WO2020021518A1 - Robot arm gripper - Google Patents

Robot arm gripper Download PDF

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Publication number
WO2020021518A1
WO2020021518A1 PCT/IB2019/056427 IB2019056427W WO2020021518A1 WO 2020021518 A1 WO2020021518 A1 WO 2020021518A1 IB 2019056427 W IB2019056427 W IB 2019056427W WO 2020021518 A1 WO2020021518 A1 WO 2020021518A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot arm
arm gripper
thumb
analogous
gears
Prior art date
Application number
PCT/IB2019/056427
Other languages
French (fr)
Inventor
Krzysztof WILK
Szymon Kostrzewa
Przemysław WOLNICKI
Original Assignee
3Dgence Spółka Z Ograniczoną Odpowiedzialnością
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 3Dgence Spółka Z Ograniczoną Odpowiedzialnością filed Critical 3Dgence Spółka Z Ograniczoną Odpowiedzialnością
Publication of WO2020021518A1 publication Critical patent/WO2020021518A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears

Definitions

  • the subject of the invention is a robot arm gripper.
  • US4921293A discloses a robot arm in which the movement of finger-like elements of a humanoid hand is performed mechanically through a system of cords and blocks independent for each degree of freedom of the robot's finger.
  • US12421413 discloses a system in which the thumb-like element has the degrees of freedom the same as the fingers-like elements. This solution significantly limits the possibility of gripping and manipulating objects, it also limits the precision of the arm's control by the operator by the fact that a significant range of thumb movements cannot be properly transferred to the robot's arm.
  • US4834761A discloses elements of a robot arm are that combined through a ball joint.
  • a robot element analogous to the thumb using this type of connection has greater freedom of movement than other solutions. These movements are non-anatomical and impossible to replicate by the operator. Further disadvantage of this solution is the difficulty of implementation and high degree of complexity.
  • the object of the invention is the construction of a robot arm gripper with a relatively simple structure precisely mapping the operator's movements.
  • a thumb-like element has two degrees of freedom and is driven by gears around two perpendicular axes of rotation. Inside the body of the thumb-like element there are channels for cables controlling finger-like elements.
  • the gears preferably have a drive with electric motors, preferably coupled to the position sensors.
  • the drive wheels of the gears are preferably coaxial.
  • Fig. 1 shows a grip portion in the form of an element analogous to the thumb in view
  • Fig. 2 shows a grip portion in the form of a thumb-like element in the cross-section indicated in Fig. 1
  • Fig. 3 shows the robot arm gripper in an isometric view.
  • the body 1 of the thumb-like element has two degrees of freedom, around horizontal axis 2 and around vertical axis 3.
  • This joint has a drive around the horizontal axis 2 by a gearing 4, and around a vertical axis 3 by another gearing 5.
  • the drive wheels of both gears 4 and 5 are mounted coaxially.
  • Gears 4 and 5 are powered by electric motors 6.
  • Body 1 has inside channels 7 for cables for controlling finger-like elements.
  • An advantage of the invention is that the axes of rotation of the gripper of the working arm enable its movement to be similar to that of a human hand. Thanks to this, it is possible to precisely control the gripper in real time through a set of sensors on the operator's hand determining the movements of the actuating elements moving the gripper.
  • the gripper according to the invention has a simple structure, high efficiency and can transfer greater forces than known solutions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The subject of the invention is a robot arm gripper in the shape of a human hand comprising elements analogous to fingers mounted movably on elements analogous to joints, characterized in that the element analogous to the carpometacarpal joint of thumb has two perpendicular axes of rotation (2, 3) and a drive around these axes is implemented by gears

Description

Robot arm gripper
The subject of the invention is a robot arm gripper.
The concept of building a humanoid robot arm resembling the shape of a human arm or hand is known. The concept of remote movement of a robot's humanoid arm in real time through a set of sensors on the operator's hand that mimics the movements of actuators moving the arm is also known. The problem in the implementation of this concept is complicated kinematics of the human carpometacarpal joint of thumb, also called trapeziometacarpal (TMC) joint, due to the difficulty in making its mechanical equivalent with a similar range of movements.
US4921293A discloses a robot arm in which the movement of finger-like elements of a humanoid hand is performed mechanically through a system of cords and blocks independent for each degree of freedom of the robot's finger.
US12421413 discloses a system in which the thumb-like element has the degrees of freedom the same as the fingers-like elements. This solution significantly limits the possibility of gripping and manipulating objects, it also limits the precision of the arm's control by the operator by the fact that a significant range of thumb movements cannot be properly transferred to the robot's arm.
US4834761A discloses elements of a robot arm are that combined through a ball joint. A robot element analogous to the thumb using this type of connection has greater freedom of movement than other solutions. These movements are non-anatomical and impossible to replicate by the operator. Further disadvantage of this solution is the difficulty of implementation and high degree of complexity.
The object of the invention is the construction of a robot arm gripper with a relatively simple structure precisely mapping the operator's movements. In the solution according to the invention, a thumb-like element has two degrees of freedom and is driven by gears around two perpendicular axes of rotation. Inside the body of the thumb-like element there are channels for cables controlling finger-like elements. The gears preferably have a drive with electric motors, preferably coupled to the position sensors. The drive wheels of the gears are preferably coaxial.
The subject of the invention is shown in the embodiment in the drawing, in which Fig. 1 shows a grip portion in the form of an element analogous to the thumb in view, Fig. 2 shows a grip portion in the form of a thumb-like element in the cross-section indicated in Fig. 1, and Fig. 3 shows the robot arm gripper in an isometric view.
The body 1 of the thumb-like element has two degrees of freedom, around horizontal axis 2 and around vertical axis 3. This joint has a drive around the horizontal axis 2 by a gearing 4, and around a vertical axis 3 by another gearing 5. The drive wheels of both gears 4 and 5 are mounted coaxially. Gears 4 and 5 are powered by electric motors 6. Body 1 has inside channels 7 for cables for controlling finger-like elements.
An advantage of the invention is that the axes of rotation of the gripper of the working arm enable its movement to be similar to that of a human hand. Thanks to this, it is possible to precisely control the gripper in real time through a set of sensors on the operator's hand determining the movements of the actuating elements moving the gripper. The gripper according to the invention has a simple structure, high efficiency and can transfer greater forces than known solutions.

Claims

Claims
1. A robot arm gripper in the shape of a human hand comprising elements analogous to fingers mounted movably on elements analogous to joints, characterized in that the element analogous to the carpometacarpal joint of thumb has two perpendicular axes of rotation (2, 3) and a drive around these axes is implemented by gears (4, 5).
2. The robot arm gripper according to claim 1, characterized in that the drive wheels of the gears (4, 5) are mounted coaxially.
3. The robot arm gripper according to claim 1 or 2, characterized in that drive of gears (4, 5) are electric motors (6).
4. The robot arm gripper according to claim 3, characterized in that the electric motors (6) are coupled to the position sensors.
5. The robot arm gripper according to any of claims from 1 to 4, characterized in that inside a body (1) of the element analogous to the thumb it comprises at least one channel (7) for the control cables of elements analogous to the finger joints.
PCT/IB2019/056427 2018-07-27 2019-07-27 Robot arm gripper WO2020021518A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PL426475A PL426475A1 (en) 2018-07-27 2018-07-27 Robot arm gripper
PLP.426475 2018-07-27

Publications (1)

Publication Number Publication Date
WO2020021518A1 true WO2020021518A1 (en) 2020-01-30

Family

ID=69180735

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2019/056427 WO2020021518A1 (en) 2018-07-27 2019-07-27 Robot arm gripper

Country Status (2)

Country Link
PL (1) PL426475A1 (en)
WO (1) WO2020021518A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111529308A (en) * 2020-05-07 2020-08-14 合肥工业大学 Under-actuated exoskeleton rehabilitation manipulator based on gear transmission

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111761599B (en) * 2020-07-03 2023-02-10 内蒙古工业大学 Gear racing dual-drive parallel clamping and coupling self-adaptive robot finger device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
CN101214656A (en) * 2008-01-11 2008-07-09 清华大学 Rack bar under-driven modularization anthropomorphic robot multi-finger hand device
WO2018100500A1 (en) * 2016-11-29 2018-06-07 Zappatore Giovanni Antonio Underactuated robotic hand

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5447403A (en) * 1990-01-05 1995-09-05 Engler, Jr.; Charles D. Dexterous programmable robot and control system
CN101214656A (en) * 2008-01-11 2008-07-09 清华大学 Rack bar under-driven modularization anthropomorphic robot multi-finger hand device
WO2018100500A1 (en) * 2016-11-29 2018-06-07 Zappatore Giovanni Antonio Underactuated robotic hand

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111529308A (en) * 2020-05-07 2020-08-14 合肥工业大学 Under-actuated exoskeleton rehabilitation manipulator based on gear transmission
CN111529308B (en) * 2020-05-07 2022-02-15 合肥工业大学 Under-actuated exoskeleton rehabilitation manipulator based on gear transmission

Also Published As

Publication number Publication date
PL426475A1 (en) 2020-02-10

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