CN114474116B

CN114474116B - Flexible clamp

Info

Publication number: CN114474116B
Application number: CN202210109722.5A
Authority: CN
Inventors: 汤健华; 赖根; 江励; 黄辉; 黎振浩; 严子豪; 刘阳; 周鹏飞; 张云凡; 翟雪倩; 许航潇; 伍昆军; 邬锦铸; 熊达明; 王家浩; 徐俊佳
Original assignee: Wuyi University
Current assignee: Wuyi University
Priority date: 2022-01-28
Filing date: 2022-01-28
Publication date: 2024-05-28
Anticipated expiration: 2042-01-28
Also published as: CN114474116A

Abstract

The application discloses a flexible clamp holder, and belongs to the technical field of robots. The application discloses a flexible clamp holder, which comprises a base and a plurality of clamping jaws arranged on the base, wherein each clamping jaw comprises: the driving part is provided with a plurality of mutually communicated air bag cavities, and the driving part can be bent forward by inflating the air bag cavities; and the variable stiffness part is arranged on the driving part and comprises a framework capable of bending along with the driving part and a plurality of locking parts for keeping the framework in a bending state, each locking part is arranged along the length direction of the framework, and each locking part comprises locking parts oppositely arranged in the width direction of the driving part and a driving device for driving each locking part to be mutually locked. The flexible clamp holder can change the rigidity of the clamping jaw under the condition that the air bag cavity is adopted as the driving part, so that the stable grabbing of objects is realized, and the flexible clamp holder is simple in structure and convenient to maintain.

Description

Flexible clamp

Technical Field

The application relates to the technical field of robots, in particular to a flexible clamp holder.

Background

There are a variety of arrangements of flexible holders.

In some designs, the jaws of the flexible gripper include a plurality of joints that are movable independently of one another, each joint being controlled by a tendon rope pull so that each joint can rotate relative to one another and form a curve, thereby effecting gripping of the article. Although the stable grabbing of the object can be realized through the arrangement mode, the tendon rope is required to be bent and penetrated in a narrow specific space, and can inevitably rub with a mechanical structure, so that certain loss is caused in transmission efficiency, and meanwhile, the larger the transmission load is, the more complicated the line driving is, and the lower the transmission efficiency is.

In other designs, the clamping jaw of the flexible clamp holder is formed by a plurality of motors which are arranged in a arrayed manner, each motor forms an independent joint structure, and the clamping jaw is positioned at different bending positions by controlling different motors, so that the object can be grasped. Although the stable grabbing of the objects can be realized through the arrangement mode, with the increase of the number of motors, the curved path planning design of the clamping jaws is complex, the modularized design is difficult to realize, and the follow-up maintenance is inconvenient. Meanwhile, in general, the larger the driving torque of the motor is, the larger the volume thereof is, and thus, in such a design, the driving torque of the motor is limited due to the size of the gripper volume, resulting in a smaller maximum gripping load of the gripper.

In still other designs, the jaws of the flexible gripper are formed of a plurality of interconnected bladder chambers that are inflated to bend the jaws to effect gripping of the article. The clamping jaw is simple in structure, but because the air bag cavity is large in flexibility, the clamping jaw can only be used for grabbing lighter-weight objects after being bent, and clamping stability problems are easy to occur for clamping the heavier-weight objects.

Disclosure of Invention

The application aims to solve one of the technical problems existing in the prior art. Therefore, the application provides the flexible clamp holder, which can change the rigidity of the clamping jaw of the flexible clamp holder under the condition of adopting the air bag cavity as the driving part, so that the stable grabbing of objects is realized, the structure is simple, and the maintenance is convenient.

The flexible clamp comprises a base and a plurality of clamping jaws arranged on the base, wherein each clamping jaw comprises:

the driving part is provided with a plurality of mutually communicated air bag cavities, and the driving part can be bent forward by inflating the air bag cavities;

The rigidity changing part is arranged on the driving part and comprises a framework capable of bending along the driving part and a plurality of locking parts used for keeping the framework in a bending state, the locking parts are arranged in a row along the length direction of the framework, and each locking part comprises locking parts and a driving device, wherein the locking parts are oppositely arranged in the width direction of the driving part, and the driving device is used for driving the locking parts to be mutually locked.

The flexible clamp provided by the embodiment of the application has at least the following beneficial effects:

The driving part is provided with a plurality of mutually communicated air bag cavities, the driving part can be bent by inflating the air bag cavities, and each clamping jaw can clamp objects by synchronously bending, so that clamping is realized. The bending degree of the driving part can be controlled by controlling the air pressure in the air bag cavity, and the driving part has simple structure and convenient control. The driving part is provided with a rigidity-changing part, and the driving device is mutually locked by controlling the locking parts when the driving part is in different bending states, so that the clamping jaw is kept bending unchanged, the rigidity of the clamping jaw is improved, the clamping jaw cannot twist and deform when clamping an object with larger mass, and stable clamping is finally realized; in addition, the driving device only needs to drive the locking part to move along the width direction of the driving part, so that the driving moment of the driving device is smaller, the volume of the driving device can be reduced, and the miniaturization of the flexible clamp holder is facilitated.

According to some embodiments of the application, the stiffness varying portion is provided on a surface of the driving portion on a side of the forward bend.

According to some embodiments of the application, the skeleton comprises a number of rotationally coupled movable parts.

According to some embodiments of the application, each locking portion is disposed on the rotation axis of two adjacent movable portions.

According to some embodiments of the application, the locking member is a crown gear; in each locking part, two crown gears are coaxially arranged; the driving device is used for driving the two crown gears to move relatively along the rotation axis of the movable part and mutually mesh.

According to some embodiments of the application, the movable part comprises a first connecting part and/or a second connecting part, and the first connecting parts on two adjacent movable parts are rotatably connected with the second connecting parts; the first connecting part and one of the crown gears in the locking part are fixedly arranged at the circumferential position, and the second connecting part and one of the crown gears in the locking part are fixedly arranged at the circumferential position; the driving device is arranged on the movable part.

According to some embodiments of the application, two of the first connecting portions and the second connecting portions are provided in each of the movable portions, and the two first connecting portions and the two second connecting portions are symmetrically provided.

According to some embodiments of the application, a circuit board is mounted on the movable portions, the circuit board being configured to be electrically connected to the driving device, and a surface of the circuit board on each movable portion forms a gripping surface of the gripping jaw.

According to some embodiments of the application, the drive portion is made of a silicone material.

According to some embodiments of the application, the driving part is provided with a plurality of step parts, the step parts are provided with connecting pieces, and the framework is arranged on the step parts in a erecting way and is fixedly connected with the connecting pieces.

Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the application will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a perspective view of a flexible holder in one embodiment of the application.

Fig. 2 is a cross-sectional view of a driving portion according to an embodiment of the present application.

Fig. 3 is a perspective view of a jaw in one embodiment of the application.

Fig. 4 is a perspective view of a driving part in an embodiment of the present application.

Fig. 5 is a perspective view of a skeleton in one embodiment of the application.

Fig. 6 is a perspective view of a latch according to an embodiment of the present application.

Fig. 7 is a perspective view of a jaw in another embodiment of the application.

Fig. 8 is a front view of a jaw in one embodiment of the application.

Fig. 9 is a schematic view of the jaw in different bending states in an embodiment of the application.

Fig. 10 is a perspective view of a locking element in one embodiment of the application.

Fig. 11 is a perspective view of a locking element in another embodiment of the application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.

In the description of the present application, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, left, right, front, rear, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present application and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

The flexible holder of the present application is described below with reference to fig. 1 to 11.

Referring to fig. 1 to5 and 9 and 11, a flexible gripper according to the present application comprises a base and a plurality of jaws disposed on the base, wherein each jaw comprises:

A driving part 100 provided with a plurality of mutually communicated air bag cavities 110, and the driving part 100 can be bent forward by inflating the air bag cavities 110;

The variable stiffness portion 200 is disposed on the driving portion 100, and the variable stiffness portion 200 includes a frame 210 capable of bending along with the driving portion 100 and a plurality of locking portions 220 for maintaining the frame 210 in a bent state, each locking portion 220 being disposed in a line along a length direction of the frame 210, each locking portion 220 including locking members disposed opposite to each other in a width direction of the driving portion 100, and a driving device 221 for driving the locking members to lock each other.

It is understood that the driving section 100 is concerned. The driving part 100 is made of a flexible material, such as silicone or other flexible material; meanwhile, the driving part 100 includes a plurality of air bag cavities 110 and air passages communicating with the air bag cavities 110, the air passages are disposed at the bottom of the air bag cavities 110, and further, the thickness of the top wall of each air bag cavity 110 is greater than that of the side wall thereof, and the cross sections of the top wall and the side wall of each air bag cavity 110 are connected to form a saw tooth shape when seen from the cross section. It should be understood that in such a driving part 100 structure, the strain limiting layer is formed at the bottom of the air passage, and when the driving part 100 is expanded and bent, the strain limiting layer does not expand, but is simply bent in a positive direction or a negative direction. The free ends of the jaws are close to each other when the driving part 100 is bent in the forward direction, and are far away from each other when bent in the reverse direction.

When positive pressure is applied to the balloon chamber 110, the driving portion 100 is bent forward; when negative pressure is applied to the balloon chamber 110, the driving portion 100 is bent negatively. It should be understood that, taking the example of applying positive pressure to the air bag chambers 110, by changing the air pressure, the expansion degree of each air bag chamber 110 and the air passage can be changed, so that the deformation degree of each air bag chamber 110 is different, and finally, the driving portion 100 is in different forward bending states.

It will be appreciated that two, three, four or more jaws may be provided on the same base, and that inflation of the drive portions 100 of each jaw may be performed such that the drive portions 100 on each jaw flex to provide a gripping function.

Regarding the variable stiffness portion 200, the variable stiffness portion 200 is provided on the side of the driving portion 100 that is bent in the forward direction. For example, it may be disposed inside the driving portion 100 and located at one side of the strain limiting layer, where in this disposition, one side surface of the driving portion 100 forms an abutment surface for contacting with an object; alternatively, the stiffness varying portion 200 may be disposed on the surface of the driving portion 100 and located on the side of the forward bending, and in this case, an anti-slip pad for contacting with the object may be laid on the surface of the stiffness varying portion 200, or the stiffness varying portion 200 may directly contact with the object to achieve gripping.

Specifically, the skeleton 210 in the variable stiffness portion 200 is provided with a plurality of movable portions 211, which may be rods, plates, or other parts, rotatably connected, and at least a portion of each movable portion 211 is fixedly connected to the driving portion 100, so that the skeleton 210 can be bent following the bending deformation of the driving portion 100 without being separated from the driving portion 100.

Further, in order to maintain the frame 210 in an arbitrarily bent state, a locking portion 220 is provided at the frame 210 at a rotational connection portion between two adjacent movable portions 211. More specifically, the locking portions 220 are disposed on the rotational axes of the adjacent two movable portions 211. The locking part 220 includes locking members oppositely disposed on the rotational axes of the adjacent two movable parts 211, and a driving device 221 for driving the two locking members to be locked to each other; in the same locking portion 220, one of the locking members is connected to the previous movable portion 211, and the other locking member is connected to the next movable portion 211.

Specifically, the locking portion 220 may be provided as: in the same locking portion 220, a plurality of clamping blocks are disposed on one locking member around the rotation axis of the movable portion 211, a plurality of slots or jacks are correspondingly disposed on the other locking member around the rotation axis of the movable portion 211, each slot is correspondingly disposed on each clamping block, and the driving device 221 is used for driving one locking member to move along the axial direction of the rotation axis of the movable portion 211 so as to be in clamping fit with the other locking member, for example, as shown in fig. 10; the locking portion 220 may also be provided with: the locking parts are arc-shaped blocks, wherein a clamping block is arranged on one locking part, a slot or a jack is arranged on the other locking part, when two adjacent movable parts 211 are positioned at different rotation positions, different clamping blocks on one locking part are in embedded fit with different slots or jacks on the other locking part, and the driving device 221 is used for driving one locking part to move along the axial direction of the rotation axis of the movable part 211 so as to be in clamped fit with the other locking part, for example, as shown in fig. 11. However, it should be understood that the arrangement of the locking portion 220 is not limited thereto. By such arrangement, the driving device 221 only needs to drive the locking component to move along the axial direction of the rotation axis of the movable portion 211, compared with the arrangement scheme that the clamping jaw of the flexible clamp is formed by a plurality of motors arranged in a row in the related design, the driving device 221 in the flexible clamp only needs to drive the locking component to move along the width direction of the driving portion 100, and the locking force of the locking portion 220 is provided by the locking cooperation of the locking component itself and is not provided by the driving device 221, so that the driving device 221 can meet the locking requirement only by a smaller driving moment, thereby being capable of reducing the volume of the driving device 221 and being beneficial to the miniaturization of the volume of the flexible clamp.

Meanwhile, each driving device 221 is disposed on the corresponding movable portion 211, and the driving device 221 is configured to drive one of the locking components to move linearly on the rotation axes of the two adjacent movable portions 211 and to be in insert fit with the other locking component. Since the locking portions 220 are disposed on the rotation axes of the adjacent two movable portions 211, when the two locking members in the locking portions 220 are engaged, the rotation positions of the adjacent two movable portions 211 are fixed, and similarly, when the locking portions 220 between the movable portions 211 are in the locked state, the frame 210 can maintain its bent state, and since each movable portion 211 on the frame 210 is fixedly connected with the driving portion 100, when the bent state of the frame 210 is fixed, the bent state of the driving portion 100 is also fixed, so that the rigidity of the driving portion 100 in the bent state can be improved, and when the gripping jaws grip an object, the driving portion 100 of each gripping jaw will not twist and deform, thereby firmly gripping the object.

For example, in the above-mentioned arrangement form, taking the case that the skeleton 210 is provided with four movable portions 211 and three locking portions 220 as an example, the four movable portions 211 are respectively a first movable portion 2111, a second movable portion 2112, a third movable portion 2113 and a fourth movable portion 2114, and the three locking portions 220 are respectively a first locking portion 221, a second locking portion 222 and a third locking portion 223; meanwhile, under the condition that the driving part 100 is kept at the same air pressure, the clamping jaw can have the following various bending states:

In the first state, i.e., in fig. 9 a, the driving unit 100 is in a straight state before the driving unit 100 is inflated, and at this time, the driving unit 100 is inflated after the locking units 220 are kept in the locked state, and the frame 210 is not bent because the movable units 211 cannot rotate relative to each other, so that the frame 210 is kept in a straight state following the inflation and expansion of the driving unit 100.

In the second state, i.e., in fig. 9B, before the driving portion 100 is inflated, the driving portion 100 is in a straight state, at this time, the second locking portion 222 and the third locking portion 223 are kept in a locked state, and then the driving portion 100 is inflated, during inflation and inflation of the driving portion 100, the second movable portion 2112, the third movable portion 2113 and the fourth movable portion 2114 cannot rotate relative to each other, i.e., the portions of the driving portion 100 corresponding to the second movable portion 2112, the third movable portion 2113 and the fourth movable portion 2114 can only be kept in a straight state, and since the first locking portion 221 is not locked, the first movable portion 2111 can rotate relative to the second movable portion 2112, i.e., the portion of the driving portion 100 corresponding to the first locking portion 221 can be bent while being inflated, and after a certain degree of bending is reached, the second locking portion 222 is in a locked state, thereby restricting the driving portion 100 to a certain bending position.

In the third state, i.e., the portion C in fig. 9, only the third locking portion 223 is in the locked state before the driving portion 100 is inflated, and therefore, during inflation of the driving portion 100, the portions of the driving portion 100 corresponding to the first locking portion 221 and the second locking portion 222 expand and bend, and after a certain degree of bending is reached, the first locking portion 221 and the second locking portion 222 are in the locked state, so that the driving portion 100 can be restricted to a certain bending position.

In the fourth state, i.e., in fig. 9, the portion D of the driving portion 100 is not locked before the driving portion 100 is inflated, and therefore, the portion of the driving portion 100 corresponding to each locking portion 220 can be bent when inflated, and after a certain degree of bending is achieved, each locking portion 220 is in the locked state, so that the driving portion 100 can be restricted to a certain bending position.

It should be understood that in the above-described various states, the bending angles of the respective segments in the driving portion 100 may be made different by controlling the different locking portions 220 to be locked at different bending positions.

So arranged, even in the case where the driving portion 100 is provided by the airbag cavity 110, the bending rigidity of the jaws can be effectively ensured, so that it can be used for gripping an object with a large mass; meanwhile, the locking part 220 is simple in structure and convenient to control, under the condition that the length of the driving part 100 is long, the number of the locking parts and the movable parts 211 is only required to be increased, and any adaptability change is not required to be made on the driving debugging of the driving device 221, so that the modularized setting can be realized, and the later maintenance of the clamping jaw is convenient.

Referring to fig. 6, in some embodiments of the application, the locking member is a crown gear 222; in each locking portion 220, two crown gears 222 are coaxially disposed; the driving device 221 is used for driving the two crown gears 222 to relatively move along the rotation axis of the movable portion 211 and to mutually mesh.

It can be understood that the locking components are crown gears 222 with the same model, which are called a first crown gear 222 and a second crown gear 222 for the moment, so that the locking components are standard components, and the components are convenient to be selected and maintained. Meanwhile, the first crown gear 222 is fixedly connected with the previous movable portion 211, the second crown gear 222 is connected with the next movable portion 211 through a shaft, the second crown gear 222 can slide on the shaft but cannot rotate on the shaft, the driving end of the driving device 221 is fixedly connected with the second crown gear 222 so as to be used for driving the second crown gear 222 to slide on the shaft, so that the second crown gear 222 is meshed with the first crown gear 222, and finally, the relative position between the previous movable portion 211 and the next movable portion 211 is locked. Preferably, the driving device 221 may be a stepper motor.

Referring to fig. 4 and 5, in some embodiments of the present application, the movable portions 211 include a first connection portion 2111 and/or a second connection portion 2112, and the first connection portion 2111 and the second connection portion 2112 on two adjacent movable portions 211 are rotatably connected; the first connection portion 2111 and one of the crown gears 222 in the locking portion are fixedly disposed at a circumferential position, and the second connection portion 2112 and one of the crown gears 222 in the locking portion are fixedly disposed at a circumferential position; the driving device 221 is provided in the movable portion 211.

It is understood that the first connection portion 2111 is connected to the second crown gear 222 of the previous locking portion 220 by a shaft, and it is understood that the second crown gear 222 can slide relative to the shaft but cannot rotate relative to the shaft, so that when the next movable portion 211 rotates relative to the previous movable portion 211, the second crown gear 222 can rotate relative to the first crown gear 222 following the next movable portion 211; meanwhile, the second connection portion 2112 is fixedly connected to the first crown gear 222 of the subsequent locking portion 220, and similarly, when the movable portion 211 rotates relative to the subsequent movable portion 211, the first crown gear 222 can rotate relative to the second crown gear 222 following the movable portion 211. When the skeleton 210 follows the bending of the driving portion 100, the driving device 221 in each locking portion 220 is controlled to drive the second crown gear 222 to mesh with the first crown gear 222, so as to realize the locking of the relative position between two adjacent movable portions 211, so that the skeleton 210 is kept in a certain bending state, and the driving portion 100 is kept in a corresponding bending state by the skeleton 210.

Referring to fig. 5, in some embodiments of the present application, two first and second connection portions 2111 and 2112 are provided in each movable portion 211, and the two first and second connection portions 2111 and 2112 are symmetrically provided.

It can be appreciated that each movable portion 211 is provided with two symmetrical first connecting portions 2111 and two symmetrical second connecting portions 2112, so that the connection stability between two adjacent movable portions 211 can be improved, the rigidity of the skeleton 210 in the locking state is further improved, and the rigidity and stability of the clamping jaw when clamping an object are improved.

Specifically, the first connection portion 2111 and the second connection portion 2112 are provided as follows. The interval between the two first connection portions 2111 is larger than the interval between the two second connection portions 2112, the two second connection portions 2112 in the former movable portion 211 are engaged in the interval between the two first connection portions 2111 in the latter movable portion 211, and the two crown gears 222 are disposed in the interval between the two second connection portions 2112. So arranged, the space occupied by the assembly of each movable part 211 on the framework 210 is small, thereby being beneficial to the miniaturization of the clamping jaw volume.

Referring to fig. 7, in some embodiments of the present application, a circuit board 230 is mounted on the movable portion 211, the circuit board 230 is used for electrically connecting with the driving device 221, and a gripping surface of the gripping jaw is formed on a surface of the circuit board 230 on each movable portion 211.

It will be appreciated that in some embodiments, the variable stiffness portion 200 may be in direct contact with an object when the jaws are used to grip a lighter weight object. Specifically, each locking portion 220 is correspondingly provided with a circuit board 230, and the circuit board 230 is used for being electrically connected with the driving device 221, so as to control the driving device 221, and further, the circuit board 230 covers the surface of the driving device 221 and is fixedly connected with the movable portion 211 through bolts. So arranged, the surface of the circuit board 230 is relatively flat, and can be used as an abutting surface to contact the gripped object during gripping.

Referring to fig. 4 and 8, in some embodiments of the present application, a plurality of stepped portions 130 are provided on the driving portion 100, a connection member 140 is provided in the stepped portions 130, and a backbone 210 is erected on the stepped portions 130 and fixedly connected with the connection member 140.

It can be appreciated that when the driving portion 100 is made of a silicone material, since each movable portion 211 of the skeleton 210 needs to be fixedly connected to the driving portion 100, the silicone is easily aged or fragile when the silicone adhesive is used for bonding due to the material property of the silicone itself, so that the connection stability between the driving portion 100 and the skeleton 210 is reduced. For this purpose, in order to stabilize the connection between the driving unit 100 and the skeleton 210, the driving unit 100 is provided with: the driving part 100 is provided with a plurality of step parts 130, and the step parts 130 are embedded with the connecting pieces 140 connected with the movable parts 211, and it is understood that the connecting pieces 140 are embedded on the driving part 100 in the forming process, so that the use of adhesives can be avoided, and the connection stability of the connecting pieces 140 between the driving parts 100 can be effectively ensured. Specifically, the connecting member 140 is U-shaped, and is embedded in the step portion 130 at the bottom of the U-shape, and two sides of the U-shape are used for connecting with the movable portion 211.

In addition, the step portion 130 is provided, and the movable portion 211 is fixedly connected with the connecting piece 140 embedded in the step portion 130, so that the distance between the center of the crown gear 222 and the strain limiting layer of the driving portion 100 can be reduced as far as possible, and meanwhile, the first crown gear 222 and the second crown gear 222 can be effectively meshed, and two adjacent movable portions 211 can be mutually locked. Generally, the shorter the distance from the center of the crown gear 222 to the strain limiting layer, the smaller the influence of the variable stiffness portion 200 on the bending of the driving portion 100, and the better the bending performance of the driving portion 100, but if the diameter of the crown gear 222 is smaller, the smaller the friction force after the engagement of the first crown gear 222 and the second crown gear 222 is caused, resulting in poor engagement precision between the crown gears 222, and the locking requirement cannot be satisfied. For this reason, the step portions 130 are provided, the crown gear 222 is disposed between two adjacent step portions 130, and the distance from the surface portion of the driving portion 100 located between two adjacent step portions 130 to the strain limiting layer is smaller than the distance from the upper surface of the step portion 130 to the strain limiting layer, so that the diameter of the crown gear 222 can be made as large as possible while the movable portion 211 and the driving portion 100 are firmly connected, thereby improving the bending performance of the driving portion 100 while ensuring the engagement accuracy.

The embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application.

Claims

1. A flexible gripper comprising a base and a plurality of jaws disposed on the base, wherein each jaw comprises:

The rigidity changing part is arranged on the driving part and comprises a framework capable of bending along the driving part and a plurality of locking parts for keeping the framework in a bending state, the locking parts are arranged in a row along the length direction of the framework, and each locking part comprises locking parts oppositely arranged in the width direction of the driving part and a driving device for driving the locking parts to be mutually locked;

Wherein the framework comprises a plurality of movable parts which are connected in a rotating way; each locking part is arranged on the rotation axes of two adjacent movable parts; the locking component is a crown gear; in each locking part, two crown gears are coaxially arranged; the driving device is used for driving the two crown gears to relatively move along the rotation axis of the movable part and mutually mesh;

The movable parts comprise first connecting parts and/or second connecting parts, and the first connecting parts on two adjacent movable parts are rotationally connected with the second connecting parts; the first connecting part and one of the crown gears in the locking part are fixedly arranged at the circumferential position, and the second connecting part and one of the crown gears in the locking part are fixedly arranged at the circumferential position; the driving device is arranged on the movable part.

2. A flexible gripper according to claim 1, characterized in that: the rigidity-changing part is arranged on the surface of the driving part, which is positioned on one side of the forward bending.

3. A flexible gripper according to claim 1, characterized in that: each movable part is provided with two first connecting parts and two second connecting parts, and the two first connecting parts and the two second connecting parts are symmetrically arranged.

4. A flexible gripper according to claim 1, characterized in that: and a circuit board is arranged on the movable parts and is used for being electrically connected with the driving device, and the surface of the circuit board on each movable part forms a grabbing surface of the clamping jaw.

5. A flexible gripper according to claim 1, characterized in that: the driving part is made of a silica gel material.

6. The flexible gripper of claim 5, wherein: the driving part is provided with a plurality of step parts, connecting pieces are arranged in the step parts, and the framework is arranged on the step parts in a supporting mode and fixedly connected with the connecting pieces.