WO2023202722A1

WO2023202722A1 - Robot gripper having rigid-flexible coupling

Info

Publication number: WO2023202722A1
Application number: PCT/CN2023/095243
Authority: WO
Inventors: 仵沛宸; 陈小平; 高杨; 崔国伟
Original assignee: 广东省科学院智能制造研究所
Priority date: 2023-04-21
Filing date: 2023-05-19
Publication date: 2023-10-26
Also published as: CN116604596A

Abstract

A robot gripper having a rigid-flexible coupling, which comprises a mounting base (1) and at least two rigid-flexible phalangeal units (2) fixed on one side of the mounting base (1); each rigid-flexible phalangeal unit (2) comprises a fixing base (201) fixed on the mounting base (1), one side of each fixing base (201) is fixedly connected to a flexible joint (202), and the other side of each flexible joint (202) is fixedly connected to a rigid phalanx (203); the fixing bases (201) and the rigid phalanges (203) are connected by means of connecting rods (204); one end of each rigid phalanx (203) away from the flexible joint (202) is fixedly connected to one end of a driving rope (205), and the other end of each driving rope (205) is connected to a driving unit.

Description

A rigid-flexible coupling robot hand

Technical areas:

The invention relates to the technical field of robot grippers, and in particular to a rigid-flexible coupling robot gripper.

Background technique:

The robot's end execution capability is a basic function of the robot, and the robot's grasping ability is the basis of all end execution capabilities. Robot grasping technology can replace manual labor and free humans from repetitive and complicated labor.

Common robot grippers can be divided into two categories: rigid grippers whose kinematic structure is made of rigid materials and flexible grippers whose kinematic structure is made of flexible materials. The movement mode of the rigid claw is mainly that the connecting rod rotates around a point. The overall structure of the rigid claw is stiff and usually has a large load capacity. However, the rigid claw requires precise control of the joints during movement. If the control is not precise, it is easy to grasp. Fetching objects causes damage, so it is difficult to control with rigid claws. There are flexible materials in the flexible gripper structure. Flexible materials are easily deformed under stress. Flexible grippers can usually adapt to the shape of objects better. Therefore, flexible grippers can use simpler control methods. However, due to the small stiffness of flexible materials, flexible grippers The load capacity of the jaws is usually smaller. Especially when grabbing an object horizontally, due to the effect of gravity, the flexible material in the flexible gripper is twisted by gravity, which will cause the gripper to be unable to maintain contact with the object, causing the object to slip. There are some existing grippers that combine rigid materials and flexible materials to design motion structures. However, the existing rigid-flexible integrated mechanical fingers have complex structures, lack of dexterity, and are difficult to manufacture.

Contents of the invention:

In response to the above problems, the present invention proposes a rigid-flexible coupling robot gripper, which mainly solves the problem that the robot gripper has insufficient rigidity under horizontal grasping conditions and easily causes objects to slip off.

In order to solve the above technical problems, the technical solutions of the present invention are as follows:

A rigid-flexible coupling robot hand gripper includes a mounting base and at least two sets of rigid-flexible couplings fixed on one side of the mounting base. Flexible phalanx unit, the rigid-flexible phalanx unit includes a fixed base fixed on the mounting base, one side of the fixed base is fixedly connected to the flexible joint, and the other side of the flexible joint is fixedly connected to the rigid phalange, The fixed base and the rigid phalanges are connected through a connecting rod. One end of the rigid phalanges away from the flexible joint is fixedly connected to one end of the driving rope, and the other end of the driving rope is connected to the driving unit.

In some embodiments, the driving unit includes a motor disposed inside the mounting base, the output end of the motor is coupled to the steering wheel, and the outside of the steering wheel is fixedly connected to the end of the driving rope.

In some embodiments, each group of the rigid-flexible phalanx units includes the same number of flexible joints and rigid phalanxes, and the flexible joints and the rigid phalanxes are fixedly connected in sequence.

In some embodiments, the clamping surface of each rigid phalanx is provided with a groove, and the driving rope is embedded in the groove.

In some embodiments, an extension block is provided on the opposite side of each rigid phalanx from the clamping surface, and the hinged end of the connecting rod is hingedly connected to the extension block.

In some embodiments, the connecting rod located between two adjacent extension blocks includes at least three components.

In some embodiments, the link is a planar open link.

In some embodiments, a motor controller is further included, and the motor controller is coupled to the control end of the motor.

In some embodiments, the mounting base is wrapped with a shell.

In some embodiments, the clamping surface of the rigid phalanges is provided with anti-slip pads.

The beneficial effects of the present invention are: by adding a connecting rod structure between two adjacent rigid phalanges, the structural rigidity of the finger in the vertical direction of its length is increased, so that the flexible joint is not easily affected by gravity under the support of the connecting rod. twist, so it is not easy to cause objects to slip.

Description of the drawings

Figure 1 is a schematic structural diagram 1 of a rigid-flexible coupling robot gripper disclosed in an embodiment of the present invention;

Figure 2 is a schematic structural diagram 2 of a rigid-flexible coupling robot gripper disclosed in an embodiment of the present invention;

Figure 3 is a schematic diagram of horizontal grasping by the rigid-flexible coupling robot claw disclosed in the embodiment of the present invention;

Among them: 1-mounting base, 2-rigid and flexible phalanx unit, 201-fixed seat, 202-flexible joint, 203-rigid phalanx, 204-connecting rod, 205-driving rope, 206-extension block, 207-anti-slip pad, 301 -Motor, 302-steering wheel, 303-motor controller, 4-casing.

Detailed ways:

In order to make the purpose, technical solutions and advantages of the present invention clearer and clearer, the contents of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It can be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for convenience of description, only part but not all of the content related to the present invention is shown in the drawings.

This embodiment proposes a rigid-flexible coupling robot gripper, which mainly increases the structural rigidity of the finger in the vertical direction of its length by adding a connecting rod structure between two adjacent rigid phalanges, so that the flexible joint is at the end of the connecting rod. It is not easy to twist due to gravity when supported, so it is not easy to cause objects to slip.

As shown in Figure 1, the rigid-flexible coupling robot gripper includes a mounting base 1, and at least two sets of rigid-flexible phalange units 2 fixed on one side of the mounting base 1. As shown in Figure 2, the rigid-flexible phalanx unit 2 includes a fixed The fixed base 201 on the mounting base 1 has one side of the fixed base 201 fixedly connected to the flexible joint 202 and the other side of the flexible joint 202 fixedly connected to the rigid phalanges 203. The fixed base 201 and the rigid phalanges 203 are connected by a connecting rod. 204 is connected, one end of the rigid phalange 203 away from the flexible joint 202 is fixedly connected to one end of the driving rope 205, and the other end of the driving rope 205 is connected to the driving unit.

In this embodiment, the number of the above-mentioned rigid and flexible finger bone units 2 is not limited, and any number of rigid and flexible finger bone units 2 should be uniform. Distributed on the same side of the mounting base 1, they are mirror symmetrical to each other, distributed in a circle, or arranged as needed. They can perform opposite closing movements or reverse expansion movements in a certain central axis direction under the driving of the driving unit. For example, when there are only two sets of rigid and flexible phalanx units 2, they are mirror symmetrical to each other. When there are more than two groups of rigid and flexible phalanx units 2 (rigid and flexible phalanx units 2 can be set to the common three groups, four groups or five groups), Then, the rigid and flexible finger bone units 2 can be evenly distributed around the circumference, or can be arranged in special shapes as needed.

Secondly, the above-mentioned rigid finger bones 203 can be any rigid strips, and the flexible joints 202 can be any flexible objects.

Specifically, the above-mentioned driving unit includes a motor 301 disposed inside the mounting base 1 . The output end of the motor 301 is coupled to the steering wheel 302 , and the outside of the steering wheel 302 is fixedly connected to the end of the driving rope 205 . In this solution, the motor 301 drives the steering wheel 302 to rotate and retract, thereby pulling the farthest rigid phalanx 203 toward the central axis. During this process, the rigid phalanx 203 retracts to hold the object, and conversely, the steering wheel 302 rotates. Unwinding, the rigid phalanges 203 relax.

In this embodiment, the number of flexible joints 202 and rigid phalanges 203 included in the rigid-flexible phalanx unit 2 is not limited, but it should be noted that each group of rigid-flexible phalanx units 2 includes the same number of flexible joints 202 and rigid phalanges 203 , the flexible joint 202 and the rigid phalange 203 are fixedly connected in sequence. Taking Figure 2 as an example, there are two flexible joints 202 and two rigid phalanges 203. First, a flexible joint 202 is connected to the fixed base 201, and the other end of the flexible joint 202 is connected to a rigid phalange 203. In the same way, continue to The second flexible joint 202 is connected to the first rigid phalanx 203, and finally the second rigid phalanx 203 is connected to the first flexible joint 202. The fingertip of the most distal rigid phalanx 203 is connected to the driving rope 205, for example, A wire clip may be used to secure the end of the drive cord 205 to the fingertip of the rigid phalanx 203.

Since the flexible driving rope 205 needs to be used as the driving member of the rigid phalanx 203 in this embodiment, in an optional embodiment, the clamping surface of each rigid phalanx 203 is provided with a groove, and the driving rope 205 is embedded in the groove. within, can avoid The driving rope 205 is in direct contact with the object to prevent the driving rope 205 from affecting the clamping effect.

In order to further improve the structure of the rigid phalanges 203 in the vertical direction of their length, each rigid phalange 203 is provided with an extension block 206 on the side opposite to the clamping surface (ie, the back side), and the hinged end of the connecting rod 204 is connected to the extension block 206 Articulation, as shown in Figure 3, increases the structural rigidity of the finger perpendicular to its length without compromising the rigid phalanges 203 for gripping objects.

As can be seen from Figure 2, the connecting rod 204 located between two adjacent extension blocks 206 includes at least three components. At the same time, the length and number of individual components can be selected by yourself and controlled by controlling the length and quantity of the components. The closing angle of the rigid phalanges 203.

In this embodiment, the connecting rod 204 mainly plays a supporting role to improve the ability of the rigid-flexible phalanx unit 2 to grasp the load horizontally. Therefore, the connecting rod 204 can be selected as a planar open chain connecting rod.

Optionally, a motor controller 303 is also included. The motor controller 303 is installed inside the mounting base 1 . The motor controller 303 is coupled with the control end of the motor 301 .

Optionally, as shown in Figure 3, the mounting base 1 is wrapped with a shell 4.

Optionally, as shown in FIG. 2 , the clamping surface of the rigid phalanges 203 is provided with anti-slip pads 207 to improve the clamping ability of the rigid phalanges 203 .

The above embodiments are only for illustrating the technical concepts and characteristics of the present invention. Their purpose is to enable those of ordinary skill in the art to understand the content of the present invention and implement it accordingly. They cannot limit the scope of protection of the present invention. All equivalent changes or modifications made based on the essence of the present invention should be included in the protection scope of the present invention.

Claims

A rigid-flexible coupling robot hand gripper, characterized by comprising a mounting base and at least two sets of rigid-flexible phalange units fixed on one side of the mounting base, the rigid-flexible phalange units including A fixed base, one side of the fixed base is fixedly connected to a flexible joint, and the other side of the flexible joint is fixedly connected to a rigid phalange, and the fixed base and the rigid phalange are connected through a connecting rod. One end of the rigid phalange away from the flexible joint is fixedly connected to one end of the driving rope, and the other end of the driving rope is connected to the driving unit.
The rigid-flexible coupling robot gripper according to claim 1, wherein the drive unit includes a motor arranged inside the mounting base, the output end of the motor is coupled to the steering wheel, and the outer side of the steering wheel Fixedly connected to the end of the drive rope.
The rigid-flexible coupling robot gripper according to claim 1, wherein each group of the rigid-flexible phalanx units includes the same number of the flexible joints and the rigid phalanxes, and the flexible joints and the rigid phalanxes Secure the connections in turn.
The rigid-flexible coupling robot gripper according to claim 3, wherein the clamping surface of each rigid phalanx is provided with a groove, and the driving rope is embedded in the groove.
The rigid-flexible coupling robot gripper according to claim 4, wherein each rigid phalanx is provided with an extension block on the opposite side to the clamping surface, and the hinged end of the connecting rod is connected to the extension block. Blocks are articulated.
The rigid-flexible coupling robot gripper according to claim 5, wherein the connecting rod located between two adjacent extension blocks includes at least three components.
The rigid-flexible coupling robot gripper according to claim 1, wherein the connecting rod is a planar open chain connecting rod.
The rigid-flexible coupling robot gripper according to claim 1, further comprising a motor controller coupled to the control end of the motor.
The rigid-flexible coupling robot gripper according to claim 1, wherein the mounting base is wrapped with a shell.
The rigid-flexible coupling robot gripper according to claim 1, wherein the clamping surface of the rigid phalanges is provided with an anti-slip pad.