Multi-fingered flexible gripper

Abstract

The utility model discloses a kind of multi tentacle flexible clamping jaw, including by elastic material made connecting part, driving chamber is provided on connecting part, connecting part is provided with upper connecting plate, upper connecting plate is provided with communicating hole, driving chamber includes cavity bottom wall and cavity side wall, the thickness of cavity bottom wall of driving chamber is less than the thickness of cavity side wall or the elastic modulus of cavity bottom wall is less than the elastic modulus of cavity side wall, at least two circles of grabbing tentacles are provided on cavity bottom wall, each circle of grabbing tentacle includes the several grabbing rods of circumferential interval arrangement, the grabbing rod of adjacent circle is mutually staggered interval arrangement, the length of grabbing rod gradually increases from inner circle to outer circle, grabbing rod is gradually pointed from top to bottom, and the thickness of each grabbing rod gradually thins from middle to both sides along width direction. The grabbing rod of the multi tentacle flexible clamping jaw can be completely folded, and it is suitable for clamping smaller volume of goods.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, and in particular to a multi-tentacle flexible gripper. Background Technology

[0002] Currently, flexible grippers or rigid mechanical grippers are generally used for grasping or holding objects. Flexible grippers can hold items flexibly without leaving marks on the surface of the object during the gripping process, and the gripping force is relatively linear, so they are widely used.

[0003] Regarding the multi-tentacle flexible gripper, the applicant previously filed an invention patent application with patent number 202311868801.5 entitled "A Multi-tentacle Negative Pressure Flexible Gripper." This application describes a multi-tentacle gripper comprising a connecting part made of elastic material, a driving chamber disposed on the connecting part, an upper connecting plate disposed on the connecting part to seal the driving chamber, a communicating hole disposed on the upper connecting plate to communicate with the driving chamber, the driving chamber comprising a bottom wall and a side wall, wherein the thickness of the bottom wall of the driving chamber is less than the thickness of the side wall or the elastic modulus of the bottom wall is less than the elastic modulus of the side wall, characterized in that: at least one ring of gripping tentacles is disposed on the bottom wall, each ring of gripping tentacles comprising a plurality of gripping rods spaced apart, the innermost ring of gripping rods forming a gripping space.

[0004] Furthermore, an inwardly protruding tension-enhancing block is provided on the inner wall of the cavity bottom, located in the middle of the gripping space. The tension-enhancing block is cylindrical. This gripper can grasp scattered or irregularly shaped objects, adapting to different gripping situations.

[0005] Then, the inner ring gripping rods of the multi-tentacle flexible gripper cannot fully close when retracted. When gripping, the innermost gripping rods are squeezed when they come together, resulting in a space between the gripping rods even when they are bent to their limit. As a result, the flexible gripper cannot grip small items. Furthermore, when gripping small items, only the innermost gripping rods are in contact with the item, while the outer gripping rods rest against the inner gripping rods one by one to provide stronger gripping force. However, the outer gripping rods are not in contact with the item. This makes the multi-tentacle flexible gripper unsuitable for small and fragile items, and the gripping force is difficult to control precisely. Utility Model Content

[0006] The technical problem to be solved by this utility model is to provide a multi-tentacle flexible gripper, the gripping lever of which can be fully retracted, making it suitable for gripping smaller items.

[0007] To solve the above-mentioned technical problems, the technical solution of this utility model is: a multi-tentacle flexible gripper, comprising a connecting part made of elastic material, a driving chamber provided on the connecting part, an upper connecting plate provided on the connecting part to seal the driving chamber, a communicating hole provided on the upper connecting plate to communicate with the driving chamber, the driving chamber comprising a bottom wall and a side wall, the thickness of the bottom wall of the driving chamber being less than the thickness of the side wall or the elastic modulus of the bottom wall being less than the elastic modulus of the side wall, and at least two rings of gripping tentacles provided on the bottom wall. Each ring of gripping tentacles includes several gripping rods spaced circumferentially. The gripping rods of adjacent rings are staggered and spaced apart. The end of each gripping rod connected to the drive bottom wall is defined as the upper end, and the end away from the drive bottom wall is defined as the lower end. The direction between the inner and outer sides of the gripping rod is defined as the thickness direction, and the direction perpendicular to both the thickness and length directions is defined as the width direction. The length of the gripping rod gradually increases from the inner ring to the outer ring, and the gripping rod gradually tapers from top to bottom. The thickness of each gripping rod gradually decreases from the middle to both sides along the width direction.

[0008] As a preferred embodiment, the area of ​​the gripping rod gradually decreases from top to bottom.

[0009] As a preferred embodiment, the cross-section of any gripping rod is taken as a reference surface. The longest line in the width direction of the cross-sectional pattern of the gripping rod in this reference surface is the width reference line. The circumference of the gripping rods in the same ring is the reference circle. The width reference line of each gripping rod is skewed outward. With the reference circle as a clock face, the ends of the width reference lines of all gripping rods that are skewed outward are both the upstream end or the downstream end.

[0010] As a preferred embodiment, the line connecting the midpoint of the width reference line and the center of the reference circle is defined as the reference center line, and the obtuse angle at which the width reference line intersects the reference center line is defined as the deflection angle. The innermost gripping rod has the smallest deflection angle, and the outermost gripping rod has the largest deflection angle.

[0011] As a preferred option, the lower inner side of each gripping bar is provided with a gripping ramp for easy gripping.

[0012] As a preferred embodiment, the gripping rod partially overlaps with the corresponding gripping rod of the adjacent ring, and the overlapping area is the thinner part of the gripping rod along the width direction.

[0013] As a preferred embodiment, the bottom inner wall of the cavity bottom wall is further provided with an upwardly protruding tension-enhancing protrusion.

[0014] As a preferred embodiment, the tensile reinforcement protrusion is a frustum-shaped tensile reinforcement protrusion.

[0015] After adopting the above technical solution, the effect of this utility model is as follows: Since at least two rings of gripping tentacles are provided on the bottom wall of the cavity, each ring of gripping tentacles includes several gripping rods arranged at circumferential intervals. The gripping rods of adjacent rings are staggered and spaced apart. The end of each gripping rod connected to the driving bottom wall is defined as the upper end, and the end away from the driving bottom wall is defined as the lower end. The direction between the inner and outer sides of the gripping rod is defined as the thickness direction, and the direction perpendicular to both the thickness and length directions is defined as the width direction. The length of the gripping rod gradually increases from the inner ring to the outer ring, and the gripping rod gradually tapers from top to bottom. The thickness of each gripping rod gradually decreases from the middle to both sides along the width direction. In use, because the length of the gripping rod gradually increases from the inner ring to the outer ring… Therefore, the outer gripping rods can also contact and grasp the item, resulting in better coverage. Simultaneously, because the lower ends (gripping ends) of the gripping rods are sharper, they occupy less space when brought together, allowing them to come together more effectively. Furthermore, each gripping rod gradually thins from the center outwards along its width, causing them to overlap when brought together. This overlap occurs precisely in the thinner areas on either side of the gripping rods, further enhancing their ability to come together. These structural improvements result in a tighter convergence of the gripping rods during retrieval, and the lower ends of both the outer and inner gripping rods can better contact and cover the item, enabling the grasping of smaller items, such as candies or chocolate chips.

[0016] Furthermore, since the cross-sectional area of ​​the gripping rod gradually decreases from top to bottom, the lower end of the gripping rod gradually becomes pointed by the gradual reduction of the cross-section. In this way, the gripping rod becomes thinner and pointed in both the width and thickness directions, which not only ensures sufficient strength of the gripping rod, but also reduces the volume of the lower end, creating conditions for the gripping rod to close better.

[0017] Furthermore, since the cross-section of any gripping rod is used as a reference surface, the longest connecting line in the width direction of the cross-sectional pattern of the gripping rod in this reference surface is the width reference line. The circumference of the gripping rods in the same ring is the reference circle. The width reference line of each gripping rod is deflected outward. With the reference circle as a clock face, the ends of the width reference lines of all gripping rods that are deflected outward are both the upstream end or the downstream end. In this way, all gripping rods will deflect according to a unified deflection logic. When gripping under negative pressure, the bottom wall of the cavity will deform upward and pull the gripping rods closer together. During the process of the gripping rods closing together, due to the deflection, the gripping rods will close together in sequence under the deflected state. This makes it easier for the thin edge parts of the gripping rods to overlap when they close together.

[0018] Furthermore, since the line connecting the midpoint of the width reference line and the center of the reference circle is defined as the reference center line, and the obtuse angle at which the width reference line intersects the reference center line is defined as the deflection angle, the innermost gripping rod has the smallest deflection angle, and the outermost gripping rod has the largest deflection angle. In this way, by optimizing the deflection angle, the gripping rods can be better partially superimposed and brought closer together.

[0019] Furthermore, since each gripping bar has a gripping ramp on its lower inner side for easy gripping, the inner side of the gripping bar can be gradually thinned by using the gripping ramp. After gripping an item, the gripping ramps will overlap better, reducing the space occupied by the gripping bars when overlapping. The lower ends of the gripping bars can be brought together better, which also allows for the gripping of smaller items.

[0020] Furthermore, since the gripping rod overlaps with the corresponding gripping rod of the adjacent ring, and the overlapping area is the thinning part of the gripping rod along the width direction, the thickness of the thinning part after the gripping rods are stacked is similar to the normal thickness of the middle of the gripping rod. This further optimizes the space occupied by the lower end when the gripping rods are brought together during gripping.

[0021] Furthermore, the bottom inner wall of the cavity is also provided with an upwardly protruding tension-enhancing protrusion. This tension-enhancing protrusion is frustoconical in shape. The tension-enhancing protrusion increases the tensile force when the cavity bottom wall deforms, allowing the gripping rod outside the cavity bottom wall to deform better, with a larger deformation angle and a greater gripping force. At the same time, since the tension-enhancing protrusion is frustoconical, the angle at the connection between the tension-enhancing protrusion and the cavity bottom wall is larger, thus minimizing stress concentration at the connection between the tension-enhancing protrusion and the cavity bottom wall. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Figure 1 This is a three-dimensional structural view of an embodiment of the present utility model;

[0024] Figure 2 This is a front view of an embodiment of the present utility model;

[0025] Figure 3 This is a top view of an embodiment of the present utility model;

[0026] Figure 4 yes Figure 3 Sectional view at AA;

[0027] Figure 5 This is a bottom view of an embodiment of the present utility model;

[0028] Figure 6 yes Figure 5 An enlarged view at point B;

[0029] In the attached diagram: 1. Connecting part; 2. Upper connecting plate; 3. Communicating hole; 4. Gripping rod; 5. Drive chamber; 51. Cavity side wall; 52. Cavity bottom wall; 6. Tension-enhancing protrusion; 7. Central groove; 8. Tension-breaking groove; 9. Gripping inclined surface; 10. Reference center line; 11. Width reference line. Detailed Implementation

[0030] The present invention will be further described in detail below through specific embodiments.

[0031] like Figures 1 to 6 As shown, a multi-tentacle flexible gripper includes a connecting part 1 made of elastic material, a driving chamber 5 provided on the connecting part 1, an upper connecting plate 2 provided on the connecting part 1 to seal the driving chamber 5, and a communicating hole 3 provided on the upper connecting plate 2 to communicate with the driving chamber 5.

[0032] In use, the connecting hole 3 on the upper connecting plate 2 is connected to an air passage connector for driving air passage connection. The air pressure in the driving chamber 5 can be controlled by the driving air passage, so that the gripping rods 4 come together to complete the clamping when under negative pressure, while under normal pressure, the gripping rods 4 open and reset by the elastic deformation of the bottom wall 52 and the side wall 51 of the driving chamber 5.

[0033] The driving chamber 5 includes a bottom wall 52 and a side wall 51. The thickness of the bottom wall 52 is less than the thickness of the side wall 51, or the elastic modulus of the bottom wall 52 is less than the elastic modulus of the side wall 51. Therefore, the deformation of the bottom wall 52 under negative pressure is greater than that of the side wall 51, thereby achieving the closing of the gripping rod 4.

[0034] At least two rings of gripping tentacles are provided on the bottom wall 52 of the cavity. Each ring of gripping tentacles includes a plurality of gripping rods 4 arranged at circumferential intervals. In this embodiment, there are four rings of gripping rods 4, and the width of each ring of gripping rods 4 gradually increases from the inside to the outside. Therefore, the number of gripping rods 4 in each ring is the same, eight in total, and they are arranged at equal circumferential intervals. Thus, the central angle corresponding to adjacent gripping rods 4 in each ring is 45°. The gripping rods 4 in adjacent rings are staggered and spaced apart, such as... Figure 5 As shown, the central angle between the gripping rod 4 and the corresponding gripping rod 4 in the adjacent ring is 15°, so the angle between the innermost gripping rod 4 and the corresponding outermost gripping rod 4 is 45°.

[0035] Of course, the number of gripping levers 4 per rotation is not limited. As the size of the flexible gripper increases, the number of gripping levers 4 can also increase accordingly.

[0036] The end of each gripping rod 4 connected to the drive bottom wall is defined as the upper end, and the end away from the drive bottom wall is defined as the lower end. The direction between the inner and outer sides of the gripping rod 4 is defined as the thickness direction, where the inner side of the gripping rod 4 refers to the side closer to the center of the gripping area as the inner side, and the corresponding side away from the center as the outer side. The direction perpendicular to both the thickness and length directions of the gripping rod 4 is defined as the width direction. The length of the gripping rod 4 gradually increases from the inner circle to the outer circle. In this way, the height of the tip of the gripping rod 4 is different when each circle of gripping rod 4 comes together during gripping, thereby achieving wrapping from the outside to the inside. In this way, the inner gripping rod 4 does not affect the coming together of the outer gripping rod 4. Therefore, in the actual gripping process, the item can be well gripped when it is at the tip position of any circle of gripping rod 4. Of course, it is also possible for the item to be wrapped and gripped by multiple circles of gripping rod 4, which makes the gripping more reliable and less likely to fall off. The gripping rod 4 gradually tapers from top to bottom, and the thickness of each gripping rod 4 gradually decreases from the middle to both sides along the width direction.

[0037] In a further preferred embodiment, the area of ​​the cross-section of the gripping rod 4 gradually decreases from top to bottom to achieve a tapering shape. Of course, the tapering method can also be that the width of the gripping rod 4 gradually decreases from top to bottom. However, in this embodiment, the preferred method is that the area of ​​the cross-section gradually decreases, so that the space occupied by the gripping rods 4 when stacked is smaller and they are easier to bring together.

[0038] like Figure 6 As shown, a cross-section of any gripping lever 4 is taken as a reference surface. The longest connecting line in the width direction within the cross-sectional pattern of the gripping lever 4 on this reference surface is the width reference line 11. The circumference of all gripping levers 4 in the same ring is the reference circle. The width reference line 11 of each gripping lever 4 is skewed outwards. Using the reference circle as a clock face, the outward-skewed ends of the width reference lines 11 of all gripping levers 4 are either the upstream end or the downstream end. From... Figure 6 It can be observed that the width reference line 11 of each gripping lever 4 is located at the lower end of the drawing, slightly outward. This end is also the upstream end of the clock face. Upstream and downstream are determined by the order in which the clock hands rotate. The direction traversed first is upstream, and the direction traversed later is downstream. Figure 6 Taking the outermost gripping lever 4 as an example, this gripping lever 4 is located at the nine o'clock position on the clock face. When the pointer deflects from the eight o'clock position to the nine o'clock position, it will first pass through the side of the gripping lever 4 that is lower than the drawing. Therefore, the side of the width reference line 11 of the corresponding gripping lever 4 that is lower is the upstream end.

[0039] Whether it is the upstream end or the downstream end, as long as the width reference line 11 of each gripping rod 4 is on the same side, the gripping rods 4 can be better superimposed when they come together.

[0040] The line connecting the midpoint of the width reference line 11 and the center of the reference circle is defined as the reference center line 10. The obtuse angle at which the width reference line 11 intersects the reference center line 10 is defined as the deflection angle. The innermost gripping rod 4 has the smallest deflection angle, and the outermost gripping rod 4 has the largest deflection angle. In this embodiment, the deflection angles from the inside to the outside are 100°, 105°, 105°, and 110°, respectively. Due to the deflection angle, the gripping rod 4 will also have a certain torsional effect during gripping, thus allowing for better closing.

[0041] Each gripping rod 4 has a gripping bevel 9 on its lower inner side for easy gripping. The gripping rod 4 partially overlaps with the corresponding gripping rod 4 of the adjacent ring, and the overlapping area is the thinner part of the gripping rod 4 along the width direction.

[0042] like Figure 4 As shown, the bottom inner wall of the cavity bottom wall 52 is also provided with an upwardly protruding tension-enhancing protrusion 6. The tension-enhancing protrusion 6 is frustoconical. Of course, the upper end face of the tension-enhancing protrusion can also be provided with several tension-breaking grooves 8, and the outer surface of the cavity bottom wall 52 is also provided with a central groove 7 that is recessed into the drive chamber 5, the central groove 7 corresponding to the tension-enhancing protrusion 6.

[0043] Since the tension-enhancing protrusion 6 is frustum-shaped, the angle between the tension-enhancing protrusion 6 and the cavity bottom wall 52 will be larger, which reduces the stress concentration in this part and avoids cracks in this part during long-term use.

[0044] The flexible gripper in this embodiment is suitable for gripping small items, such as regular or irregular items like candies, chocolates, soybeans, and pills, and is especially suitable for gripping single items.

[0045] The above-described embodiments are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Any modifications and alterations to the technical solution of the present utility model without departing from its design spirit shall fall within the protection scope defined by the claims of the present utility model.

Claims

1. A multi-tentacle flexible gripper, comprising a connecting part made of an elastic material, a driving chamber disposed on the connecting part, an upper connecting plate disposed on the connecting part to seal the driving chamber, a communicating hole disposed on the upper connecting plate communicating with the driving chamber, the driving chamber comprising a bottom wall and a side wall, wherein the thickness of the bottom wall of the driving chamber is less than the thickness of the side wall or the elastic modulus of the bottom wall is less than the elastic modulus of the side wall, characterized in that: The cavity bottom wall is provided with at least two rings of gripping tentacles. Each ring of gripping tentacles includes several gripping rods arranged at circumferential intervals. The gripping rods of adjacent rings are staggered and spaced apart. The end of each gripping rod connected to the driving bottom wall is defined as the upper end, and the end away from the driving bottom wall is defined as the lower end. The direction between the inner and outer sides of the gripping rod is defined as the thickness direction, and the direction perpendicular to both the thickness and length directions is defined as the width direction. The length of the gripping rod gradually increases from the inner ring to the outer ring, and the gripping rod gradually tapers from top to bottom. The thickness of each gripping rod gradually decreases from the middle to both sides along the width direction.

2. The multi-tentacle flexible gripper as described in claim 1, characterized in that: The area of ​​the cross-section of the gripping rod gradually decreases from top to bottom.

3. The multi-tentacle flexible gripper as described in claim 1, characterized in that: Take any cross-section of the gripping lever as a reference surface. The longest line in the width direction of the cross-sectional pattern of the gripping lever in this reference surface is the width reference line. The circumference of the gripping levers in the same ring is the reference circle. The width reference line of each gripping lever is tilted outward. With the reference circle as a clock face, the ends of the width reference lines of all gripping levers that are tilted outward are both the upstream end or the downstream end.

4. The multi-tentacle flexible gripper as described in claim 3, characterized in that: The line connecting the midpoint of the width reference line and the center of the reference circle is defined as the reference center line. The obtuse angle at which the width reference line intersects the reference center line is defined as the deflection angle. The innermost gripping rod has the smallest deflection angle, and the outermost gripping rod has the largest deflection angle.

5. The multi-tentacle flexible gripper as described in claim 1, characterized in that: Each gripping bar has a gripping ramp on its lower inner side for easy gripping.

6. The multi-tentacle flexible gripper as described in claim 1, characterized in that: The gripping rod partially overlaps with the corresponding gripping rod of the adjacent ring, and the overlapping area is the thinner part of the gripping rod along the width direction.

7. The multi-tentacle flexible gripper as described in claim 1, characterized in that: The bottom inner wall of the cavity is also provided with an upwardly protruding tension-enhancing protrusion.

8. The multi-tentacle flexible gripper as described in claim 7, characterized in that: The tensile reinforcement protrusion is a frustum-shaped tensile reinforcement protrusion.

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