastic, thus having a flexible buffer space, which can adapt to the slight shape error when gripping micro devices / components, reducing the risk of damaging micro devices / components. Therefore, the flexible gripper of the present invention can not only improve the gripping accuracy, but also reduce the risk of damaging delicate and fragile micro devices / components. It is especially suitable for high-precision, high-stability, and zero-damage gripping operations of micro devices / components, thereby helping to improve the operation accuracy and production efficiency of automated production lines or high-precision operations. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the flexible gripper in one embodiment of the present invention.

[0027] Figure 2 yes Figure 1 A schematic diagram of its internal structure.

[0028] Figure 3 yes Figure 1 A schematic diagram of the structure after removing the shell.

[0029] Figure 4 yes Figure 1 The exploded diagram.

[0030] Figure 5 yes Figure 4 A schematic diagram of the clamping component.

[0031] Figure 6 yes Figure 5 A structural diagram from another angle.

[0032] Figure 7 yes Figure 5 Side view.

[0033] Figure 8 yes Figure 7 A schematic diagram showing the clamping element moving to the clamping state.

[0034] Figure 9 This is a schematic diagram of the clamping member in another embodiment of the present invention.

[0035] Figure 10 yes Figure 9 A structural diagram from another angle.

[0036] Figure 11 yes Figure 9 Side view. Detailed Implementation

[0037] Embodiments of the present invention will now be described with reference to the accompanying drawings, in which similar element reference numerals represent similar elements. It should be noted that the directional descriptions involved in the present invention, such as up, down, left, right, front, and rear, indicating directions or positional relationships, are based on the directions or positional relationships shown in the drawings and are only for the convenience of describing the technical solutions of this application and / or 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. The terms "first," "second," etc., described are only used to distinguish technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0038] Combination Figures 1-11 As shown, in one embodiment of the present invention, the provided flexible gripper 100 includes a housing 110, a drive assembly 120, a transmission assembly 130, and a clamping member 140. The drive assembly 120 is installed inside the housing 110, and the transmission assembly 130 is installed in the housing 110 and connected to the drive assembly 120. The clamping member 140 is disposed outside the housing 110 and is an integral structure, including a first clamping portion 141, a second clamping portion 142, a first deformable portion 143, a second deformable portion 144, and a connecting portion 145. One end of the connecting portion 145 is rigidly connected to the transmission assembly 130, and the other end of the connecting portion 145 is elastically connected to the first clamping portion 141 and the second clamping portion 142. The first clamping portion 141 and the second clamping portion 142 extend along the first direction (Y direction) and are symmetrically arranged. The first deformable portion 143 is connected between the housing 110 and the first clamping portion 141, and the second deformable portion 144 is connected between the housing 110 and the second clamping portion 142. The transmission assembly 130 can move under the drive of the drive assembly 120 and apply force to the connecting portion 145 along the second direction (Z direction) so that the first deformable portion 143 and the second deformable portion 144 deform simultaneously, thereby driving the first clamping portion 141 and the second clamping portion 142 to move simultaneously along the third direction (X direction) and move closer or further apart, realizing the clamping and releasing of the object. The second direction (Z direction), the first direction (Y direction), and the third direction (X direction) are intersecting in pairs.

[0039] In one embodiment of the present invention, the second direction (Z direction), the first direction (Y direction), and the third direction (X direction) are perpendicular to each other, and the second direction (Z direction) is the height direction of the flexible gripper 100, the first direction (Y direction) is the width direction of the flexible gripper 100, and the third direction (X direction) is the length direction of the flexible gripper 100, but is not limited thereto.

[0040] The following is combined Figures 2-3 As shown, in one embodiment of the present invention, the connecting part 145 is located between the first deformable part 143 and the second deformable part 144. When the driving assembly 120 drives the transmission assembly 130 to move downward along the second direction, the transmission assembly 130 can apply force to the connecting part 145 to cause the first deformable part 143 and the second deformable part 144 to deform, thereby driving the first clamping part 141 and the second clamping part 142 to move simultaneously along the third direction (X direction) and move closer to each other, thereby realizing the clamping of the object.

[0041] The following is combined Figures 2-3 As shown, in one embodiment of the present invention, the flexible gripper 100 further includes a guide assembly 150 and a deceleration assembly 160. The guide assembly 150 is installed between the transmission assembly 130 and the housing 110, and is used to guide the movement of the transmission assembly 130. The deceleration assembly 160 is installed inside the housing 110 and is connected to the output end of the drive assembly 120 and one end of the transmission assembly 130, respectively. The drive assembly 120 drives the transmission assembly 130 to move through the deceleration assembly 160. Preferably, the drive assembly 120 and the transmission assembly 130 are arranged side-by-side inside the housing 110, and the deceleration assembly 160 is arranged laterally and connected between them, thereby making the structure compact and occupying little space, but this is not a limitation. The deceleration assembly 160 is a conventional structure in the art and will not be described in detail.

[0042] The following is combined Figures 1-5 , Figure 9 As shown, in one embodiment of the present invention, the clamping member 140 further includes a first mounting portion 146 and a second mounting portion 147. A first deformable portion 143 connects the first mounting portion 146 and the first clamping portion 141, and a second deformable portion 144 connects the second mounting portion 147 and the second clamping portion 142. The first mounting portion 146 and the second mounting portion 147 are respectively mounted on the housing 110, thereby making the installation of the clamping member 140 more convenient.

[0043] The following is combined Figure 1-2 , Figure 4As shown, in one embodiment of the present invention, one end of the housing 110 is provided with a first mounting surface 111 and a second mounting surface 112 located on the same plane. A first mounting part 146 is mounted on one of the first mounting surface 111 and the second mounting surface 112, and a second mounting part 147 is mounted on the other of the first mounting surface 111 and the second mounting surface 112. For example, the first mounting part 146 is mounted on the first mounting surface 111, and the second mounting part 147 is mounted on the second mounting surface 112, but this is not a limitation. The first mounting surface 111 and the second mounting surface 112 being located on the same plane is beneficial for providing a high-precision mounting reference for the clamping member 140, and also facilitates high-precision machining.

[0044] In this embodiment, a through hole 113 is provided on the housing 110, and the through hole 113 is located between the first mounting surface 111 and the second mounting surface 112. One end of the transmission assembly 130 passes through the through hole 113, exits the housing 110, and is connected to the connecting portion 145 of the clamping member 140. Figure 2 As shown. Of course, the transmission assembly 130 can also be completely housed within the housing 110.

[0045] The following is combined Figures 5-8 As shown, in one embodiment of the present invention, the first deformation portion 143 and the second deformation portion 144 extend along the second direction (Z direction). At least one of each of the first and second deformation portions 143 and 144 is provided, and they are symmetrically arranged. This facilitates elastic deformation of both portions and reduces plastic deformation, thus improving the elastic clamping of the object. In a specific embodiment, both the first and second deformation portions 143 and 144 extend along the second direction (Z direction), and two of each are provided. The two first deformation portions 143 and the two second deformation portions 144 are arranged parallel to each other. This structural arrangement allows for smoother and more simultaneous movement of the first clamping portion 141 and the second clamping portion 142, thereby improving the stability and accuracy of clamping the object.

[0046] Understandably, the first deformation part 143 and the second deformation part 144 are not limited to the above-described configuration, and other configurations may also be adopted.

[0047] The following is combined Figures 9-11As shown, in one embodiment of the present invention, the first deformable portion 143 and the second deformable portion 144 extend obliquely relative to the second direction (Z direction), and the extension lines of the first deformable portion 143 and the second deformable portion 144 may intersect to form an angle. At least one first deformable portion 143 and at least one second deformable portion 144 are provided, and the first deformable portion 143 and the second deformable portion 144 are symmetrically arranged. This structural arrangement also facilitates the elastic deformation of both portions and reduces plastic deformation, thereby facilitating the elastic clamping of objects. In one specific embodiment, only one first deformable portion 143 and only one second deformable portion 144 are provided, and both extend obliquely relative to the second direction (Z direction), and their extension lines may intersect to form an angle. See [reference needed]. Figure 9 , Figure 11 As shown. This structural design also enables the first clamping part 141 and the second clamping part 142 to move more smoothly and simultaneously, thereby improving the stability and accuracy of clamping the object.

[0048] The following is combined Figures 5-11 As shown, in one embodiment of the present invention, the connecting portion 145 includes a first rigid portion 1451, a third deformable portion 1452, and a fourth deformable portion 1453. The third deformable portion 1452 connects the first clamping portion 141 and the first rigid portion 1451, and the fourth deformable portion 1453 connects the second clamping portion 142 and the first rigid portion 1451. The first rigid portion 1451 connects to the transmission assembly 130. Furthermore, the third deformable portion 1452 and the fourth deformable portion 1453 can extend along the second direction (Z direction) or extend obliquely relative to the second direction (Z direction), and at least one of both is provided. In one specific embodiment, one of each of the third deformable portion 1452 and the fourth deformable portion 1453 is provided, and they extend along the second direction (Z direction) and are symmetrically arranged. The lengths of the third deformable portion 1452 and the fourth deformable portion 1453 are less than the lengths of the first deformable portion 143 and the second deformable portion 144. When the transmission assembly 130 moves along the second direction (Z direction) and applies force to the first rigid part 1451, the third deformable part 1452 and the fourth deformable part 1453 can be deformed simultaneously, such as Figure 8 As shown, force is applied to the first clamping part 141 by the third deformation part 1452, and force is applied to the second clamping part 142 by the fourth deformation part 1453. During this process, the first deformation part 143 and the second deformation part 144 are further deformed simultaneously, as shown. Figure 8 As shown, the first clamping part 141 and the second clamping part 142 move along a third direction (X direction) and move closer to or further apart from each other.

[0049] The following is combined Figures 9-11As shown, in one embodiment of the present invention, the connecting portion 145 further includes a second rigid portion 1454 and a third rigid portion 1455. The second rigid portion 1454 is located between the first deformable portion 143 and the third deformable portion 1452 and is fixed to the first rigid portion 1451, and the second rigid portion 1454 is spaced apart from the first deformable portion 143 and the third deformable portion 1452. The third rigid portion 1455 is located between the second deformable portion 144 and the fourth deformable portion 1453 and is fixed to the first rigid portion 1451, and the third rigid portion 1455 is spaced apart from the second deformable portion 144 and the fourth deformable portion 1453. The overall rigidity of the first rigid part 1451 is strengthened by the second rigid part 1454 and the third rigid part 1455, thereby reducing the overall deformation of the first rigid part 1451 and avoiding affecting the deformation of the first deformable part 143, the second deformable part 144, the third deformable part 1452 and the fourth deformable part 1453, thereby making the movement of the first clamping part 141 and the second clamping part 142 more stable.

[0050] Continue to combine Figures 9-11 As shown, in one embodiment of the present invention, since the first deformable portion 143 and the second deformable portion 144 are both inclined relative to the second direction (Z direction), while the third deformable portion 1452 and the fourth deformable portion 1453 are both along the second direction (Z direction), therefore, in a projection plane perpendicular to the first direction (Y direction), the extension lines of the first deformable portion 143 and the third deformable portion 1452 intersect at a fifth endpoint A5, which is close to the endpoint of the first clamping portion 141 that is away from the connecting portion 145, such as... Figure 11 As shown. Furthermore, the angle γ formed between the extension of the first deformable portion 143, the fifth endpoint A5, and the extension of the third deformable portion 1452 is between 45° and 55°. Correspondingly, the extensions of the second deformable portion 144 and the fourth deformable portion 1453 intersect at the sixth endpoint A6, and the angle formed by the extension of the second deformable portion 144, the sixth endpoint A6, and the extension of the fourth deformable portion 1453 is also γ, which is also between 45° and 55°. This structural design further ensures the symmetry of the first deformation part 143 and the second deformation part 144 when they deform, and also ensures the symmetry of the third deformation part 1452 and the fourth deformation part 1453 when they deform. This reduces the tilting of the first clamping part 141 and the second clamping part 142 during movement, thereby making the movement of the first clamping part 141 and the second clamping part 142 along the third direction (X direction) more stable, thus ensuring the accuracy and stability of clamping.

[0051] Continue to combine Figures 9-11As shown, in one embodiment of the present invention, in a projection plane perpendicular to the first direction (Y direction), the angle α between the extension line of the first deformable part 143 and the plane where the first mounting part 146 is located is between 35° and 45°. Correspondingly, the angle α between the extension line of the second deformable part 144 and the plane where the second mounting part 147 is located is also between 35° and 45°. This structural arrangement ensures the symmetry of the first deformable part 143 and the second deformable part 144, and further ensures the symmetry when the first deformable part 143 and the second deformable part 144 deform, and the symmetry when the third deformable part 1452 and the fourth deformable part 1453 deform, thereby reducing the tilting of the first clamping part 141 and the second clamping part 142 during movement, and further ensuring the smoother movement of the first clamping part 141 and the second clamping part 142 along the third direction (X direction), thereby ensuring the accuracy and stability of clamping.

[0052] Understandably, in this invention, the third deformable part 1452 and the fourth deformable part 1453 are not limited to being directly connected to the first rigid part 1451. Of course, other structural arrangements and connection methods can also be adopted.

[0053] Let's combine them again below. Figures 5-7 As shown, in one embodiment of the present invention, the connecting portion 145 further includes a fifth deformable portion 1456, a sixth deformable portion 1457, a fourth rigid portion 1458, and a fifth rigid portion 1459. The fifth deformable portion 1456 extends along a third direction (X direction) and connects to the first rigid portion 1451 and the fourth rigid portion 1458. The fourth rigid portion 1458 is also connected to the third deformable portion 1452. Correspondingly, the sixth deformable portion 1457 extends along a third direction (X direction) and connects to the first rigid portion 1451 and the fifth rigid portion 1459. The fifth rigid portion 1459 is also connected to the fourth deformable portion 1453. That is, the fifth deformable portion 1456 and the sixth deformable portion 1457 protrude in opposite directions along a third direction (X direction), and both are connected at the same height position as the first rigid portion 1451. The fourth rigid part 1458 connects to the fifth deformable part 1456 and the third deformable part 1452, which extend perpendicularly to each other. The fifth rigid part 1459 connects to the sixth deformable part 1457 and the fourth deformable part 1453, which extend perpendicularly to each other. Figure 5 , Figure 7 As shown.

[0054] More preferably, in this embodiment, a protrusion 1451a is provided on the first rigid part 1451, and the protrusion 1451a extends along the second direction (Z direction). A fifth deformable part 1456 and a sixth deformable part 1457 are each provided individually, and both are connected to the two sides of the protrusion 1451a, thereby facilitating the connection between the two. Of course, this connection method is not limited to this specific method.

[0055] Combination Figures 7-8 As shown, in this embodiment, when the transmission assembly 130 moves along the second direction (Z direction) and applies force to the first rigid part 1451, the fifth deformable part 1456 and the third deformable part 1452 can deform, thereby applying force to the first clamping part 141 through the fifth deformable part 1456, the fourth rigid part 1458, and the third deformable part 1452; during this process, the sixth deformable part 1457 and the fourth deformable part 1453 are simultaneously deformed, and the deformation of the sixth deformable part 1457 is symmetrical with the deformation of the fifth deformable part 1456, and the deformation of the fourth deformable part 1453 is symmetrical with the deformation of the third deformable part 1452, such as... Figure 8 As shown, the sixth deformation part 1457, the fifth rigid part 1459, and the fourth deformation part 1453 apply force to the second clamping part 142, thereby balancing the forces on the first clamping part 141 and the second clamping part 142. During the movement of the first clamping part 141 and the second clamping part 142 along a third direction (X direction) under the influence of force, the first deformation part 143 and the second deformation part 144 further deform, and their deformations are symmetrical, as shown... Figure 8 As shown. That is to say, the fifth deformation part 1456, the third deformation part 1452, the first deformation part 143, the sixth deformation part 1457, the fourth deformation part 1453, and the second deformation part 144 all deform, thereby causing the first clamping part 141 and the second clamping part 142 to move smoothly along the third direction (X direction) and move closer or further apart from each other. Moreover, the movement of the first clamping part 141 and the second clamping part 142 maintains consistency and symmetry, thereby improving the stability and accuracy of clamping.

[0056] The following will continue to combine Figures 5-7 As shown, in one embodiment of the present invention, the first deformable portion 143, the second deformable portion 144, the third deformable portion 1452, and the fourth deformable portion 1453 all extend along the second direction (Z direction), and two of each of the first deformable portion 143 and the second deformable portion 144 are provided. Therefore, in the projection plane perpendicular to the first direction (Y direction), the endpoint of the first clamping portion 141 that is away from the first deformable portion 143 along the third direction (X direction) is the first endpoint A1, the connection point between the first deformable portion 143 and the first mounting portion 146 is the second endpoint A2, and the angle between the line connecting the first endpoint A1 and the second endpoint A2 and the plane where the first mounting portion 146 is located is α. Figure 7 As shown, the included angle α is between 45° and 60°. Furthermore, the included angle α formed by the two first deformed portions 143 is also between 45° and 60°, as... Figure 7 As shown.

[0057] Continue reading Figure 7As shown, correspondingly, the endpoint of the second clamping part 142 that is furthest from the second deformable part 144 along the third direction (X direction) is the third endpoint A3, and the connection point between the second deformable part 144 and the second mounting part 147 is the fourth endpoint A4. The angle between the line connecting the third endpoint A3 and the fourth endpoint A4 and the plane where the second mounting part 147 is located is also α, and this angle α is between 45° and 60°. This structural arrangement in this embodiment ensures that the deformations of the first deformable part 143 and the second deformable part 144, the third deformable part 1452 and the fourth deformable part 1453 are symmetrical during operation. Furthermore, the deformations between corresponding segments of the first deformable part 143 and the third deformable part 1452 remain parallel, and the deformations between corresponding segments of the second deformable part 144 and the fourth deformable part 1453 remain parallel, specifically as follows... Figure 7-8 The portion between straight lines L1 and L2. This ensures that the first clamping part 141 and the second clamping part 142 remain parallel during operation, thereby improving the stability and accuracy of clamping.

[0058] Continue reading Figure 7 As shown, in one embodiment of the present invention, in the second direction (Z direction), the lengths of the first deformable portion 143 and the second deformable portion 144 are both L1, and the lengths of the third deformable portion 1452 and the fourth deformable portion 1453 are both L2, with L1:L2 = 2~2.5. Meanwhile, in the third direction (X direction), the thicknesses of the first deformable portion 143 and the second deformable portion 144 are both W1, the thicknesses of the third deformable portion 1452 and the fourth deformable portion 1453 are both W2, and the thicknesses of the fourth rigid portion 1458 and the fifth rigid portion 1459 are both W3, with W1:W2 = 1~1.5 and W3:W2 = 4~6. This thickness setting of the deformable portion further ensures that the deformations of the first deformable portion 143, the second deformable portion 144, the third deformable portion 1452, and the fourth deformable portion 1453 remain parallel during operation. Furthermore, the deformations between corresponding segments of the first deformable portion 143 and the third deformable portion 1452 remain parallel, and the deformations between corresponding segments of the second deformable portion 144 and the fourth deformable portion 1453 remain parallel, specifically as follows: Figure 7-8 The portion between straight lines L1 and L2. This ensures that the first clamping part 141 and the second clamping part 142 remain parallel during operation, further improving the stability and accuracy of clamping.

[0059] Combined again Figures 5-8As shown, in this embodiment, the bottom surface of the first clamping part 141 is provided with a first protruding platform 1411a, and the top end of the third deformable part 1452 is connected to the first protruding platform 1411a. This enhances the stability of the connection between the third deformable part 1452 and the first clamping part 141, and also limits the deformation of the third deformable part 1452 to ensure that the deformation of the third deformable part 1452 and the first deformable part 143 remain synchronous and parallel. Correspondingly, the bottom surface of the second clamping part 142 is provided with a second protruding platform 1421a, and the top end of the fourth deformable part 1453 is connected to the second protruding platform 1421a adjacent to it. This enhances the stability of the connection between the fourth deformable part 1453 and the second clamping part 142, and also limits the deformation of the fourth deformable part 1453 to ensure that the deformation of the fourth deformable part 1453 and the second clamping part 142 remain synchronous and parallel.

[0060] Combined again Figures 5-8 As shown, in this embodiment, the length of the third deformation part 1452 is greater than the length of the fifth deformation part 1456, and the stiffness of the third deformation part 1452 is greater than or equal to the stiffness of the fifth deformation part 1456, to ensure that during the deformation process under stress, the fifth deformation part 1456 undergoes a larger deformation relative to the third deformation part 1452, and to ensure that the deformation of the third deformation part 1452 and the first deformation part 143 remains synchronous and parallel. Correspondingly, the length of the fourth deformation part 1453 is greater than the length of the sixth deformation part 1457, and the stiffness of the fourth deformation part 1453 is greater than or equal to the stiffness of the sixth deformation part 1457, to ensure that during the deformation process under stress, the sixth deformation part 1457 undergoes a larger deformation relative to the fourth deformation part 1453, and to ensure that the deformation of the fourth deformation part 1453 and the second clamping part 142 remains synchronous and parallel.

[0061] The following is combined Figures 5-11 As shown, in one embodiment of the present invention, the first clamping part 141 and the second clamping part 142 have the same structure and are symmetrically arranged. Taking the first clamping part 141 as an example, its structure will be described in detail. Specifically, the first clamping part 141 includes a first clamping segment 1411, a second clamping segment 1412, a third clamping segment 1413, and a fourth clamping segment 1414. The second clamping segment 1412 connects the first clamping segment 1411 and the third clamping segment 1413, and is arranged at an angle to both the first clamping segment 1411 and the third clamping segment 1413, such as... Figure 6 , Figure 10 As shown. The fourth clamping section 1414 is connected to the end of the third clamping section 1413 and is bent relative to the third clamping section 1413.

[0062] Combination Figure 1-2 , Figure 4As shown, when the first clamping segment 1411 is connected to the connecting part 145, that is, the first clamping segment 1411 is simultaneously connected to the first deformable part 143 and the third deformable part 1452, the first clamping segment 1411 and the third clamping segment 1413 both extend along the first direction (Y direction), and the fourth clamping segment 1414 protrudes along the third direction (X direction).

[0063] More preferably, the connection between the first clamping section 1411 and the connecting part 145 is a rigid structure. In this way, during the movement of the first clamping part 141 caused by the deformation of the first deformation part 143 and the third deformation part 1452, the shaking, tilting, deformation, etc. of the first clamping part 141 can be reduced, making the movement of the first clamping part 141 smooth, thereby reducing the deformation or shaking of the clamping end and making the clamping more stable.

[0064] like Figure 6 , Figure 10 As shown, in this embodiment, the lengths of the first clamping segment 1411, the second clamping segment 1412, the third clamping segment 1413, and the fourth clamping segment 1414 decrease sequentially, and the outer diameters of the first clamping segment 1411, the second clamping segment 1412, the third clamping segment 1413, and the fourth clamping segment 1414 gradually decrease. This structural arrangement helps to reduce plastic deformation, thereby reducing the deformation at the clamping end when elastically clamping an object, that is, reducing the deformation at the location of the fourth clamping segment 1414, thus making the clamping more stable, especially suitable for clamping micro-devices in precision machining.

[0065] Continue to combine Figures 5-11 As shown, in this embodiment, the second clamping part 142 includes a first clamping section 1421, a second clamping section 1422, a third clamping section 1423, and a fourth clamping section 1424. Its structural configuration is the same as that of the first clamping part 141, and therefore will not be described again. After both the first clamping part 141 and the second clamping part 142 are installed, the fourth clamping section 1414 of the first clamping part 141 and the fourth clamping section 1424 of the second clamping part 142 extend towards each other in a third direction (X direction).

[0066] Understandably, the structure and dimensions of the first clamping part 141 and the second clamping part 142 are not limited to those in this embodiment.

[0067] The following is combined Figures 2-3As shown, in one embodiment of the present invention, the transmission assembly 130 includes a first transmission member 131 and a second transmission member 132. The first transmission member 131 is connected to the drive assembly 120 and can rotate under the drive of the drive assembly 120. One end of the second transmission member 132 is connected to the first transmission member 131, and the other end is connected to the connecting portion 145. The second transmission member 132 can reciprocate along a second direction (Z direction) under the drive of the first transmission member 131, thereby applying force to the connecting portion 145.

[0068] In this embodiment, the second transmission member 132 includes a first transmission connection portion 1321 and a second transmission connection portion 1322. The first transmission connection portion 1321 is sleeved on the outside of the first transmission member 131 and threadedly connected thereto. The second transmission connection portion 1322 passes through the through hole 113 and extends out of the housing 110 and is connected to the connection portion 145. When the drive assembly 120 drives the first transmission member 131 to rotate through the reduction assembly 160, the first transmission member 131 can drive the second transmission member 132 to move linearly along the second direction (Z direction), thereby causing the second transmission connection portion 1322 to apply force to the connection portion 145.

[0069] See below. Figure 3 As shown, in one embodiment of the present invention, the guide assembly 150 includes a slider 151 and a guide rail 152 that are slidably engaged. One of the slider 151 and the guide rail 152 is mounted on the housing 110, and the other of the slider 151 and the guide rail 152 is mounted on the transmission assembly 130. In a specific embodiment, the guide rail 152 is mounted on the inner wall of the housing 110, and the slider 151 is mounted on the second transmission connection portion 1322 and slidably engaged with the guide rail 152. The movement of the second transmission component 132 is guided by the movement of the slider 151 along the guide rail 152.

[0070] Combined again Figures 1-11 As shown, when the flexible gripper 100 of the present invention is working, the drive assembly 120 drives the transmission assembly 130 to operate through the reduction assembly 160, that is, it drives the first transmission member 131 to rotate, and the first transmission member 131 drives the second transmission member 132 to move downward along the second direction (Z direction), thereby pulling the connecting part 145 downward. This causes at least the third deformation part 1452 and the fourth deformation part 1453 to undergo symmetrical deformation, thereby simultaneously applying force to the first clamping part 141 and the second clamping part 142. During this process, the first deformation part 143 and the second deformation part 144 also undergo symmetrical deformation, such as... Figure 8 As shown, the first clamping part 141 and the second clamping part 142 move toward each other along a third direction (X direction) and come closer together, thereby achieving the clamping of the object.

[0071] Understandably, in the embodiment that includes a connecting portion 145 and a fifth deformable portion 1456 and a sixth deformable portion 1457, when the first rigid portion 1451 is subjected to a downward pulling force, the fifth deformable portion 1456 and the sixth deformable portion 1457 undergo symmetrical deformation, while the third deformable portion 1452 and the fourth rigid portion 1458 undergo symmetrical deformation, thereby simultaneously applying force to the first clamping portion 141 and the second clamping portion 142, such as... Figure 8 As shown. During the process of the first clamping part 141 and the second clamping part 142 moving along a third direction (X direction) under force, the first deforming part 143 and the second deforming part 144 also undergo symmetrical deformation, as shown. Figure 8 As shown. This causes the first clamping part 141 and the second clamping part 142 to move smoothly along the third direction (X direction) and come closer to each other, thereby achieving the clamping of the object.

[0072] Correspondingly, when the drive assembly 120 drives the transmission assembly 130 through the deceleration assembly 160, causing the second transmission member 132 to move upward along the second direction (Z direction), an upward force is applied to the connecting part 145. That is, the first rigid part 1451 is subjected to an upward force. Under the action of this force and the elastic restoring force of the first deformable part 143, the second deformable part 144, the third deformable part 1452, and the fourth deformable part 1453, the first clamping part 141 and the second clamping part 142 can move quickly along the third direction (X direction) and move away from each other, thereby achieving the reset of both.

[0073] In summary, the flexible gripper 100 of the present invention has the following effects: First, the clamping member 140 is an integrated structure, including a first clamping part 141, a second clamping part 142, a first deformable part 143, a second deformable part 144, and a connecting part 145. One end of the connecting part 145 is rigidly connected to the transmission assembly 130, and the other end of the connecting part 145 is elastically connected to the first clamping part 141 and the second clamping part 142. The first deformable part 143 is connected between the housing 110 and the first clamping part 141, and the second deformable part 144 is connected between the housing 110 and the second clamping part 142. Thus, when the transmission assembly 130 applies... When force is applied to the connecting portion 145, the first deformable portion 143 and the second deformable portion 144 deform simultaneously, causing the first clamping portion 141 and the second clamping portion 142 to move simultaneously along a third direction (X direction) and move closer or further apart to clamp or release the micro-devices / components. This improves the synchronicity of the opening and closing of the first clamping portion 141 and the second clamping portion 142, resulting in smoother clamping and thus improved clamping accuracy. Furthermore, the first clamping portion 141 and the second clamping portion 142 are elastic, providing a flexible buffer space that can accommodate minor shape errors when clamping micro-devices / components, reducing the risk of damaging them. Therefore, the flexible gripper 100 of this invention not only improves clamping accuracy but also reduces the risk of damaging delicate micro-devices / components, making it particularly suitable for high-precision, high-stability, and zero-damage clamping operations of micro-devices / components. This is beneficial for improving the operational accuracy and production efficiency of automated production lines or high-precision operations.

[0074] The structures of the other parts of the flexible gripper 100 involved in this invention are all conventional structures well known to those skilled in the art, and will not be described in detail here.

[0075] The above-disclosed embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A flexible gripper, characterized in that, include: case; The drive assembly is mounted on the housing; A transmission assembly is mounted on the housing and connected to the drive assembly; A clamping member is disposed outside the housing. The clamping member is an integral structure and includes a first clamping part, a second clamping part, a first deformable part, a second deformable part, and a connecting part. One end of the connecting part is rigidly connected to the transmission assembly, and the other end of the connecting part is elastically connected to the first clamping part and the second clamping part. The first clamping part and the second clamping part extend along a first direction and are symmetrically arranged. The first deformable part is connected between the first clamping part and the housing, and the second deformable part is connected between the second clamping part and the housing. The transmission assembly can move under the drive assembly and apply force to the connecting part in the second direction, so that the first deformable part and the second deformable part deform simultaneously, thereby causing the first clamping part and the second clamping part to move simultaneously in the third direction and move closer or further away from each other; wherein, the second direction, the first direction, and the third direction intersect each other; The connecting part includes a first rigid part, a third deformable part, and a fourth deformable part. The third deformable part is connected between the first clamping part and the first rigid part, and the fourth deformable part is connected between the second clamping part and the first rigid part. The first rigid part is connected to the transmission assembly. When the transmission assembly applies force to the first rigid part, the third deformable part and the fourth deformable part can deform simultaneously, thereby applying force to the first clamping part and the second clamping part simultaneously through the third deformable part and the fourth deformable part.

2. The flexible gripper as described in claim 1, characterized in that, The extension line of the first deformable part intersects the extension line of the third deformable part to form an angle. The connecting part also includes a second rigid part and a third rigid part. The second rigid part is located between the first deformable part and the third deformable part and is fixed to the first rigid part. The third rigid part is located between the second deformable part and the fourth deformable part and is fixed to the first rigid part.

3. The flexible gripper as described in claim 1, characterized in that, The connecting portion further includes a fifth deformable portion, a sixth deformable portion, a fourth rigid portion, and a fifth rigid portion. The fifth deformable portion extends along the third direction and connects to the first rigid portion and the fourth rigid portion. The fourth rigid portion is also connected to the third deformable portion. The sixth deformable portion extends along the third direction and connects to the first rigid portion and the fifth rigid portion. The fifth rigid portion is also connected to the fourth deformable portion. The first rigid part applies force to the first clamping part through the fifth deformable part, the fourth rigid part, and the third deformable part, and applies force to the second clamping part through the sixth deformable part, the fifth rigid part, and the fourth deformable part.

4. The flexible gripper as described in claim 3, characterized in that, In the second direction, the lengths of the first deformable portion and the second deformable portion are L1, and the lengths of the third deformable portion and the fourth deformable portion are L2, where L1:L2 = 2~2.5; And / or, in the third direction, the thickness of the first deformable portion and the second deformable portion is W1, the thickness of the third deformable portion and the fourth deformable portion is W2, and the thickness of the fourth rigid portion and the fifth rigid portion is W3, where W1:W2=1~1.5, and W3:W2=4~6.

5. The flexible gripper as described in claim 3, characterized in that, The bottom surface of the first clamping part is provided with a first protruding platform, and the top end of the third deformable part is connected to the first protruding platform; the bottom surface of the second clamping part is provided with a second protruding platform, and the top end of the fourth deformable part is connected to the second protruding platform; And / or, the length of the third deformable part is greater than the length of the fifth deformable part, the length of the fourth deformable part is greater than the length of the sixth deformable part, and the stiffness of the third deformable part is greater than or equal to the stiffness of the fifth deformable part, and the stiffness of the fourth deformable part is greater than or equal to the stiffness of the sixth deformable part.

6. The flexible gripper as described in claim 1, characterized in that, Both the first clamping part and the second clamping part include a first clamping segment, a second clamping segment, a third clamping segment and a fourth clamping segment. The second clamping segment is connected between the first clamping segment and the third clamping segment and is set at an angle to both the first clamping segment and the third clamping segment. The fourth clamping segment is connected to the end of the third clamping segment and is bent relative to the third clamping segment. When the first clamping segment is connected to the connecting part, both the first clamping segment and the third clamping segment extend along the first direction, and the fourth clamping segment of the first clamping part and the second clamping part protrudes towards each other along the third direction. And / or, the lengths of the first clamping segment, the second clamping segment, the third clamping segment, and the fourth clamping segment decrease sequentially.

7. The flexible gripper as described in claim 1, characterized in that, The clamping member further includes a first mounting part and a second mounting part. The first deformable part is connected between the first mounting part and the first clamping part, and the second deformable part is connected between the second mounting part and the second clamping part. The first mounting part and the second mounting part are respectively mounted on the housing.

8. The flexible gripper as described in claim 7, characterized in that, One end of the housing is provided with a first mounting surface and a second mounting surface located on the same plane. The first mounting part is mounted on one of the first mounting surface and the second mounting surface, and the second mounting part is mounted on the other of the first mounting surface and the second mounting surface. And / or, the first deformable portion and the second deformable portion extend along the second direction or extend at an angle relative to the second direction, and the first deformable portion and the second deformable portion are symmetrically arranged.

9. The flexible gripper as described in claim 7, characterized in that, The first deformable portion and the second deformable portion are arranged in parallel. In the projection plane perpendicular to the first direction, the endpoint of the first clamping portion away from the first deformable portion along the third direction is the first endpoint, the connection point between the first deformable portion and the first mounting portion is the second endpoint, the endpoint of the second clamping portion away from the second deformable portion along the third direction is the third endpoint, the connection point between the second deformable portion and the second mounting portion is the fourth endpoint, the angle between the line connecting the first endpoint and the second endpoint and the plane where the first mounting portion is located is between 45° and 60°, and the angle between the line connecting the third endpoint and the fourth endpoint and the plane where the second mounting portion is located is also between 45° and 60°. And / or, the extension lines of the first deformable portion and the second deformable portion intersect to form an angle; in the projection plane perpendicular to the first direction, the angle between the extension line of the first deformable portion and the plane where the first mounting portion is located is between 35° and 45°, and the angle between the extension line of the second deformable portion and the plane where the second mounting portion is located is between 35° and 45°.

10. The flexible gripper as described in claim 1, characterized in that, The transmission assembly includes: The first transmission component is connected to the drive assembly and can rotate under the drive of the drive assembly; The second transmission component has one end connected to the first transmission component and the other end connected to the connecting part. The second transmission component can reciprocate along the second direction under the drive of the first transmission component, thereby applying force to the connecting part. And / or, the second transmission member includes a first transmission connection portion and a second transmission connection portion, wherein the first transmission connection portion is sleeved on the outside of the first transmission member and threadedly connected to the first transmission member, and the second transmission connection portion is connected to the connection portion; And / or, the housing is provided with a through hole, through which the second transmission connection part passes out of the housing and is connected to the connection part.

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