WO2022189456A1 - Dispositif de préhension robotique - Google Patents

Dispositif de préhension robotique Download PDF

Info

Publication number
WO2022189456A1
WO2022189456A1 PCT/EP2022/055941 EP2022055941W WO2022189456A1 WO 2022189456 A1 WO2022189456 A1 WO 2022189456A1 EP 2022055941 W EP2022055941 W EP 2022055941W WO 2022189456 A1 WO2022189456 A1 WO 2022189456A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
finger
gripper
drive
input shaft
Prior art date
Application number
PCT/EP2022/055941
Other languages
English (en)
Inventor
Brandon Schmutzler
Steven BASKERVILLE
Andrew Johnson
Original Assignee
Bimba Llc
RANGE, Christopher
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 Bimba Llc, RANGE, Christopher filed Critical Bimba Llc
Publication of WO2022189456A1 publication Critical patent/WO2022189456A1/fr

Links

Classifications

    • 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
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
    • 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
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Definitions

  • operations involve picking, handling, and shuttling items (e.g., components, workpieces, items to be packaged and shipped, etc.). Operations may further involve combining several items in a package or a kit, which can be referred to as a kitting operation.
  • items e.g., components, workpieces, items to be packaged and shipped, etc.
  • operations may further involve combining several items in a package or a kit, which can be referred to as a kitting operation.
  • Picking operations can be accomplished via manual labor or an automated system that reduces the need for manual labor.
  • Automated systems can involve robots configured to pick items.
  • the present disclosure describes a robotic gripper including a base plate and a plurality of gripper arm assemblies rotatably coupled to the base plate.
  • a gripper arm assembly includes an arm pivot bracket rotatably coupled to the base plate, an arm linkage pivotably coupled to the arm pivot bracket, and a finger pivotably coupled to the arm linkage.
  • the robotic gripper includes a suction cup coupled to the base plate.
  • the present disclosure describes a robot having a robot arm; a gripper finger actuator; a gripper arm actuator; an angular drive actuator; and the robotic gripper of the first example implementation.
  • Figure 1 illustrates a schematic view of a robot, in accordance with an example implementation.
  • Figure 2 illustrates a perspective view of a robotic gripper, in accordance with an example implementation, in accordance with an example implementation.
  • Figure 3 illustrates a side view of the robotic gripper shown in Figure 2, in accordance with an example implementation.
  • Figure 4 illustrates a top view of the robotic gripper shown in Figure 2, in accordance with an example implementation.
  • Figure 5 illustrates a perspective view of a gripper arm assembly, in accordance with an example implementation.
  • Figure 6 illustrates a side view of the gripper arm assembly shown in Figure 5, in accordance with an example implementation.
  • Figure 7 illustrates another side view of the gripper arm assembly shown in Figure 5, in accordance with an example implementation.
  • Figure 8 illustrates a top view of the gripper arm assembly shown in Figure 5, in accordance with an example implementation.
  • Figure 9 illustrates a perspective view of the robotic gripper of Figure 2 operating in a three- finger configuration, in accordance with an example implementation.
  • Figure 10 illustrates a top view of the robotic gripper operating in the three-finger configuration, in accordance with an example implementation.
  • Figure 11 illustrates a perspective view of the robotic gripper of Figure 2 operating in a two-finger configuration, in accordance with an example implementation.
  • Figure 12 illustrates a top view of the robotic gripper operating in the two-finger configuration, in accordance with an example implementation.
  • Figure 13 illustrates a perspective view of the robotic gripper of Figure 2 operating in a vacuum-only configuration, in accordance with an example implementation.
  • Figure 14 illustrates a side view of the robotic gripper operating in the vacuum-only configuration, in accordance with an example implementation.
  • Figure 15 illustrates operating the robotic gripper initially in a vacuum-only configuration to attach to a book and raise the book from a binding side, in accordance with an example implementation.
  • Figure 16 illustrates operating the robotic gripper 00 in a three- finger configuration and using two combined arms to provide support for the book, in accordance with an example implementation.
  • Figure 17 illustrates using the other two fingers to stabilize and complete picking operation of the book, in accordance with an example implementation.
  • Figure 18 illustrates picking a wine glass, in accordance with an example implementation.
  • Robots are used in industrial and warehousing facilities to perform various tasks.
  • an industrial robot is a robot system used for manufacturing.
  • Industrial robots are automated, programmable and capable of movement on three or more axes. Typical applications of industrial robots include welding, painting, assembly, disassembly, pick and place, packaging and labeling, palletizing, product inspection, and testing. Robots can also assist in material handling.
  • warehouse robots can help pick, pack, and sort items being handled at warehouses.
  • Example robots can have articulated robotic arms configured for picking and placing operations.
  • Such articulated robotic arms are multi -jointed limbs used to manipulate products within distribution centers, warehouses, and manufacturing facilities.
  • FIG. 1 illustrates a schematic view of a robot 100, in accordance with an example implementation.
  • the robot 100 includes a base 102 and a robotic arm 104 comprising an arm mount 106.
  • the robotic arm 104 includes a first robot arm segment 108 coupled to the arm mount 106 at an articulating joint 109, and the robotic arm 104 also includes a second robot arm segment 110 connected to the first robot arm segment 108 via an articulating joint 112.
  • the robot 100 also includes a robotic gripper 114 coupled to the second robot arm segment 110.
  • the robot 100 is represented herein as a generic industrial robot; however, it should be understood that the robotic gripper implementation described throughout this disclosure could be used with any type of robots including articulate robots, Cartesian coordinate robots, cylindrical coordinate robots, spherical coordinate robots, Selective Compliance Assembly Robot, Delta robot, serial manipulators, parallel manipulators, etc.
  • the robotic gripper 114 can also be referred to as an end-of-arm-tooling (EOAT) or end- effector.
  • EOAT end-of-arm-tooling
  • the robotic gripper 114 is a device that enables picking, holding, handling, tightening, and releasing of an object. Different configurations of robotic grippers can be used.
  • the robotic gripper 114 can be a mechanical gripper as illustrated in Figure 1 where the robotic gripper has mechanical fingers to manipulate objects.
  • the number of robot fingers varies depending on the tasks required by the robot 100. For instance, the number of fingers can be between two and four fingers.
  • a two- or three-finger robotic gripper may be suitable for picking up some types of objects but might not be suitable for picking up other objects such as books lined up in a stack or a liquid container with unstable momentum that might be spill-prone.
  • the robotic gripper comprises a vacuum gripper that grips objects through a suction cup.
  • a vacuum gripper can be used for handling objects with uneven surfaces or irregular shapes. Such vacuum grippers can be with or without fingers. Without fingers, a vacuum gripper may be challenged to pick thin items that do not have a large surface to grip on. A vacuum gripper may also have difficulty picking a book from a stack, particularly if the suction is applied far from the binding side of the book because such suction may cause the cover of the book to open up, but might not allow the whole book to be picked in an orderly non-damaging manner. [0036] In some cases, fingers may be combined with a suction cup.
  • Such a vacuum gripper with fingers may similarly have difficulty picking up objects such as liquid containers and books. For instance, it may be difficult for a vacuum gripper with fingers to pick a book that is resting on a stack of books where the books are flush so that the book is not protruding from the stack. As mentioned above, vacuum suction may cause the book cover to open without picking the entire book. Further, approaching the book from the side with the fingers might also fail as the fingers might not be able to be inserted between two books, particularly if the book is disposed within a bin.
  • the fingers may be configured as soft grippers that are suitable for fragile objects such as glasses.
  • soft grippers might not be suitable for heavier objects, liquid containers, books, among other objects.
  • existing gripper solutions are not configured to be sufficiently versatile to pick a variety of items in a high-mix environment.
  • Particular grippers are suitable for a group of objects but not suitable other groups of objects.
  • existing grippers may fail to pick all the items. Replacing grippers often to suit a particular group of items is not practical.
  • robotic grippers that can adapt to the shape and configuration of a variety of items in a high-mix of environment. Such robotic grippers increase the range of objects that can be picked with accuracy without tool changing, manual intervention, or causing objects to drop.
  • a robotic gripper having a plurality of arm assemblies coupled to a frame or base.
  • An example arm assembly includes an arm pivot bracket rotatably coupled to the base, an arm linkage pivotably coupled to the arm pivot bracket, and a finger pivotably coupled to the arm linkage. Rotation of the arm pivot bracket relative to the base, pivoting motion of the arm linkage relative to the arm pivot bracket, and pivoting motion of the finger relative to the arm linkage are each controlled independently by a respective actuator.
  • each arm assembly provides three degree-of-freedom (DOF) motion.
  • DOF degree-of-freedom
  • Having multiple arm assemblies coupled to the base provides a multiple DOF gripper that can adapt to a variety of objects in a high-mix environment. Further, some degrees of freedom of such robotic gripper may be coupled by a common actuator to reduce cost and complexity based on the application.
  • Figure 2 illustrates a perspective view of a robotic gripper 200
  • Figure 3 illustrates a side view of the robotic gripper 200
  • Figure 4 illustrates a top view of the robotic gripper 200, in accordance with an example implementation.
  • Figures 2-4 are described together.
  • the robotic gripper 200 can, for example, be coupled to the second robot arm segment 110 and can represent the robotic gripper 114.
  • the robotic gripper 200 includes a base plate 202.
  • the base plate 202 can also be referred to as a base or frame of the robotic gripper 200.
  • the base plate 202 can be configured as a disk as shown in Figures 2-4.
  • the robotic gripper 200 also includes a plurality of gripper arm assemblies rotatably- coupled to the base plate 202.
  • the robotic gripper 200 includes four gripper arm assemblies, gripper arm assembly 204, gripper arm assembly 206, gripper arm assembly 208, and gripper arm assembly 210.
  • FIG. 5 illustrates a perspective view of the gripper arm assembly 204
  • Figure 6 illustrates a side view of the gripper arm assembly 204
  • Figure 7 illustrates another side view of the gripper arm assembly 204
  • Figure 8 illustrates a top view of the gripper arm assembly 204, in accordance with an example implementation.
  • Figures 5-8 are described together.
  • the gripper arm assembly 204 includes a gripper arm 300.
  • the gripper arm 300 is a multi- jointed arm and includes an arm linkage 302 and a finger 304, where the finger 304 is pivotably- coupled to the arm linkage 302 at finger pivot pin 305 mounted at a joint 307 between the arm linkage 302 and the finger 304.
  • the finger 304 is coupled to the finger pivot pin 305 and is configured to pivot or rotate about an axis of the finger pivot pin 305. As an example for illustration, the finger 304 can be configured to rotate through a range of angles of up to 220 degrees.
  • the gripper arm assembly 204 further includes an arm pivot bracket 306.
  • the arm pivot bracket 306 is configured to be rotatably mounted to the base plate 202 of the robotic gripper 200. Particularly, the arm pivot bracket 306 is coupled to the base plate 202 but is allowed to rotate about the top surface of the base plate 202 as described below, thereby rotating the gripper arm 300 circumferentially about the base plate 202.
  • the arm pivot bracket 306 has radial ear 308 and radial ear 310 that extend radially - outward from the arm pivot bracket 306.
  • the gripper arm assembly 204 includes a finger drive shaft 312 that extends between the radial ears 308, 310 and is configured to operate as a pivot pin about which the arm linkage 302 rotates.
  • the arm pivot bracket 306 further has side ear 314 and side ear 316 that extend sideways from the arm pivot bracket 306.
  • the gripper arm assembly 204 includes a finger drive input shaft 318 pass through the side ears 314, 316.
  • a shaft bearing 320 is mounted to the finger drive input shaft 318 and is disposed within the side ear 314 to allow the finger drive input shaft 318 to rotate about its axis relative to the arm pivot bracket 306.
  • Another shaft bearing (not shown) can be mounted to the finger drive input shaft 318 within the side ear 316.
  • the finger drive input shaft 318 is coupled or drivingly connected to a finger drive worm gear 322 (i.e., a worm screw) configured to have helical or spiral threads.
  • the finger drive worm gear 322 can be mounted to, or be made integral with, the finger drive input shaft 318 and is interposed between the side ears 314, 316.
  • the finger drive worm gear 322 meshes with a finger drive gear such as finger drive worm wheel 324 configured as a spur gear, for example.
  • a finger drive gear such as finger drive worm wheel 324 configured as a spur gear, for example.
  • the helical threads of the finger drive worm gear 322 are butted up against teeth of the finger drive worm wheel 324.
  • the robot 100 has a plurality of actuators such as a gripper finger actuator 326 configured to rotate the finger drive input shaft 318.
  • the gripper finger actuator 326 can include any type of rotary actuator such as a motor (e.g., electric, pneumatic, or hydraulic motor) or a combination of a motor and gear reducer, for example.
  • the finger drive worm gear 322 rotates therewith.
  • the finger drive worm gear 322 rotates against the finger drive worm wheel 324, and the threads of the finger drive worm gear 322 pushes on the teeth of the finger drive worm wheel 324, thereby causing the finger drive worm wheel 324 to rotate.
  • This arrangement changes rotational movement or the plane of movement of the finger drive worm gear 322 by 90 degrees to the finger drive worm wheel 324.
  • the finger drive worm wheel 324 is mounted to the finger drive shaft 312 such that as the finger drive worm wheel 324 rotates, the finger drive shaft 312 rotates therewith.
  • the finger drive shaft 312 passes through a hole in the arm linkage 302 and does not cause the arm linkage 302 to rotate.
  • the finger drive shaft 312 can have a reduced rotational speed compared to the finger drive worm gear 322. However, the torque transmitted to the finger drive shaft 312 is higher than the torque applied to the finger drive worm gear 322.
  • the finger drive shaft 312 can have has a sprocket, pulley, or gear teeth formed at its end close to the radial ear 310.
  • the finger pivot pin 305 has a corresponding sprocket, pulley, or gear teeth.
  • the gripper arm assembly 204 includes a finger drive belt 328 (toothed belt) that engages the teeth of the finger drive shaft 312 and the teeth of the finger pivot pin 305.
  • the finger drive belt 328 mechanically couples the finger drive shaft 312 to the finger pivot pin 305, such that as the finger drive shaft 312 rotates, the finger pivot pin 305 rotates, causing the finger 304 to rotate therewith relative to the arm linkage 302 about the axis of the finger pivot pin 305.
  • the gripper arm assembly 204 further includes an arm drive input shaft 330 configured to be driven by an gripper arm actuator 332.
  • the gripper arm actuator 332 can include any type of rotary actuator such as a motor (e.g., electric, pneumatic, or hydraulic motor) or a combination of a motor and gear reducer, for example.
  • the arm drive input shaft 330 is coupled or drivingly connected to an arm drive worm gear 334 (i.e., a worm screw) configured to have helical or spiral threads.
  • the arm drive worm gear 334 can be mounted to, or be made integral with, the arm drive input shaft 330.
  • a portion of an end of the arm linkage 302 is configured as an arm drive gear having spur gear teeth.
  • the portion is referred to herein as arm drive worm wheel 336.
  • the arm drive worm gear 334 meshes with the arm drive worm wheel 336.
  • the helical threads of the arm drive worm gear 334 are butted up against teeth of the arm drive worm wheel 336.
  • the gripper arm actuator 332 As the gripper arm actuator 332 is activated or commanded by the controller of the robot 100, the arm drive input shaft 330 rotates and the arm drive worm gear 334 rotates therewith. Thus, the arm drive worm gear 334 rotates against the arm drive worm wheel 336, and the threads of the arm drive worm gear 334 pushes on the teeth of the arm drive worm wheel 336, thereby causing the arm drive worm wheel 336 and the arm linkage 302 to rotate about an axis of the finger drive shaft 312.
  • the gripper arm assembly 204 further includes an angular drive gear 338.
  • the arm drive input shaft 330 passes through the angular drive gear 338 and rotates relative to the angular drive gear 338 when the gripper arm actuator 332 is activated.
  • rotation of the arm drive input shaft 330 is independent of the angular drive gear 338 and does not cause the angular drive gear 338 to rotate and vice versa (rotation of the angular drive gear 338 does not cause the arm drive input shaft 330 to rotate).
  • the angular drive gear 338 an be mounted on a bearing disposed about the arm drive input shaft 330).
  • the robot 100 includes an angular drive actuator 340 configured to drive the angular drive gear 338.
  • the angular drive actuator 340 can include any type of rotary actuator such as a motor (e.g., electric, pneumatic, or hydraulic motor) or a combination of a motor and gear reducer, for example.
  • the angular drive gear 338 is attached or coupled to the arm pivot bracket 306 such that rotation of the angular drive gear 338 causes the arm pivot bracket 306, as well as the components mounted to the arm pivot bracket 306 (e.g., the gripper arm 300), to rotate about the surface of the base plate 202 around an axis of the angular drive gear 338.
  • rotation of the angular drive gear 338 causes the gripper arm 300 to rotate circumferentially about the base plate 202.
  • the gripper arm 300 has three degrees of freedom.
  • the first degree of freedom is associated with rotation of the finger 304 about the finger pivot pin 305 relative to the arm linkage 302.
  • the second degree of freedom is associated with rotation of the arm linkage 302 about the finger drive shaft 312 relative to the arm pivot bracket 306.
  • the third degree of freedom is associated with rotation of the arm pivot bracket 306 and the gripper arm 300 about the axis of the angular drive gear 338.
  • the finger 304 has a fingertip 342.
  • the fingertip 342 is integral with the finger 304.
  • the fingertip 342 is removable and replaceable with other fingertips having different materials. As such, the fingertip 342 can be selected to match a particular application or particular item to be picked by the robotic gripper 200.
  • the fingertip 342 is configured to have variable stiffness.
  • the stiffness of the fingertip 342 can be varied to adapt to different stages of a picking operation and adapt to the configuration of the item being picked. For instance, as the finger 304 approaches an item and the fingertip 342 contacts the item, the fingertip 342 is made to be soft (i.e., made to be compliant and having low stiffness) so it does not damage the item and also to allow the fingertip 342 to conform to the shape of the item. The stiffness of the fingertip 342 can then be increased to make the fingertip 342 more rigid to lock the fingertip 342 in a conforming position about the item to achieve an optimal grip contact area between the fingertip 342 and the item.
  • Variable stiffness of the fingertip 342 can be achieved in several ways. For example, a granular jamming technique can be used where the fingertip 342 encloses granular materials, which is allowed to conform around the item to be picked. Once contact has been made around the item, a vacuum is generated within the fingertip 342, locking the fingertip 342 in a conforming position about the item. In an example, vacuum generation can be used alone without using granular materials within the fingertip 342
  • the fingertip 342 can be made of an electro active polymer material, where passing an electric current through the electro active polymer material changes the stiffness thereof. Another example technique involves using shape memory alloys that can change shape and stiffness based on a magnitude of an electric current passing therethrough.
  • the fingertip 342 includes a magnetorheological material that changes its stiffness based on a strength of a magnetic field applied to the magnetorheological material within the fingertip 342.
  • the gripper arm assemblies 206, 208, 210 are configured similar to the gripper arm assembly 204.
  • the gripper arm assembly 206 includes gripper arm 344 having arm linkage 346 and finger 348, finger drive input shaft 350, finger drive belt 352, arm drive input shaft 354, arm pivot bracket 356, and angular drive gear 358.
  • the gripper arm assembly 208 includes gripper arm 360 having arm linkage 362 and finger 364, finger drive input shaft 366, finger drive belt 368, arm drive input shaft 370, arm pivot bracket 372, and angular drive gear 374.
  • the gripper arm assembly 210 includes gripper arm 376 having arm linkage 378 and finger 380, finger drive input shaft 382, finger drive belt 384 (shown in Figure 4), arm drive input shaft 386, arm pivot bracket 388, and angular drive gear 390.
  • the robotic gripper 200 can also include a suction cup 394 coupled to the base plate 202.
  • a vacuum generating device 392 e.g., a blower
  • the robot 100 or a remote system fluidly coupled to the robot 100 via conduits e.g., tubes, pipes, hoses, etc.
  • the base plate 202 has a hole 396 that allows for a vacuum environment to be generated within the suction cup 394.
  • the vacuum environment can be generated within the suction cup 394, causing a suction force to be applied to the item, thereby drawing or pulling the item toward the suction cup 394.
  • the suction cup 394 operates as a human thumb, whereas the gripper arms 300, 344, 360, and 376 operate as the remaining fingers of a human hand.
  • This human-like configuration of the robotic gripper 200 provides enhanced dexterity compared to existing grippers. Particularly, with each gripper arm having three degree of freedoms, the robotic gripper 200 can potentially have twelve degrees of freedom.
  • the configuration shown in Figures 2-4 couples the angular motion of the gripper arms 300, 344 together because the angular drive gears 338, 358 engage or mesh with each other, and thus one angular actuator (e.g., the angular drive actuator 340 shown in Figure 5) actuates both the angular drive gears 338, 358.
  • angular motion of the gripper arms 300, 344 takes place in tandem with each other, and they rotate in opposite directions, either toward each other or away from each other.
  • angular motions of the gripper arms 360, 376 are coupled because the angular drive gears 374, 390 engage or mesh with each other, and thus one angular actuator actuates both the angular drive gears 374, 390.
  • angular motion of the gripper arms 360, 376 takes place in tandem with each other.
  • the robotic gripper 200 has ten degrees of freedom.
  • the robotic gripper 200 can potentially have twelve degrees of freedom. The number of degrees of freedom can be reduced by coupling some of the input shafts together and using a reduced number of actuators.
  • FIG. 2-4 illustrates the robotic gripper 200 in a four-finger configuration, which may be suitable for picking certain items that require four fingers controlled independently to capture the item.
  • the robotic gripper 200 can operate in other configurations due to the large number of degrees of freedom it has. For example, rather than operating in a four-finger configuration, two of the gripper arms can be actuated in unison such that they operate as a single arm, while the two remaining gripper arms are controlled independently, thereby rendering the robotic gripper 200 operating as a three-finger gripper.
  • Figure 9 illustrates a perspective view of the robotic gripper 200 operating in a three-finger configuration
  • Figure 10 illustrates a top view of the robotic gripper 200 operating in the three- finger configuration, in accordance with an example implementation.
  • the angular drive gear 374 of the gripper arm assembly 208 can be driven clockwise (from the perspective of the top view of Figure 10) or the angular drive gear 390 of the gripper arm assembly 210 can be driven counter-clockwise (from the perspective of the top view of Figure 10), thereby rotating the gripper arm assembly 208 and the gripper arm assembly 210 toward each other until they are parallel.
  • the gripper arms 360, 376 can then be controlled in tandem such that the gripper arms 360, 376 move in unison as if they are one larger arm.
  • the same command is sent to the actuators of the finger drive input shafts 366, 382 and the same command is sent to the actuators of the arm drive input shafts 370, 386 such that motion of the arm linkages 362, 378 and the fingers 364, 380 is duplicated and the gripper arms 360, 376 move as one gripper arm.
  • the remaining two gripper arm assemblies i.e., the gripper arm assemblies 204, 206) are controlled independently. As such, the robotic gripper 200 operates in a three-finger configuration.
  • the robotic gripper 200 an operate in a two-finger configuration where one pair of gripper arms is actuated in unison such that they operate as a single gripper arm, and the other pair of gripper arms is also actuated in unison such that they operate as a respective single arm. This way, the robotic gripper 200 operates as a two-finger gripper.
  • Figure 11 illustrates a perspective view of the robotic gripper 200 operating in a two-finger configuration
  • Figure 12 illustrates a top view of the robotic gripper 200 operating in the two- finger configuration, in accordance with an example implementation.
  • the angular drive gear 374 of the gripper arm assembly 208 can be driven clockwise (from the perspective of the top view of Figure 12) or the angular drive gear 390 of the gripper arm assembly 210 can be driven counter-clockwise (from the perspective of the top view of Figure 12), thereby rotating the gripper arm assembly 208 and the gripper arm assembly 210 toward each other until they are parallel.
  • the angular drive gear 338 of the gripper arm assembly 204 can be driven clockwise (from the perspective of the top view of Figure 12) or the angular drive gear 358 of the gripper arm assembly 206 can be driven counter-clockwise (from the perspective of the top view of Figure 12), thereby rotating the gripper arm assembly 204 and the gripper arm assembly 206 toward each other until they are parallel.
  • the gripper arms 360, 376 can then be controlled in tandem such that the gripper arms 360, 376 move in unison as if they are one larger arm.
  • the same command is sent to the actuators of the arm linkages 362, 378 and actuators of the fingers 364, 380 so the gripper arms 360, 376 move as one gripper arm.
  • the gripper arms 300, 344 can be controlled in tandem such that the gripper arms 300, 344 move in unison as if they are one larger arm.
  • the same command is sent to the actuators of the arm linkages 302, 346 and actuators of the fingers 304, 348 so the gripper arms 300, 344 move as one gripper arm.
  • the robotic gripper 200 operates in a two-finger configuration.
  • a particular item is best picked by a suction cup only, without fingers.
  • the robotic gripper 200 is configured to operate in a vacuum-only configuration. Particularly, in such configuration, the gripper arms 300, 344, 360, and 376 are retracted and the suction cup 394 is then used to pick the item.
  • Figure 13 illustrates a perspective view of the robotic gripper 200 operating in a vacuum- only configuration
  • Figure 14 illustrates a side view of the robotic gripper 200 operating in the vacuum-only configuration, in accordance with an example implementation.
  • the arm drive input shafts 330, 354, 370, and 386 are driven such that the gripper arms 300, 344, 360, and 376 retract (i.e., the arm linkages 302, 346 rotate counter-clockwise and the arm linkages 362, 378 rotate clockwise from the perspective of the side view of Figure 14).
  • the gripper arms 300, 344, 360, and 376 do not obstruct the suction cup 394, which can then be moved toward an object to be picked. Vacuum can be generated as described above, and the object is attracted, and sticks, to the suction cup 394.
  • the robotic gripper 200 can operate in a four-finger configuration ( Figures 2-4), a three-finger configuration ( Figures 9-10), a two-finger configuration ( Figures 11-12), and a vacuum-only configuration ( Figures 13-14). Further, other unique configurations can be achieved. For example, two gripper arms can be rotated by their respective angular drive gear such that they cross a center of the base plate 202 and join the other two gripper arms such that all four gripper arms are disposed on the same side of the base plate 202.
  • all four gripper arms i.e., the gripper arms 300, 344, 360, and 376) can be facing outward from one side of the base plate 202 and operate as four human fingers, whereas the suction cup 394 operate as a human thumb.
  • the robotic gripper 200 operate in a human hand-like configuration.
  • any of the fingers 304, 348, 364, and 380 can be rotate over-center about its respective finger pivot pin (e.g., the finger 304 can rotate over-center about the finger pivot pin 305) and the finger can then be pushed outward to enter a can or hollow cylinder to perform a task.
  • the versatility and various configurations in which the robotic gripper 200 can operate facilitate pick a variety of items in a high-mix environment.
  • the robotic gripper 200 can operate in a first configuration initially to perform an initial operation, then switch to a different configuration to complete the picking operation.
  • Figures 15, 16, and 17 illustrate the process of picking a book
  • Figure 18 illustrates the process of picking a wine glass.
  • Figure 15 illustrates operating the robotic gripper 200 initially in a vacuum-only configuration to attach to a book 400 and raise the book 400 from a binding side 402
  • Figure 16 illustrate operating the robotic gripper 200 in a three-finger configuration and using two combined arms to provide support for the book 400
  • Figure 17 illustrate using the other two fingers to stabilize and complete picking operation of the book 400, in accordance with an example implementation.
  • the robot 100 may have a vision system or other sensory system that enables a controller of the robot 100 to identify the binding side 402 of the book 400.
  • the robot 100 then operates the robotic gripper 200 in a vacuum-only configuration (see Figures 13-14 described above).
  • the robot 100 then moves the robotic gripper 200 to position the suction cup 394 on a front cover of the book 400 proximate the binding side 402.
  • the vacuum generating device can then be activated to apply a suction force on the book 400 so the book 400 attaches to the suction cup 394.
  • the robot 100 can then lift the robotic gripper 200 along with the book 400 attached thereto such that the binding side 402 of the book 400 is raised, while the other side of the book may still be resting on a surface 404 as shown in Figure 16.
  • the robot 100 then operates the robotic gripper 200 in a three- finger configuration (see Figures 9-10 and description above) where the gripper arms 360, 376 are combined to operate as one large arm.
  • the fingers 364, 380 are then inserted underneath the book 400 to provide support thereto.
  • the fingers 304, 348 can then also be made to contact the other side of the book 400.
  • the robotic gripper 200 can lift the book 400 off the surface 404 and stabilize the book 400 horizontally using the suction cup 394, the fingers 364, 380, and the fingers 304, 348 as shown in Figure 17. This process can be used even if the book 400 is placed within a bin.
  • the finger drive input shafts e.g., the finger drive input shaft 318) and the arm drive input shafts (e.g., the arm drive input shaft 330) are configured to drive respective worm gears (e.g., the finger drive worm gear 322, and the arm drive worm gear 334) that in turn drive worm wheels (e.g., the finger drive worm wheel 324 and the arm drive worm wheel 336).
  • the worm gear arrangement described above prevents the input shafts and the actuators driving them from being back-driven by gravity or other forces.
  • the friction between the worm gears and the worm wheels prevents the worm wheels from applying a force to the worm gear engaging therewith that would cause the worm gears to rotate backward.
  • the object e.g., the book 400
  • the robotic gripper 200 may stay in position supported by the robotic gripper 200 rather than being dropped.
  • Figure 18 illustrates picking a wine glass 500, in accordance with an example implementation.
  • the robot 100 operates the robotic gripper 200 in a four-finger configuration (see Figures 2-4) and move the robotic gripper 200 close to the wine glass 500 such that a stem 502 of the wine glass 500 is positioned between the fingers 364, 380.
  • the robot 100 can then operate the robotic gripper 200 in a three-finger configuration where the gripper arms 360, 376 are combined to operate as one large arm with the stem 502 squeezed lightly between the fingers 364, 380.
  • the robot 100 can then move the fingers 304, 348 toward a body 504 of the wine glass to grip the wine glass 500.
  • the wine glass 500 can then be moved where desired.
  • robotic gripper 200 can be implemented using worm gears and worm wheels.
  • gears e.g., spur gears, helical gears, etc.
  • belts or chains could be used instead of gears.
  • actuators could be used to actuate or move the arm linkages, fingers, and rotate the arm pivot brackets.
  • robotic gripper 200 is illustrates in the figures as having four gripper arms, in other examples, fewer or more gripper arms and arm assemblies can be used.
  • the gripper arm assemblies 204, 206, 208, 210 are described herein as being identical, with each gripper arm assembly having a respective arm pivot bracket rotatably coupled to the base plate, a respective arm linkage pivotably coupled to the respective arm pivot bracket, and a respective finger pivotably coupled to the respective arm linkage.
  • the gripper arm assemblies may differ.
  • one or more gripper arm assemblies may have three degrees of freedom as described herein, whereas one or more of the remaining gripper arm assemblies may have a reduced number of degrees of freedom or can be configured with different components, gear types, etc.
  • any enumeration of elements, blocks, or steps in this specification or the claims is for purposes of clarity. Thus, such enumeration should not be interpreted to require or imply that these elements, blocks, or steps adhere to a particular arrangement or are carried out in a particular order.
  • devices or systems may be used or configured to perform functions presented in the figures.
  • components of the devices and/or systems may be configured to perform the functions such that the components are actually configured and structured (with hardware and/or software) to enable such performance.
  • components of the devices and/or systems may be arranged to be adapted to, capable of, or suited for performing the functions, such as when operated in a specific manner.
  • Implementations of the present disclosure can thus relate to one of the enumerated example implementation (EEEs) listed below.
  • EEE 1 is a robotic gripper comprising: a base plate; a plurality of gripper arm assemblies rotatably coupled to the base plate, wherein a gripper arm assembly of the plurality of gripper arm assemblies comprises: an arm pivot bracket rotatably coupled to the base plate, an arm linkage pivotably coupled to the arm pivot bracket, and a finger pivotably coupled to the arm linkage; and a suction cup coupled to the base plate.
  • EEE 2 is the robotic gripper of EEE 1, wherein the gripper arm assembly further comprises: a finger drive input shaft; a finger drive gear rotatably coupled to the finger drive input shaft; a finger drive shaft rotatably coupled to the finger drive gear; and a finger drive belt mechanically coupling the finger drive shaft to the finger, such that rotation of the finger drive input shaft causes the finger to pivot relative to the arm linkage.
  • EEE 3 is the robotic gripper of EEE 2, wherein the finger drive gear is a finger drive worm wheel mounted to the finger drive shaft, wherein the gripper arm assembly further comprises:
  • a finger drive worm gear mounted to the finger drive input shaft and engaging the finger drive worm wheel.
  • EEE 4 is the robotic gripper of any of EEEs 2-3, wherein the gripper arm assembly further comprises: a finger pivot pin coupled to the finger and mounted at a joint between the arm linkage and the finger, wherein the finger drive belt mechanically couples the finger drive shaft to the finger pivot pin, such that rotation of the finger drive input shaft causes the finger pivot pin to rotate and the finger to pivot relative to the arm linkage.
  • EEE 5 is the robotic gripper of any of EEEs 1-4, wherein the gripper arm assembly further comprises: an arm drive input shaft; and an arm drive gear rotatably coupled to the arm linkage and to the arm drive input shaft, such that rotation of the arm drive input shaft causes the arm linkage to pivot relative to the arm pivot bracket.
  • EEE 6 is the robotic gripper of EEE 5, wherein the arm drive gear is an arm drive worm wheel formed as a portion of the arm linkage, wherein the gripper arm assembly further comprises: an arm drive worm gear mounted to the arm drive input shaft and engaging the arm drive worm wheel.
  • EEE 7 is the robotic gripper of any of EEEs 1-6, wherein the gripper arm assembly further comprises: an angular drive gear coupled to the arm pivot bracket, such that rotation of the angular drive gear causes the arm pivot bracket to rotate about the base plate, thereby causing the arm linkage and the finger to rotate circumferentially about the base plate.
  • EEE 8 is the robotic gripper of any of EEEs 1-7, wherein the finger comprises: a fingertip removably coupled to the finger.
  • EEE 9 is the robotic gripper of any of EEEs 1-8, wherein the finger comprises: a fingertip having variable stiffness.
  • EEE 10 is the robotic gripper of any of EEEs 1-9, wherein the plurality of gripper arm assemblies comprises four gripper arm assemblies, each gripper arm assembly of the four gripper arm assemblies comprising: a respective arm pivot bracket rotatably coupled to the base plate, a respective arm linkage pivotably coupled to the respective arm pivot bracket, and a respective finger pivotably coupled to the respective arm linkage.
  • EEE 11 is the robotic gripper of EEE 10, wherein a pair of gripper arm assemblies operate in unison as one gripper arm while remaining two gripper arm assemblies are controlled independently, thereby rendering the robotic gripper operating in a three-finger configuration.
  • EEE 12 is the robotic gripper of any of EEEs 10-11, wherein a pair of gripper arm assemblies operate in unison as one gripper arm, and other pair of gripper arm assemblies operate in unison as another gripper arm, thereby rendering the robotic gripper operating in a two-finger configuration.
  • EEE 13 is a robot comprising: a robot arm; a gripper finger actuator; a gripper arm actuator; an angular drive actuator; and a robotic gripper coupled to the robot arm
  • the robotic gripper comprises: a base plate, and a plurality of gripper arm assemblies rotatably coupled to the base plate
  • a gripper arm assembly of the plurality of gripper arm assemblies comprises: (i) an arm pivot bracket rotatably coupled to the base plate and configured to be actuated via the angular drive actuator, (ii) an arm linkage pivotably coupled to the arm pivot bracket and configured to be actuated via the gripper arm actuator, and (iii) a finger pivotably coupled to the arm linkage and configured to be actuated via the gripper finger actuator.
  • EEE 14 is the robot of EEE 13, wherein the gripper arm assembly further comprises: a finger drive input shaft configured to be driven by the gripper finger actuator; a finger drive gear rotatably coupled to the finger drive input shaft; a finger drive shaft rotatably coupled to the finger drive gear; and a finger drive belt mechanically coupling the finger drive shaft to the finger, such that rotation of the finger drive input shaft via the gripper finger actuator causes the finger to pivot relative to the arm linkage.
  • EEE 15 is the robot of EEE 14, wherein the finger drive gear is a finger drive worm wheel mounted to the finger drive shaft, wherein the gripper arm assembly further comprises: a finger drive worm gear mounted to the finger drive input shaft and engaging the finger drive worm wheel.
  • EEE 16 is the robot of any of EEEs 14-15, wherein the gripper arm assembly further comprises: a finger pivot pin coupled to the finger and mounted at a joint between the arm linkage and the finger, wherein the finger drive belt mechanically couples the finger drive shaft to the finger pivot pin, such that rotation of the finger drive input shaft causes the finger pivot pin to rotate and the finger to pivot relative to the arm linkage.
  • EEE 17 is the robot of any of EEEs 13-16, wherein the gripper arm assembly further comprises: an arm drive input shaft configured to be driven by the gripper arm actuator; and an arm drive gear rotatably coupled to the arm linkage and to the arm drive input shaft, such that rotation of the arm drive input shaft causes the arm linkage to pivot relative to the arm pivot bracket.
  • EEE 18 is the robot of EEE 17, wherein the arm drive gear is an arm drive worm wheel formed as a portion of the arm linkage, wherein the robotic gripper further comprises:
  • an arm drive worm gear mounted to the arm drive input shaft and engaging the arm drive worm wheel
  • EEE 19 is the robot of any of EEEs 13-18, wherein the gripper arm assembly further comprises: an angular drive gear coupled to the arm pivot bracket and configured to be driven by the angular drive actuator, such that rotation of the angular drive gear by the angular drive actuator causes the arm pivot bracket to rotate about the base plate, thereby causing the arm linkage and the finger to rotate circumferentially about the base plate.
  • an angular drive gear coupled to the arm pivot bracket and configured to be driven by the angular drive actuator, such that rotation of the angular drive gear by the angular drive actuator causes the arm pivot bracket to rotate about the base plate, thereby causing the arm linkage and the finger to rotate circumferentially about the base plate.
  • EEE 20 is the robot of EEE 19, further comprising: a vacuum generating device, wherein the robotic gripper further comprises a suction cup coupled to the base plate, and wherein the vacuum generating device is configured to generate a vacuum environment within the suction cup of the gripper arm assembly.

Landscapes

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

Abstract

L'invention concerne un exemple de dispositif de préhension robotique (200) qui comprend une plaque de base (202) et une pluralité d'ensembles bras de dispositif de préhension (204, 206, 208, 210) couplés de manière rotative à la plaque de base (202), un ensemble bras de dispositif de préhension de la pluralité d'ensembles bras de dispositif de préhension (204, 206, 208, 210) comprenant : un support de pivot de bras (306) couplé de manière rotative à la plaque de base (202), une liaison de bras (302) couplée de manière pivotante au support de pivot de bras (306), et un doigt (304) couplé de manière pivotante à la jonction de bras (302).
PCT/EP2022/055941 2021-03-11 2022-03-08 Dispositif de préhension robotique WO2022189456A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202163159706P 2021-03-11 2021-03-11
US63/159,706 2021-03-11

Publications (1)

Publication Number Publication Date
WO2022189456A1 true WO2022189456A1 (fr) 2022-09-15

Family

ID=80786872

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2022/055941 WO2022189456A1 (fr) 2021-03-11 2022-03-08 Dispositif de préhension robotique

Country Status (1)

Country Link
WO (1) WO2022189456A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210337734A1 (en) * 2018-10-08 2021-11-04 Advanced Farm Technologies, Inc. Autonomous crop harvester

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140197652A1 (en) * 2013-01-15 2014-07-17 Precision Machinery Research & Development Center End effector module
DE102014223118A1 (de) * 2014-11-12 2016-05-12 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greifvorrichtung
CN106625734B (zh) * 2016-09-28 2019-04-02 东北农业大学 一种针对异形瓜果仿鸟类爪部的欠驱动柔性末端执行器
JP2019181585A (ja) * 2018-04-03 2019-10-24 Thk株式会社 ハンド機構及びピッキングロボット
US20200206948A1 (en) * 2018-12-31 2020-07-02 Sarcos Corp. Robotic End-Effector Having Dynamic Stiffening Elements for Conforming Object Interaction
WO2020160394A1 (fr) * 2019-01-31 2020-08-06 RightHand Robotics, Inc. Modalités de dispositif de préhension
US10858188B2 (en) * 2017-09-15 2020-12-08 Kabushiki Kaisha Toshiba Gripping device and conveying apparatus

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140197652A1 (en) * 2013-01-15 2014-07-17 Precision Machinery Research & Development Center End effector module
DE102014223118A1 (de) * 2014-11-12 2016-05-12 Schunk Gmbh & Co. Kg Spann- Und Greiftechnik Greifvorrichtung
CN106625734B (zh) * 2016-09-28 2019-04-02 东北农业大学 一种针对异形瓜果仿鸟类爪部的欠驱动柔性末端执行器
US10858188B2 (en) * 2017-09-15 2020-12-08 Kabushiki Kaisha Toshiba Gripping device and conveying apparatus
JP2019181585A (ja) * 2018-04-03 2019-10-24 Thk株式会社 ハンド機構及びピッキングロボット
US20200206948A1 (en) * 2018-12-31 2020-07-02 Sarcos Corp. Robotic End-Effector Having Dynamic Stiffening Elements for Conforming Object Interaction
WO2020160394A1 (fr) * 2019-01-31 2020-08-06 RightHand Robotics, Inc. Modalités de dispositif de préhension

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210337734A1 (en) * 2018-10-08 2021-11-04 Advanced Farm Technologies, Inc. Autonomous crop harvester

Similar Documents

Publication Publication Date Title
Fantoni et al. Grasping devices and methods in automated production processes
EP1612005B1 (fr) Dispositif de préhension tournant extensible et rétractable pour un robot industriel
Reddy et al. A review on importance of universal gripper in industrial robot applications
EP3661705B1 (fr) Systèmes et procédés d'acquisition et de déplacement d'objets présentant des surfaces extérieures complexes
WO2019210761A1 (fr) Manipulateur souple d'entraînement composite électrique à cadre en ressort à plaque formé avec une épaisseur irrégulière
WO2019165878A1 (fr) Bras mécanique d'emballage logistique de type griffe doté de doigts flexibles à entraînement hybride électrique-gaz
WO2013075245A1 (fr) Appareil de préhension comprenant un doigt mécanique sous-actionné à deux degrés de liberté permettant la préhension par enserrage et par pincement
CN107081760A (zh) 一种基于平动并联机构的六自由度机械臂
CA2958893A1 (fr) Modele de main agile tolerant la defaillance dotee de plusieurs doigts
CN109910039B (zh) 气动手指夹持与指根转位及电动指根转动的敏捷机械手
CN213562666U (zh) 一种具有平夹自适应复合夹取功能的变胞机械手
KR101161056B1 (ko) 다관절 로봇
GB2548959A (en) Robotic gripping device system and method
JP2018176368A (ja) 食品保持装置およびその動作方法
WO2022189456A1 (fr) Dispositif de préhension robotique
Choi et al. Development of multi-purpose universal gripper
CN108453768B (zh) 杆轮并联竞速包络自适应机器人手指装置
Canali et al. High reconfigurable robotic gripper for flexible assembly
Premkumar¹ et al. Design and implementation of multi handling pick and place robotic arm
CN113165171A (zh) 包括铰接臂的机器人系统
WO2023274844A1 (fr) Préhenseur robotique avec un doigt ayant une matrice de broches à ressort
WO2023213564A1 (fr) Dispositif de préhension robotique
Courchesne et al. A single-actuator adaptive gripper with an integrated suction cup
CN113146589A (zh) 一种具有嵌入式机械爪的物流分拣机器人
Dhadge et al. Design of Enlarging Vacuum Gripper Using Slider Crank Mechanism

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22711239

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22711239

Country of ref document: EP

Kind code of ref document: A1