Three-fingered flexible gripper device

Abstract

The application relates to the technical field of flexible grippers, and discloses a three-finger flexible gripper device, which comprises three groups of positioning shells and a mounting plate arranged above the positioning shells, the inner walls of the three groups of positioning shells are respectively provided with positioning grooves, the inner walls of the positioning shells located in the interiors of the positioning grooves are respectively slidably connected with sawtooth flexible grippers, and the inner walls of the sawtooth flexible grippers are provided with placing grooves and are bonded with spring steel, the rigidity of the gripper is significantly improved, excessive deformation caused by external interference in the process of grabbing is effectively prevented, the stability of clamping is ensured, meanwhile, the combination of the three-finger design and the positioning mechanism realizes accurate positioning and reliable grabbing of objects, clamping deviation caused by deformation of the flexible gripper is avoided, in addition, the design of the sawtooth-shaped second inner cavity optimizes the inflation deformation effect, the gripper has stronger grabbing force and adaptability while maintaining flexibility, and is especially suitable for scenes with high requirements on clamping precision and stability.

Description

Technical Field

[0001] This application relates to the field of flexible gripper technology, specifically a three-finger flexible gripper device. Background Technology

[0002] Traditional grippers employ rigid structures and rigid actuators, offering high precision, high speed, and high load capacity. With continuous technological advancements, grippers have found widespread application in various fields, leading to increasingly stringent requirements. Many specialized areas, such as fruit and vegetable harvesting and the handling of fragile items, present unique challenges for grippers. Flexible grippers are better suited for these applications, making their research a hot topic in the scientific community. Typically made of flexible materials, flexible grippers possess significant flexibility and virtually unlimited degrees of freedom, enabling them to perform non-destructive gripping. For instance, flexible grippers are less likely to damage the skin of fruits when handling them.

[0003] Currently, flexible grippers have internal cavities made of silicone. By inflating the cavity, the flexible gripper deforms, making it easier to grasp objects. However, because the gripper is soft, its gripping end is prone to deformation when it deforms, making it susceptible to interference from external factors, which can lead to unstable gripping. Summary of the Invention

[0004] The purpose of this application is to provide a three-finger flexible gripper device, which solves the problem in the prior art where the flexible gripper has a cavity inside and is made of silicone. By inflating the cavity, the flexible gripper can deform, thus facilitating its gripping of objects. However, since the flexible gripper is soft, its gripping end is prone to deformation when deformed, making it susceptible to interference from external factors, resulting in unstable gripping.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0006] This application provides a three-finger flexible gripper device, including three sets of positioning shells and a mounting plate disposed above the positioning shells. The inner walls of the three sets of positioning shells are respectively provided with positioning grooves. A serrated flexible gripper is slidably connected to the inner wall of the positioning shell located inside each positioning groove. An air nozzle is respectively adhered to the outer wall of each set of flexible grippers. Each air nozzle is slidably inserted into the inner wall of the positioning shell. A first inner cavity and a second inner cavity are respectively provided in the inner wall of the serrated flexible gripper located on one side of each set of air nozzles. The second inner cavity is serrated. A placement groove is provided in the inner wall of the serrated flexible gripper located on one side of the first inner cavity. A spring steel is adhered to the inner wall of the serrated flexible gripper located inside the placement groove. A positioning mechanism for the serrated flexible gripper is provided on one side of the positioning shell.

[0007] By adopting the above technical solution, a placement groove is opened on the inner wall of the serrated flexible gripper and a spring steel is bonded thereto, which significantly improves the rigidity of the gripper and effectively prevents excessive deformation caused by external interference during the gripping process, ensuring the stability of the gripping. At the same time, the combination of the three-finger design and the positioning mechanism realizes the precise positioning and reliable gripping of objects, avoiding the gripping deviation caused by deformation of the flexible gripper. In addition, the design of the serrated second inner cavity optimizes the inflation deformation effect, so that the gripper has stronger gripping force and adaptability while maintaining flexibility, which is especially suitable for scenarios with high requirements for gripping accuracy and stability.

[0008] Optionally, the positioning mechanism includes a positioning plate fixedly installed inside the positioning shell, the inner wall of which abuts against the toothed flexible gripper.

[0009] By adopting the above technical solution, the positioning shell can fix the positioning plate, and the positioning plate can position the serrated flexible gripper.

[0010] Optionally, a sealing ring is fitted on the outer wall of the air nozzle, and the sealing ring abuts against the inner wall of the positioning shell.

[0011] By adopting the above technical solution, the sealing ring can be used to position the air nozzle and the positioning shell.

[0012] Optionally, two connecting pipes are fixedly installed on the outer wall of the positioning housing located on one side of the two air nozzles.

[0013] By adopting the above technical solution, the positioning shell can fix the connecting pipe, and each connecting pipe can be connected to the air supply mechanism and the exhaust mechanism through the external device multi-port, thereby supplying and exhausting air to the first inner cavity and the second inner cavity.

[0014] Optionally, a connecting bracket is welded to the upper end of each positioning shell, and an mounting bracket is fixedly installed on the outer wall of each connecting bracket, and the mounting bracket is fixedly installed with the mounting plate.

[0015] By adopting the above technical solution, the mounting plate can fix the mounting bracket, the mounting bracket can fix the connecting bracket, and the connecting bracket can fix the positioning shell.

[0016] Optionally, the upper side of the mounting plate has multiple sets of mounting holes.

[0017] By adopting the above technical solution, the mounting holes allow the gripper to be easily mounted on a movable bracket.

[0018] Optionally, positioning clips are fixedly installed on the outer wall of the mounting plate.

[0019] By adopting the above technical solution, the mounting plate can fix the positioning clip, and the positioning clip can clamp and position the external connecting air pipe.

[0020] Compared with the prior art, the beneficial effects of the technical solution of this application are as follows:

[0021] The technical solution of this application significantly improves the rigidity of the gripper by creating placement grooves on the inner wall of the serrated flexible gripper and bonding spring steel, effectively preventing excessive deformation caused by external interference during the gripping process and ensuring the stability of the gripping. At the same time, the combination of the three-finger design and the positioning mechanism achieves precise positioning and reliable gripping of objects, avoiding gripping deviation caused by deformation of the flexible gripper. In addition, the design of the serrated second inner cavity optimizes the inflation deformation effect, enabling the gripper to have stronger gripping force and adaptability while maintaining flexibility, which is especially suitable for scenarios with high requirements for gripping accuracy and stability. Attached Figure Description

[0022] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0023] Figure 1 This is an axial view schematic diagram of a three-finger flexible gripper device according to this application;

[0024] Figure 2 This is a frontal cross-sectional view of a three-finger flexible gripper device according to this application;

[0025] Figure 3 This application discloses a three-finger flexible gripper device. Figure 2 Enlarged view of point A in the middle;

[0026] Figure 4 This application discloses a three-finger flexible gripper device. Figure 3 Enlarged view of section B in the middle.

[0027] In the diagram: 1. Positioning shell; 2. Mounting plate; 3. Serrated flexible gripper; 4. First inner cavity; 5. Second inner cavity; 6. Placement groove; 7. Spring steel; 8. Air nozzle; 9. Sealing ring; 10. Connecting pipe; 11. Positioning plate; 12. Connecting bracket; 13. Mounting bracket; 14. Mounting hole; 15. Positioning clamp; 16. Positioning groove. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0029] Please see Figure 1-4 This application provides a technical solution: a three-finger flexible claw device, including three sets of positioning shells 1 and a mounting plate 2 disposed above the positioning shells 1. The inner walls of the three sets of positioning shells 1 are respectively provided with positioning grooves 16. The inner walls of the positioning shells 1 located inside each set of positioning grooves 16 are respectively slidably connected with serrated flexible claws 3. The outer walls of each set of flexible claws are respectively bonded with air nozzles 8. Each air nozzle 8 is slidably inserted into the inner wall of the positioning shell 1. The inner walls of the serrated flexible claws 3 located on one side of each set of air nozzles 8 are respectively provided with a first inner cavity 4 and a second inner cavity 5. The second inner cavity 5 is serrated. The inner walls of the serrated flexible claws 3 located on one side of the first inner cavity 4 are provided with placement grooves 6. The inner walls of the serrated flexible claws 3 located inside the placement grooves 6 are bonded with spring steel 7. A positioning mechanism for the serrated flexible claws 3 is provided on one side of the positioning shells 1.

[0030] In the technical solution of this application, a placement groove 6 is opened on the inner wall of the serrated flexible gripper 3 and a spring steel 7 is bonded thereto, which significantly improves the rigidity of the gripper and effectively prevents excessive deformation caused by external interference during the gripping process, ensuring the stability of the gripping. At the same time, the combination of the three-finger design and the positioning mechanism realizes the precise positioning and reliable gripping of the object, avoiding the gripping deviation caused by the deformation of the flexible gripper. In addition, the design of the serrated second inner cavity 5 optimizes the inflation deformation effect, so that the gripper has stronger gripping force and adaptability while maintaining flexibility, which is especially suitable for scenarios with high requirements for gripping accuracy and stability.

[0031] In the technical solution of this application, such as Figure 1 and Figure 2 As shown, each positioning shell 1 has a connecting bracket 12 welded to its upper end, and each connecting bracket 12 has an mounting bracket 13 fixedly installed on its outer wall. The mounting bracket 13 is fixedly installed with the mounting plate 2. The mounting plate 2 can fix the mounting bracket 13, which in turn can fix the connecting bracket 12, which in turn can fix the positioning shell 1. The upper side of the mounting plate 2 has multiple sets of mounting holes 14, which allow the gripper to be easily mounted on the movable bracket.

[0032] In the technical solution of this application, such as Figures 1-4As shown, a sealing ring 9 is fitted on the outer wall of the air nozzle 8. The sealing ring 9 abuts against the inner wall of the positioning shell 1. The sealing ring 9 can position the air nozzle 8 and the positioning shell 1. Two connecting pipes 10 are fixedly installed on the outer wall of the positioning shell 1 located on one side of the two air nozzles 8. The positioning shell 1 can fix the connecting pipes 10. Each connecting pipe 10 can be connected to the air supply mechanism and the exhaust mechanism through an external multi-port device, thereby supplying air to the first inner cavity 4 and the second inner cavity 5.

[0033] In the technical solution of this application, such as Figure 1 and Figure 2 As shown, positioning clips 15 are fixedly installed on the outer wall of the mounting plate 2. The mounting plate 2 can fix the positioning clips 15, and the positioning clips 15 can clamp and position the external connecting air pipe.

[0034] In the technical solution of this application, such as Figure 1 and Figure 2 As shown, the positioning mechanism includes a positioning plate 11 fixedly installed inside the positioning shell 1. The inner wall of the positioning plate 11 abuts against the toothed flexible gripper 3. The positioning shell 1 can fix the positioning plate 11, and the positioning plate 11 can position the toothed flexible gripper 3.

[0035] In use, the positioning shell 1 is fixed to the external movable bracket through the mounting holes 14 and positioning clips 15 on the mounting plate 2, and is stably supported by the connecting bracket 12 and mounting bracket 13. The three sets of positioning shells 1 are distributed in a three-finger shape. A serrated flexible gripper 3 is slidably installed in the positioning groove 16 of each set of positioning shells 1. The air nozzle 8 on the outer wall of the gripper passes through the positioning shell 1 and cooperates with the sealing ring 9 to ensure airtightness. When it is necessary to grasp an object, the external air supply mechanism inflates the first inner cavity 4 and the serrated second inner cavity 5 through the connecting pipe 10. The gripper deforms due to the air pressure, and its serrated second inner cavity 5 optimizes the deformation process. The gripping force distribution in the center, along with the spring steel 7 placed in the slot 6, provides rigid support for the gripper, preventing excessive deformation due to external interference and ensuring gripping stability. The positioning plate 11 on the inner side of the positioning shell 1 abuts against the outer wall of the gripper, further limiting the displacement deviation of the gripper and achieving precise positioning. The three fingers work together to reliably grip the object. After gripping, the exhaust mechanism exhausts the air from the inner cavity of the gripper through the connecting pipe 10, and the gripper returns to its initial shape to release the object. The entire process achieves a balance between flexible gripping and rigid support through pneumatic control, which is especially suitable for scenarios with high requirements for gripping accuracy and stability.

[0036] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A three-finger flexible gripper device, characterized in that: The device includes three sets of positioning shells (1) and a mounting plate (2) set above the positioning shells (1). The inner walls of the three sets of positioning shells (1) are respectively provided with positioning grooves (16). The inner walls of the positioning shells (1) located inside each set of positioning grooves (16) are respectively slidably connected with serrated flexible claws (3). The outer walls of each set of flexible claws are respectively bonded with air nozzles (8). Each air nozzle (8) is slidably inserted into the inner wall of the positioning shell (1). The inner walls of the serrated flexible claws (3) located on one side of each set of air nozzles (8) are respectively provided with a first inner cavity (4) and a second inner cavity (5). The second inner cavity (5) is serrated. The inner walls of the serrated flexible claws (3) located on one side of the first inner cavity (4) are provided with placement grooves (6). The inner walls of the serrated flexible claws (3) located inside the placement grooves (6) are bonded with spring steel (7). A positioning mechanism for the serrated flexible claws (3) is provided on one side of the positioning shells (1).

2. The three-finger flexible gripper device according to claim 1, characterized in that, The positioning mechanism includes a positioning plate (11) fixedly installed inside the positioning shell (1), and the inner wall of the positioning plate (11) abuts against the toothed flexible gripper (3).

3. The three-finger flexible gripper device according to claim 1, characterized in that, The outer wall of the air nozzle (8) is fitted with a sealing ring (9), which abuts against the inner wall of the positioning shell (1).

4. The three-finger flexible gripper device according to claim 1, characterized in that, Two connecting pipes (10) are fixedly installed on the outer wall of the positioning shell (1) located on one side of the two air nozzles (8).

5. A three-finger flexible gripper device according to claim 1, characterized in that, Each of the positioning shells (1) has a connecting bracket (12) welded to its upper end, and each of the connecting brackets (12) has an mounting bracket (13) fixedly installed on its outer wall. The mounting bracket (13) is fixedly installed with the mounting plate (2).

6. A three-finger flexible gripper device according to claim 5, characterized in that, The mounting plate (2) has multiple sets of mounting holes (14) on its upper side.

7. A three-finger flexible gripper device according to claim 6, characterized in that, Positioning clips (15) are fixedly installed on the outer wall of the mounting plate (2).

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