Clamp holder and mechanical arm

Abstract

The utility model relates to the technical field of machinery, and provides a clamping device and a mechanical arm. The clamping device comprises a plurality of first connecting pieces, a plurality of sets of grabbing units and two second connecting pieces, wherein the first connecting pieces are sequentially connected in the first direction and have the elastic deformation performance, the grabbing units are connected to the two opposite sides of any two adjacent first connecting pieces in the first direction, and the two second connecting pieces are connected to the two first connecting pieces on the outer side. The two clamping plates are connected to the two second connecting pieces correspondingly, and the multiple flexible air bags are clamped between the two adjacent first connecting pieces and between the grabbing units and the second connecting pieces and the corresponding clamping plates correspondingly. According to the clamping device, different deformation and actions can be achieved according to requirements, fragile objects cannot be clamped to be broken, and heavy objects can be firmly grabbed.

Description

Technical Field

[0001] The utility model relates to the technical field of machinery, in particular to a clamper and a mechanical arm. Background Art

[0002] As a special-purpose robot, the robot has great application value in the fields of dangerous environment search, harsh environment detection, complex environment picking, etc.

[0003] With the continuous improvement of urban greening, tree protection has been paid more and more attention. Preventing tree death is very important for protecting human life and property in urban areas. Therefore, a climbing robot is developed to help or replace tree climbers in climbing trees and picking fruits. In the work of this robot, its end gripper is mainly composed of structures such as hinges and connecting rods. Each additional degree of freedom requires the addition of corresponding kinematic pairs, which makes the end gripper of the robot extremely complex and has limited flexibility. The grippers in the existing technology are basically made directly of rigid materials or flexible materials. Although they can interact with the environment through sensor feedback control, they still have great safety risks.

[0004] In the prior art, if the end gripper of a climbing robot is made directly of rigid materials, the rigid materials themselves cannot deform with the external environment, and all movements must be realized by the structure, which will lead to the risk of damage to fragile objects when the gripper grasps them; if it is made of flexible materials, the gripper's execution force will be small due to the inherent characteristics of the flexible materials, and it will not be able to firmly grasp heavier objects. Utility Model Content

[0005] The utility model provides a gripper and a robotic arm, which aim to solve the problem in the prior art that the gripper is made of rigid materials, which may cause the fragile objects to be easily damaged when gripping, and is made of flexible materials, which may cause the heavy objects to be unable to be firmly gripped.

[0006] The utility model provides a clamp, which includes a plurality of first connecting members connected in sequence along a first direction and having elastic deformation performance, a plurality of grabbing units respectively connected to opposite sides of two adjacent first connecting members along the first direction, two second connecting members respectively connected to the two outer first connecting members, two clamping plates respectively connected to the two second connecting members, and a plurality of flexible airbags, wherein the plurality of flexible airbags are respectively sandwiched and fixed between the two adjacent first connecting members, the grabbing units, the second connecting members and the corresponding clamping plates;

[0007] Each group of the grabbing units includes two airbag seats fixed on opposite sides of two adjacent first connecting members, a coupling hook hinged on each of the airbag seats, and a baffle formed by protruding extensions from each of the airbag seats. A flexible airbag is fixed between each baffle and the corresponding coupling hook.

[0008] Preferably, two adjacent groups of the grabbing units are arranged with one first connecting member between them.

[0009] Preferably, each of the coupling hooks includes a hinged portion hinged to the airbag seat, a plurality of extension portions protruding and extending from one side of the hinged portion away from the airbag seat and arranged at intervals, an insertion portion inserted and fixed on each of the extension portions, and a hook sleeved and fixed on one end of each of the insertion portions away from the extension portion.

[0010] Preferably, each of the first connecting members includes two connecting blocks arranged opposite to and spaced apart from each other and an elastic member inserted and fixed between the two connecting blocks, and mounting holes are provided at both ends of the two connecting blocks; the two adjacent connecting members are fixed by screws passing through the corresponding mounting holes and fitting nuts.

[0011] Preferably, the two connecting blocks in each of the first connecting members are provided with an inwardly recessed groove on one side that is relatively far away from each other, wherein a plurality of limiting columns are provided in the groove of one of the connecting blocks, and a plurality of limiting holes matching the plurality of limiting columns are provided in the groove of the other connecting block; the flexible airbag is sleeved on the limiting column of one of the connecting members and fixed in conjunction with the limiting hole of the other connecting member.

[0012] Preferably, the elastic member and the corresponding two connecting blocks are integrally formed by printing, and the middle area of the elastic member is provided with a recessed portion formed inwardly, and the recessed portion extends from one side of the elastic member to the corresponding other side and is perpendicular to the first direction.

[0013] Preferably, each of the second connecting members includes two fixed blocks arranged opposite to each other and spaced apart and a flexible member inserted and fixed between the two fixed blocks, and support holes are provided at both ends of the two fixed blocks; one of the fixed blocks is fixed to the first connecting member by a screw and a nut, and the other fixed block is fixed to the corresponding splint by a screw or a nut.

[0014] Preferably, the two connecting blocks in each second connecting member are provided with an inwardly recessed groove on one side thereof that is relatively far away from each other, and the flexible airbag is fixed between the groove of any one of the fixing blocks in each second connecting member and the corresponding splint by setting corresponding plug-ins and slots.

[0015] The utility model also provides a mechanical arm, characterized in that the mechanical arm includes the clamp as described above.

[0016] Compared with the prior art, the clamper in the present invention designs a flexible airbag and cooperates with coupling hooks and splints on both sides, so that the special expansion volume of the flexible airbag can be utilized, and the length in certain directions will change to realize the climbing and grasping of the clamper. At the same time, according to the change of its own shape, it can adapt to objects of different shapes when grasping, and will not crush fragile objects. The flexible airbag can also be continuously inflated to change the total volume of the flexible airbag. The continuous filling of gas can enhance the gripping force of the clamper, so that it can firmly grasp heavier objects. The external air pressure control platform can also be used to control different flexible airbags, so that it can achieve different deformations and movements according to needs. When initially grasping the object, the coupling hook can be used to hook the surface of the object to improve the reliability and stability of climbing and grasping. The coupling hook has a certain degree of adaptability through the rigid-flexible coupling method, which better fits the surface of the object, further improving the reliability of climbing and grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be described in detail below with reference to the accompanying drawings. The above and other aspects of the present invention will become clearer and easier to understand through the detailed description made with reference to the following drawings.

[0018] Figure 1 This is a schematic diagram of the front three-dimensional structure of the clamp provided by an embodiment of the utility model;

[0019] Figure 2 This is a schematic diagram of the back three-dimensional structure of the clamp provided by an embodiment of the utility model;

[0020] Figure 3 This is a partial structural diagram of a clamp provided by an embodiment of the present utility model;

[0021] Figure 4 A schematic structural diagram of a first connector in a holder provided by an embodiment of the present utility model;

[0022] Figure 5 A schematic structural diagram of an elastic member in a clamp provided by an embodiment of the present utility model;

[0023] Figure 6 A schematic structural diagram of a coupling hook in a clamp provided by an embodiment of the present utility model;

[0024] Figure 7 A schematic diagram of the structure of the second elastic member in the clamp provided by an embodiment of the present utility model, wherein a is the first outer second connecting member, and b is the second outer second connecting member;

[0025] Figure 8 A schematic diagram of the structure of the clamps in the clamp provided by an embodiment of the present invention, a is the second outer clamp, b is the first outer clamp;

[0026] Figure 9 This is a schematic diagram of the air pressure control system provided by the utility model.

[0027] Among them, 1. first connecting member; 11. connecting block; 12. elastic member; 121. recessed portion; 13. mounting hole; 14. groove; 15. limiting column; 2. second connecting member; 21. fixing portion; 22. flexible member; 23. supporting hole; 24. trough body; 25. plug-in; 26. slot; 3. splint; 4. flexible airbag; 5. airbag seat; 6. coupling hook; 61. hinged portion; 62. extension portion; 63. plug-in portion; 64. hook; 7. baffle; 10. grabbing unit. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0029] The utility model embodiment provides a clamp, combined with Figures 1 to 7 As shown, it includes a plurality of first connecting members 1 connected in sequence along a first direction and having elastic deformation properties, a plurality of grabbing units respectively connected to the opposite sides of any two adjacent first connecting members 1 along the first direction, two second connecting members 2 respectively connected to the two first connecting members 1 on the outside, two splints 3 respectively connected to the two second connecting members 2, and a plurality of flexible airbags 4, and the plurality of flexible airbags 4 are respectively clamped between the two adjacent first connecting members 1, the grabbing units, and the second connecting members 2 and the corresponding splints 3.

[0030] The first direction is any direction, the two opposite sides of the second connecting member 2 are the second direction, and the second direction is perpendicular to the first direction.

[0031] Each first connecting member 1 includes two connecting blocks 11 arranged opposite to each other and spaced apart, and an elastic member 12 inserted and fixed between the two connecting blocks 11. Both ends of the two connecting blocks 11 are provided with mounting holes 13; two adjacent connecting members are fixed by screws passing through the corresponding mounting holes 13 and nuts.

[0032] The two connecting blocks 11 in each first connecting member 1 are provided with an inwardly recessed groove 14 on the relatively distant side, wherein a plurality of limiting posts 15 are spaced apart in the groove 14 of one connecting block 11, and a plurality of limiting holes matching the plurality of limiting posts 15 are spaced apart in the groove 14 of the other connecting block 11; the flexible airbag 4 is sleeved on the limiting posts 15 of one connecting member and fixed in conjunction with the limiting holes of the other connecting member.

[0033] The elastic member 12 and the corresponding two connecting blocks 11 are integrally formed by printing. The middle area of the elastic member 12 is provided with a recessed portion 121 formed inwardly. The recessed portion 121 extends from one side of the elastic member 12 to the corresponding other side and is perpendicular to the first direction.

[0034] Two adjacent groups of grabbing units are arranged with a first connecting member 1 between them; each group of grabbing units includes two airbag seats 5 fixed on opposite sides of two adjacent first connecting members 1, a coupling hook 6 hinged on each airbag seat 5, and a baffle 7 protruding and extending from each airbag seat 5, and a flexible airbag 4 is fixed between each baffle 7 and the corresponding coupling hook 6.

[0035] Each coupling hook 6 includes a hinge portion 61 hinged to the airbag seat 5, a plurality of extension portions 62 protruding and extending from a side of the hinge portion 61 away from the airbag seat 5 and arranged at intervals, an insertion portion 63 inserted and fixed on each extension portion 62, and a hook 64 sleeved and fixed on an end of each insertion portion 63 away from the extension portion 62.

[0036] Each second connecting member 2 includes two fixed blocks arranged opposite to each other and spaced apart, and a flexible member 22 inserted and fixed between the two fixed blocks. Support holes 23 are provided at both ends of the two fixed blocks. One of the fixed blocks is fixed to the first connecting member 1 by screws and nuts, and the other fixed block is fixed to the corresponding splint 3 by screws or nuts.

[0037] The two connecting blocks 11 in each second connecting member 2 are provided with an inwardly recessed groove 24 on the relatively distant side. The flexible airbag 4 is fixed between the groove 24 of any fixing block in each second connecting member 2 and the corresponding splint 3 by setting corresponding plug-ins 25 and slots 26.

[0038] The flexible member 22 and the corresponding two fixed blocks are integrally formed by printing. The middle area of the elastic member 12 is provided with a recessed portion 121 formed inwardly. The recessed portion 121 extends from one side of the elastic member 12 to the corresponding other side and is perpendicular to the first direction.

[0039] Equivalently, the second connecting member 2 has a substantially identical structure to the first connecting member 1 , except that both ends of one of the fixing blocks of the second connecting member 2 are extended and have different names.

[0040] In this embodiment, there are ten first connecting members 1 , three groups of grabbing units, seventeen flexible airbags 4 , and eight hooks 64 in each coupling hook 6 .

[0041] The design principle of the clamp in this embodiment is as follows:

[0042] The function of the surrounding group composed of the first connecting member 1, the second connecting member 2 and the splint 3 is to enable the climbing robot to have a relatively stable grasping effect during the climbing process through its bending effect. The bending of the surrounding group is based on the expansion of the flexible airbag 4. The bending of a general soft robot is achieved by limiting the strain layer and the directional layer to achieve the desired effect. The directional bending deformation, the restricted side is deformed and restricted, while the other side without restriction will inflate and bend. The deformation direction of the force-bearing object is generally the side with minimum resistance. By limiting one side of the flexible airbag 4 and connecting the flexible airbags 4 in series, when the flexible airbag 4 is inflated, since one side is restricted, the flexible airbags 4 in series are oriented toward the restricted side, thereby causing the surrounding group to bend.

[0043] The function of the rigid-flexible coupling hook 6 is to hook the surface of the object through the rotatable hook 64 when the surround group initially grasps the object, that is, to clamp the object from a dimension different from the surround group to increase the reliability and stability of the grasping. On the other hand, through the rigid-flexible coupling method, the hook 64 can have a certain degree of adaptability and better fit the surface of the object, thereby achieving more hooks 64 in contact with the surface of the object; the rotation of the rigid-flexible coupling hook 6 is based on the principle of expansion (increase in height) of the flexible airbag 4 and the rotating shaft and is achieved through a certain structural design.

[0044] The structure of the holder in this embodiment is designed as follows:

[0045] The gripper is designed according to the functions required for climbing and grasping in combination with the characteristics of the flexible airbag 4. The model is divided into two parts: one is the surrounding group located in the middle, and the other is the coupling hooks 6 located on both sides; the surrounding groups are connected in series, and the number of first connectors 1 can be increased or decreased according to size requirements to achieve size adjustment. At the end of the surrounding group, considering the stability when grasping or climbing, the second connector 2 and the splint 3 at the end are added to contact with the object when surrounding to generate interaction. Due to the use of the surrounding method, when the inward force increases, the stability can be improved, and the second connector 2 and the splint 3 at the end can also increase its applicability; the rigid and flexible coupling hooks 6 are located on both sides, each independent The independent coupling hook 6 is composed of eight hooks 64. A flexible airbag 4 is installed on the back of the rigid-flexible coupling hook 6. The expansion and contraction of the flexible airbag 4 is used to realize the rotation control of the coupling hook 6. When the flexible airbag 4 expands, the coupling hook 6 bends inward, and when the flexible airbag 4 contracts, the rigid-flexible coupling hook 6 bends outward. The connection between the flexible airbag 4 and the coupling hook 6, the flexible airbag 4 and the first connecting member 1 and the second connecting member 2 are all set with Velcro. The advantage of using Velcro for connection is that different bending effects can be achieved under the same air pressure by adjusting the adhesion position of the Velcro to each other. The bending angle of the Velcro of the coupling hook 6 relative to the Velcro below the flexible airbag 4 is smaller than that of the Velcro of the coupling hook 6 relative to the Velcro above the flexible airbag 4.

[0046] The wraparound assembly serves to connect the coupling hook 6, increase the length of the wraparound assembly, and achieve elastic bending deformation and connection with the second connector 2. The first connector 1 is connected to the coupling hook 6 using screws via protruding bosses to ensure a secure connection.

[0047] Taking into account the installation problem of the flexible airbag 4, in this embodiment, three circular holes with a diameter of 2 mm are punched on the outside of the flexible airbag 4 when it is customized, corresponding to the limiting columns 15 of the first connecting part 1 and the plug-in 25 of the second connecting part 2 (or the splint 3). During the connection process, the flexible airbag 4 is limitedly installed through the three limiting columns 15 on one side of one of the adjacent first connecting parts 1 (or the three plug-ins 25 on one side of the second connecting part 2, or the three plug-ins 25 of the baffle 7) and the three grooves 14 on the other side of the first connecting part 1 (or the three slots 26 of the baffle 7, or the three slots 26 of the second connecting part 2), and fixed with screws or bolts.

[0048] The bending of the surround group is achieved with the help of the soft connection (elastic part 12 and flexible part 22) between the first connector 1 and the second connector 2. The soft connection provides bending of the surround group when the flexible airbag 4 is inflated. The soft connection is made of soft material; the soft connections are respectively installed on both sides of the two connectors. Considering the one-piece molding during the installation process, an eight-shaped design is adopted. By adding a recessed portion 121 in the middle, it can be ensured that the soft connection will not break or fall off due to external influences during the bending process, providing the first bending position. In this embodiment, the thickness of the soft connection is 1mm, the length is 56mm and the width is 18mm. Considering the printing of the soft connection as a whole with the first connector 1 or the second connector 2 to ensure the bending effect and the reliability of the connection, a relatively large rectangular recess is designed on both sides. The rectangular dimensions are thickness mm, length 2mm and width 30mm. Since the mutually cooperating flexible connections are printed integrally with the first connecting member 1 or the second connecting member 2, the installation steps are reduced, and the flexible connection is designed with a smaller thickness on both sides that cooperate with the corresponding connecting block 11 or fixed block, so that the flexible connection can be better fixedly connected with the corresponding connecting block 11 or fixed block.

[0049] In this embodiment, mounting holes 13 with a diameter of 3.5 mm are opened at both ends of the connecting block 11 of the first connecting member 1. During installation, screws (or bolts) and nuts with a diameter of 3 mm are used for installation. The diameter of the mounting hole 13 is larger than the diameter of the screw because the hole is slightly larger due to thermal expansion and contraction and printing accuracy during the printing and manufacturing process.

[0050] In order to speed up the manufacturing process, the airbag seat 5 and the first connecting member 1 are manufactured separately. If they are integrally molded, the processing cycle may be long and the processing quality may not be as good as if they were manufactured separately. Separate production requires consideration of the installation issues of the two. By extending the lateral length of the mounting threaded part and opening two holes on it, the two are fixed by bolts. The airbag installation position and soft connection of the first connecting member 1 are the same as above. Due to the installation of the flexible airbag 4, the side of the two connecting blocks 11 away from each other is the limit column 15 and the side is the limit hole.

[0051] At the end of the encircling group, considering the stability when grasping or climbing, the second connecting member 2 and the splint 3 at the end are added to contact with the object when encircling to generate interaction. Due to the encircling method, the stability can be improved when the inward force increases, and the second connecting member 2 and the splint 3 can also increase its applicability; the bottom of the splint 3 is designed as a curved hook and a straight plate. In order to improve stability, the second connecting member 2 and the splint 3 are on duty to limit the expansion of the flexible airbag 4, so that its expansion is converted into the rotation of the encircling group as much as possible.

[0052] The rotation of the coupling hook 6 is driven by the flexible airbag 4. Compared with using the elasticity of the spring to achieve the rotation of the coupling hook 6, the flexible airbag 4 is simpler and more reliable. At the same time, a cylindrical shaft is designed on the airbag seat 5 so that the coupling hook 6 can intersect and rotate around it as expected. By adding an inclined baffle 7 on the rear side of the airbag seat 5, the expansion of the flexible airbag 4 is completely converted into the rotation of the coupling hook 6. In this embodiment, the hook 64 of the coupling hook 6 is 3 mm wide and 2 mm apart.

[0053] The assembly of the clamp in this embodiment is as follows:

[0054] A single flexible airbag 4 is connected and installed with the limiting column 15 and the limiting groove (or the plug-in unit 25 and the slot 26), and fixed by screws and bolts with a diameter of 3 mm.

[0055] Next, assemble the airbag seat 5 and the coupling claw, and then connect the first connecting member 1 to the airbag seat 5, both of which are fixed with 3mm screws and nuts.

[0056] Install the second connecting member 2 and the clamping plate 3, and fix them with 3mm screws and nuts to complete the installation of the partial assembly.

[0057] The assembled first connecting members 1 are installed in series and fixed with 3 mm screws and nuts.

[0058] Assemble the second connector 2 with the first connector 1 connected in series and secure them with 3mm screws and nuts.

[0059] Then, attach Velcro to both sides of the flexible airbag 4 and install the flexible airbag 4 on the airbag seat 5.

[0060] Finally, the flexible airbag 4 is connected to the external gas generator using a hose and a tee pipe.

[0061] The air pressure system of the gripper in this embodiment is designed as follows:

[0062] The software and hardware composition of the external pneumatic control system based on STM32 is used to control the gripper. The pneumatic system needs to achieve positive and negative pressure. The positive pressure is used to expand the flexible airbag 4, and the negative pressure is used to contract the STM32 airbag. According to the air circuit of the pneumatic system required for climbing and grasping, the control system controls the air valve in the pneumatic system to achieve the expected functions and actions.

[0063] Combine Figure 9As shown, according to the needs, it is necessary to equip 1 air compressor, 1 vacuum pump, 6 electric proportional valves, 1 computer, 1 power supply, and 1 STM32 control system; the air pressure control of the air pressure system is to realize the opening and closing of the valve port by controlling the input signal of the electric proportional valve. The gas generated from the air compressor is injected into all the flexible airbags 4 of the clamper through the air pressure regulation of the electric proportional valve. The control system contains two signals, electrical signals and digital signals. The electrical signal is used to provide power to the computer, air compressor, MCU and vacuum pump. The digital signal is sent by the computer through the STM32 control system. The control system converts the TTL signal sent by the computer into a PWN signal, and uses a signal amplifier and digital-to-analog conversion current output voltage signal to the signal receiving end of the electric servo valve. The PWN signal drives the inlet and exhaust solenoid valves, drives the valve core to adjust the air path opening, and realizes real-time adjustment of the output air pressure. The air pressure control system can allow gases with different air channels and pressures to be filled into the flexible airbag 4, causing it to expand to complete the movement of the climbing robot. Similarly, the flexible airbag 4 is contracted by the vacuum pump to complete the reset of the climbing robot.

[0064] The gripping and climbing of the gripper in this embodiment are as follows:

[0065] Common grasping actions during the climbing process include hugging large objects, grasping small objects, and grabbing small rods. In order to achieve the above functions, the clamper must first have the corresponding ability to hug, grasp, grab, and have a certain degree of repeatability. The clamper realizes different functions according to the control of the air pressure system, which is mainly divided into two categories: one is the grabbing of objects, and the other is the climbing of objects. When grabbing, the air paths of the surrounding group and the coupling hook 6 are ventilated at the same time, the surrounding group bends, and the coupling hook 6 rotates and gathers inward to complete the grasping of the object; when climbing, the surrounding group is first ventilated to achieve preliminary attachment to the climbing object, and then the air path of the coupling hook 6 is ventilated and rotated to pressurize the surface area of the climbing object and hook the uneven parts, thereby achieving multi-scale clamping of the climbing object.

[0066] The surrounding group is ventilated through the air pressure system. Since the flexible airbag 4 is installed on one side, based on the expansion of the flexible airbag 4, the bending of the general climbing robot is achieved by limiting the strain layer and the directional layer to achieve the desired effect, the directional bending deformation, as the internal air pressure of the flexible airbag 4 continues to increase and the air volume continues to enter, the expansion size of the airbag changes, thereby causing deformation. Due to the unilateral restriction, the surrounding group bends.

[0067] The rotation of the coupling hook 6 is achieved by the expansion of the flexible airbag 4. The flexible airbag 4 is adhered to the coupling hook 6 so that it can rotate as the flexible airbag 4 expands. The contraction of the flexible airbag 4 uses the negative pressure generated by the vacuum pump to expel the internal air, thereby reducing the volume of the flexible airbag 4 and allowing the coupling hook 6 to rotate back around the axis.

[0068] The function of grasping objects is reflected in the order of air pressure conveyed by the air path. In the process of grasping different objects, the gripper shows excellent performance. It is not only firm in grasping but also highly adaptable. For softer objects, the pressure can be adjusted according to the shape of the object to adapt to the size of the object and prevent damage to the grasped object. For harder objects, pressure can be directly applied to adapt to the object according to the adaptability of its own surrounding group and the coupling hook 6 to grasp the object.

[0069] The steps of grasping are as follows: the gripper is near the object; the air pressure system is turned on, and a certain amount of air pressure is delivered to the three air paths at the same time; the air pressure is input into the flexible airbag 4, and the surrounding group and coupling hook 6 of the gripper will gather toward the middle at the same time, and the final shape is an internal spherical space with a closed state on all sides. Combined with their own characteristics, the surrounding group and coupling hook 6 can adapt to the shape of the object. As the air pressure value increases, the contact pressure increases when contacting the object, and the maximum contact between the gripper and the object is achieved as much as possible, thereby achieving the grasping of the object and realizing the grasping of objects of various shapes.

[0070] To realize the climbing and clamping function, when climbing, the surrounding group is first ventilated to achieve preliminary attachment to the climbing object, and then the coupling hook 6 is ventilated and rotated to pressurize the surface area of the climbing object and hook the uneven parts to achieve multi-scale clamping of the climbing object.

[0071] The climbing steps are as follows: the holder is near the object to be climbed; the air pressure system is turned on, and a certain amount of air pressure is delivered to the three air paths in turn; the surrounding group is first inflated and bent to ensure the pre-clamping of the clamp, and at the same time, the flexible airbag 4 behind the coupling hook 6 is inflated to realize the rotation of the coupling hook 6; the pre-clamping has been preliminarily established, and the simultaneous rotation of the coupling hook 6 introduces an inward force, while ensuring the reliability of the pre-clamping. The inward force makes the clamping of the surrounding group more compact, and since the numerous hooks 64 on the coupling hook 6 contact the uneven surface during the rotation process, the hook 64 hooks the surface, and the hook 64 is rigid-flexible coupled so that the hook 64 hooks the object as much as possible, the combined effect of the tension inside the clamp and the combination of the hook tip and the surface of the object can resist external forces and torques. When the clamp is moved, the coupling hooks 6 on both sides provide opposite forces, so that climbing clamping can be guaranteed.

[0072] The advantages of the clamp in this embodiment are as follows:

[0073] The clamp adopts the flexible airbag 4. By utilizing the characteristics of the flexible airbag 4 expanding when inflated, the length in certain directions will change. Reasonable use of the length change of the flexible airbag 4 can realize the climbing and grasping of the clamp. At the same time, it changes according to its own shape. When performing an action, it can adaptively adapt to the shape of the object under the influence of external objects.

[0074] By utilizing the variable stiffness of the flexible airbag 4, the change in stiffness of the flexible airbag 4 before and after inflation makes it possible to grab heavy objects and perform difficult grabbing and climbing. The internal gas of the flexible airbag 4 is continuously filled when it is inflated, and the total volume of the flexible airbag 4 also changes accordingly. The partial collapse of the flexible airbag 4 increases the height, and the increase in volume is achieved by continuously increasing the height, and finally reaches the saturation value. The re-injection of gas will only make the flexible airbag 4 become harder and harder, and the internal air pressure of the flexible airbag 4 continues to increase, and the holding force of the clamp is significantly improved.

[0075] Controllable deformation is achieved by adjusting the air pressure input into the flexible airbag 4. A variety of actions of the gripper can be achieved using the air pressure control platform, and different deformations and actions can be achieved according to different tasks.

[0076] When the gripper is grasping and clinging, in the initial stage of the action, the inflation of the flexible airbag 4 causes a large deformation, allowing for rapid movement. When contacting an object, as the air pressure increases, the rigidity of the flexible airbag 4 in the gripper gradually increases, making the overall grasping and clinging shape fixed, with better adaptability and reliability.

[0077] Compared with the prior art, the clamper in this embodiment is designed with a flexible airbag 4 and cooperates with the coupling hooks 6 and the splints 3 on both sides, so that the special expansion volume of the flexible airbag 4 can be utilized, and the length in certain directions will change to achieve the climbing and grasping of the clamper. At the same time, according to the change of its own shape, it can adapt to objects of different shapes when grasping, and will not crush fragile objects. The flexible airbag 4 can also be continuously inflated to change the total volume of the flexible airbag 4. The continuous filling of gas can enhance the gripping force of the clamper, so that it can firmly grasp heavier objects. The external air pressure control platform can also be used to control different flexible airbags 4, so that it can achieve different deformations and movements according to needs. When initially grasping the object, the coupling hook 6 can be used to hook the surface of the object to improve the reliability and stability of climbing and grasping. The coupling hook 6 has a certain degree of adaptability through the rigid-flexible coupling method, better fits the surface of the object, and further improves the reliability of climbing and grasping.

[0078] The present invention also provides another embodiment, a robotic arm, which includes the gripper of the above embodiment. Since the robotic arm of this embodiment includes the gripper of the above embodiment, it can also achieve the technical effects achieved by the gripper of the above embodiment, and will not be described in detail here.

[0079] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0080] The embodiments of the present invention are described above in conjunction with the accompanying drawings. What is disclosed is only a preferred embodiment of the present invention. However, the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms and equivalent changes without departing from the scope of protection of the purpose of the present invention and the claims, which are all within the protection of the present invention.

Claims

1. A clamp, characterized in that: The clamp includes a plurality of first connecting members connected in sequence along a first direction and having elastic deformation performance, a plurality of grabbing units respectively connected to opposite sides of any two adjacent first connecting members along the first direction, two second connecting members respectively connected to the two outer first connecting members, two clamping plates respectively connected to the two second connecting members, and a plurality of flexible airbags, wherein the plurality of flexible airbags are respectively sandwiched between two adjacent first connecting members, the grabbing units, and the second connecting members and the corresponding clamping plates; Each group of the grabbing units includes two airbag seats fixed on opposite sides of two adjacent first connecting members, a coupling hook hinged on each of the airbag seats, and a baffle formed by protruding extensions from each of the airbag seats. A flexible airbag is fixed between each baffle and the corresponding coupling hook.

2. The holder according to claim 1, wherein Two adjacent groups of the grabbing units are arranged with one first connecting member between them.

3. The holder according to claim 2, wherein: Each of the coupling hooks includes a hinged portion hinged to the airbag seat, a plurality of extension portions protruding and extending from a side of the hinged portion away from the airbag seat and arranged at intervals, an insertion portion inserted and fixed on each of the extension portions, and a hook sleeved and fixed on one end of each of the insertion portions away from the extension portion.

4. The holder according to claim 1, wherein Each of the first connecting members includes two connecting blocks that are arranged opposite to each other and at intervals, and an elastic member inserted and fixed between the two connecting blocks. Both ends of the two connecting blocks are provided with mounting holes; the two adjacent connecting members are fixed by screws passing through the corresponding mounting holes and fitting nuts.

5. The holder according to claim 4, wherein: The two connecting blocks in each first connecting member are provided with an inwardly recessed groove on one side relatively away from each other, wherein a plurality of limiting columns are provided in the groove of one of the connecting blocks, and a plurality of limiting holes matching the plurality of limiting columns are provided in the groove of the other connecting block; the flexible airbag is sleeved on the limiting columns of one connecting member and fixed in conjunction with the limiting holes of the other connecting member.

6. The holder according to claim 5, wherein: The elastic member and the corresponding two connecting blocks are integrally formed by printing, and a recessed portion is provided inwardly recessed in the middle area of the elastic member, and the recessed portion extends from one side of the elastic member to the corresponding other side and is perpendicular to the first direction.

7. The holder according to claim 1, wherein: Each of the second connecting members includes two fixing blocks arranged opposite to each other and spaced apart, and a flexible member inserted and fixed between the two fixing blocks, and support holes are provided at both ends of the two fixing blocks; one of the fixing blocks is fixed to the first connecting member by a screw and a nut, and the other fixing block is fixed to the corresponding splint by a screw or a nut.

8. The holder according to claim 7, wherein: The two fixing blocks in each second connecting member are provided with an inwardly recessed groove on one side thereof that is relatively far away from each other. The flexible airbag is fixed between the groove of any one of the fixing blocks in each second connecting member and the corresponding splint by providing corresponding plug-ins and slots.

9. A robotic arm, characterized in that: The robotic arm comprises a gripper according to any one of claims 1 to 8.

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