Robotic hand

Abstract

A robotic gripper includes: a base; a first finger including a first phalanx connected to the base by a joint and a tip portion remote from the base; a second finger including a first phalanx connected to the base by a joint and a tip portion remote from the base, wherein the first and second fingers are opposite each other, the first finger including an inner surface facing the second finger, and the second finger including an inner surface facing the first finger; wherein the tip portion of one of the fingers includes a nail projection that can be deployed between an deployed configuration and an undeployed configuration.

Description

Technical Field

[0001] This invention relates to a robotic hand. Various aspects of this invention relate to robotic grippers and robots including robotic grippers. Background Technology

[0002] Robotic devices, including robotic hands and gripper devices (also referred to herein as robots or robotic grippers), are known in industries such as manufacturing. A key capability of such robotic devices is typically their ability to manipulate a range of objects. However, known robotic grippers capable of manipulating objects and picking them up from flat surfaces tend to be complex in construction, especially when such grippers are designed to closely mimic the human hand.

[0003] The purpose of this invention is to provide a robot gripper that alleviates or substantially alleviates the above-mentioned problems. Summary of the Invention

[0004] According to one aspect of the invention, a robotic gripper is provided, comprising: a base; a first finger including a first phalanx connected to the base by a joint and a tip portion remote from the base; a second finger including a first phalanx connected to the base by a joint and a tip portion remote from the base, wherein the first and second fingers are opposite to each other, the first finger including an inner surface facing the second finger, and the second finger including an inner surface facing the first finger; wherein the tip portion of one of the fingers includes a nail protrusion that can be deployed between an deployed configuration and an undeployed configuration.

[0005] This invention provides a robotic gripper in which at least one finger includes nail-like projections that can be deployed between an extended and an unextended configuration. The nail-like projections advantageously facilitate the picking up and gripping of objects, particularly small, flat objects on a surface.

[0006] The tip of the first finger may include a nail protrusion, and the tip of the second finger may include a nail protrusion, each nail protrusion being deployable between an extended and non-extended configuration, the nail protrusions of the first and second fingers being opposite each other in their extended configuration. Preferably, both fingers include nail features to aid in gripping an object. In this arrangement, the two nails can engage on either side of the object.

[0007] In the unspread form, the nail protrusion may be flush with the inner surface of the finger or recessed into the finger. In some forms, the nail protrusion may be configured such that, when in the unspread form, it is flush with the finger surface or even recessed into the finger.

[0008] In an unfolded nail structure, the nail protrusion can extend further beyond the inner surface of the finger than in an unfurled nail structure. In some nail structures, the nail protrusion may not be flush with the finger or may be recessed into it in the unfurled nail structure; in such cases, when the nail unfolds, it is positioned to extend further beyond the inner surface of the finger than in the unfurled nail structure.

[0009] At least one finger may include a first phalanx and a second phalanx, with the tip portion integrated into the second phalanx. In cases where a finger includes more than one phalanx, the nail projection is advantageously located at the tip portion of the last phalanx.

[0010] The inner surface of the finger, including the nail protrusion, can move between an undeformed configuration and a deformed configuration, and can be configured such that moving the inner surface to the deformed position causes the nail protrusion to unfold. Conveniently, a nail arrangement can be provided in which moving the inner surface of the finger exposes the nail protrusion. In one form of such a nail arrangement, the finger can be designed to deform upon contact with an object to expose the nail protrusion, thus eliminating the need for mechanical parts.

[0011] The finger or finger including the nail protrusion may include a cam mechanism configured to extend the nail protrusion of the finger or finger when the robotic gripper interacts with an object.

[0012] The cam mechanism may be located on the inner surface of the said or each finger. The cam mechanism for the said or each finger may be located at the base of the robot gripper.

[0013] In an alternative configuration, each finger, including the nail protrusion, may include a groove, the nail protrusion being arranged to move within the groove, and the gripper includes a linear actuator for each nail protrusion, the linear actuator being arranged to move each nail protrusion between an unfolded configuration and an unfolded configuration.

[0014] The gripper may include another finger opposite the first finger, and each finger may include a nail protrusion.

[0015] The robotic gripper may include: a base; a first finger connected to the base via a base joint and comprising n phalanges; a second finger connected to the base via a base joint and comprising n+m phalanges, each phalange of the second finger being connected to an adjacent phalange via a phalange joint, and the first and second fingers being opposite each other; where n and m are positive integers.

[0016] Robotic grippers can be configured such that the fingers are arranged asymmetrically. This arrangement advantageously provides the ability to grip and manipulate objects, for example, by rolling an object between two fingers. This arrangement also allows the gripper to be operated manually.

[0017] In one arrangement of the robotic gripper, the values ​​of n and m can both be set to equal 1, such that the first finger includes a first phalanx connected to the base via a pivotable joint, the second finger includes a first phalanx and a second phalanx, and the second finger includes a pivotable joint between the base and the first phalanx and between the first and second phalanxes. This arrangement conveniently provides a compact (comprising a total of three phalanges) robotic gripper capable of gripping and rolling objects.

[0018] The base may include a surface extending between the base joints, the distance between which is substantially the same as the length of the first phalanx of the second finger, allowing the first and second fingers to be parallel to each other, thereby placing the first phalanx of the first finger adjacent to the second phalanx of the second finger. The components of the robotic gripper can be easily sized so that the two fingers can be brought together so that their tips meet. This makes it easier for the robotic gripper to pick up objects.

[0019] Each joint can rotate about its axis, and the axes of all joints within the robot gripper can be parallel to each other.

[0020] Each joint can include a motor. This allows the gripper to be fully actuated, giving complete control over the robotic gripper's fingers. This facilitates the gripping positions the robotic gripper can occupy.

[0021] The motor associated with the first phalanx can be located within the base. The motor associated with the second phalanx can be located within the finger. With the motor located within the finger, this provides a gripper in which all control elements are integrated within the gripper itself, allowing for the attachment of a replacement gripper to the robot with minimal difficulty, for example, via wrist connection.

[0022] The gripper may also include an arm rotatably connected to the base via a wrist connection, and each motor may be located within the wrist, away from the joint, with each motor connected to the joint via a tendon link. As an alternative to integrating the motors within the gripper, this arrangement provides a gripper with a reduced volume because it eliminates the need to integrate the motors.

[0023] Each finger may include a tip portion, and the fingers may be configured to move between an opening configuration and a clamping configuration, in which the tip portion of each finger contacts the clamping configuration. The gripper can advantageously take on a range of opening configurations, which allows for the clamping of objects of many different sizes.

[0024] The first and second fingers may include nail protrusions. Providing nail protrusions makes it easier to pick up objects.

[0025] The gripper may include other fingers opposite the first finger, each of which includes n+m phalanges.

[0026] The robotic gripper may include: a base; a first finger including a proximal phalanx connected to the base via a joint; a second finger including a proximal phalanx connected to the base via a joint, the first and second fingers being opposite each other; wherein the base includes a suction cup arranged to allow the gripper to interact with an object by suction.

[0027] Robotic grippers can be configured to advantageously include suction cups and allow the gripper to manipulate a second object while a first object is already gripping it (e.g., to open a door or drawer without having to put the first object down).

[0028] The suction cup may include a vacuum pump. The suction cup can be associated with a vacuum pump, allowing for convenient generation and control of a vacuum. The vacuum pump can be located within the base.

[0029] The suction cup can be a passive suction cup, which is configured to be activated when the suction cup is pushed toward an object. Passive suction cups can be used as an alternative to vacuum suction cups, resulting in a smaller arrangement of parts compared to vacuum options. This passive suction cup arrangement also saves space because fewer parts need to be housed within the body of the gripper (or associated robot).

[0030] The base may include the palm surface, the back surface, and the side surface, with the suction cup located on one of the palm surface, the back surface, or the side surface.

[0031] A robotic gripper may include one or more suction cups located on the same surface of its base. If one suction cup does not form a proper seal (e.g., due to surface features on a second object), additional suction cups may be provided to provide a better seal or to compensate.

[0032] Robotic grippers may include one or more suction cups located on different surfaces of the base. Providing suction cups on different surfaces of the base allows for greater flexibility and reduces the need to rotate or realign the gripper in order to use the suction cups.

[0033] According to one aspect of the present invention, a robot is provided, which includes a robot gripper according to the above aspects of the present invention.

[0034] When the robot gripper is configured to include a suction cup, the robot may include a robot body connected to the robot gripper, wherein the suction cup may include a vacuum pump located within the robot body.

[0035] According to one aspect of the present invention, when the robot gripper is configured to include a suction cup, a method for operating the robot gripper or a robot according to the above aspects of the present invention is provided, comprising: manipulating first and second fingers to grip a first object; moving the gripper such that the suction cup contacts a second object; forming a vacuum seal between the suction cup and the second object; moving the gripper to manipulate the second object; breaking the vacuum seal with the second object; and releasing the first object.

[0036] In the case that the second object is a drawer or a door, the method may further include moving the robotic gripper while the vacuum seal is in place in order to open the drawer or door.

[0037] Forming a vacuum seal can include a mobile robot gripper that pushes a suction cup toward a second object.

[0038] Breaking a vacuum seal can include using a mobile robot gripper to twist the suction cup relative to a second object.

[0039] Forming a vacuum seal can include a mobile robot gripper that brings the suction cup into contact with a second object and activates a vacuum pump connected to the suction cup.

[0040] Note that the order of steps in the method described above according to this disclosure may be slightly altered depending on the specific implementation of the method. For example, some steps may occur together or in a different order than described above.

[0041] Within the scope of this application, it will be apparent that the various aspects, embodiments, examples, and alternatives set forth in the preceding paragraphs, in the claims, and / or in the following description and drawings, particularly their individual features, may be employed independently or in any combination. That is, all embodiments and / or features of any embodiment may be combined in any manner and / or combination unless such features are incompatible. The applicant reserves the right to amend any initially filed claim or accordingly file any new claim, including the right to modify any initially filed claim to be subordinate to and / or combine with any feature of any other claim, even though it was not initially claimed in this manner. Attached Figure Description

[0042] One or more embodiments of this disclosure will now be described by way of example only with reference to the accompanying drawings, in which:

[0043] Figure 1 A perspective view of a robot gripper according to an embodiment of the present invention is shown;

[0044] Figure 2 Showing an open construction Figure 1 A plan view of the robot gripper;

[0045] Figure 3 It shows a closed structure Figure 1 A plan view of the robot gripper;

[0046] Figure 4 It shows a structure that is in a further open state. Figure 1 A plan view of the robot gripper;

[0047] Figure 5 It shows Figure 1 The cross-section of the robot gripper;

[0048] Figure 6 It shows Figure 1 A close-up view of the fingertip portion of a robotic gripper;

[0049] Figure 7 A side view of a variant design of a robotic gripper with a three-part finger bone is shown.

[0050] Figure 8 It shows Figure 7 The finger bone of the robotic gripper;

[0051] Figures 9 to 14 It shows Figure 1 Various structures of robot grippers, and gripping different objects;

[0052] Figure 15 A finger bone is shown according to an embodiment of the present invention, the finger bone including nail protrusions of a finger in an unextended configuration for a robotic gripper;

[0053] Figure 16 It shows the unfolded structure Figure 15 The finger bones;

[0054] Figure 17 A plan view of a robot gripper with nail-like protrusions according to an embodiment of the present invention is shown;

[0055] Figure 18 This shows what happens when the gripper is closed. Figure 17 The gripper;

[0056] Figure 19 It shows the holding of the object Figure 17 The gripper;

[0057] Figures 20 to 21 It shows how to hold another object Figure 17 The gripper;

[0058] Figure 22 A plan view of a robot gripper with nail-like protrusions according to an embodiment of the present invention is shown;

[0059] Figure 23 A plan view of a robot gripper with a passive suction cup according to an embodiment of the present invention is shown;

[0060] Figure 24 A plan view of a robot gripper with a vacuum suction cup according to an embodiment of the present invention is shown;

[0061] Figure 25 It shows Figure 23 Or a side view of the 24-inch clamp;

[0062] Figure 26 It shows that according to Figure 23 Or a 24-type clamp that interacts with the cabinet door;

[0063] Figure 27 It shows how to operate according to Figure 23 Or a flowchart of a 24-inch clamp;

[0064] Figure 28 A robot including a robot gripper according to an embodiment of the present invention is shown. Detailed Implementation

[0065] General and specific embodiments of this disclosure will now be described with reference to the accompanying drawings. In the drawings, the same numerals are used to denote the same features.

[0066] Figure 1 A perspective view of a robot gripper 10 according to an embodiment of the present invention is shown. The gripper 10 includes a base 12, a first finger 14, and a second finger 16.

[0067] The first finger 14 includes a first or proximal phalanx 18, which is connected to the base 12 via a joint 20. The second finger 14 includes a first (proximal) phalanx 22, which is connected to the base 12 via a (base) joint 24. The second finger 16 also includes a second (distal) phalanx 26, which is connected to the adjacent proximal phalanx 22 via a (phalanx) joint 28. The first and second fingers (14, 16) are opposite each other.

[0068] for Figure 1 The robotic gripper 10 shown has an odd number of joints (3 joints in this case) and an odd number of phalanges. The presence of an odd number of phalanges in the opposite fingers results in a “manual” gripper 10, which enables the gripper’s fingers to perform gripping and clamping actions as well as more complex actions, such as rolling an object between two opposite fingers.

[0069] In a more general form, the robotic gripper according to an embodiment of the invention includes a first finger and a second finger, the first finger having n phalanges and the second finger having n+m phalanges, where n and m are positive integers. Figure 1In the example, n=1, m=1, but it should be understood that other arrangements are also possible (e.g., when n=2, m=1, the first finger will have two (proximal and distal) phalanges, and the second finger will have three (proximal, intermediate, and distal) phalanges). In this respect, the robotic gripper is asymmetric.

[0070] like Figure 1 As shown, the inner surface 30 of the fingers includes a textured surface to aid in gripping objects. This surface may, for example, include a rubber material. The robotic gripper further includes a wrist connection 32 to enable the gripper 10 to be attached to a robotic arm. Figure 1 (Not shown in the image).

[0071] Figure 2 The side view shows the open "clamping" configuration. Figure 1 The clamp 10. Figure 2 In the figure, the gripper 10 is also shown as being connected to the arm 34 via a wrist connection 32, the arm 34 and the connection 32 defining an axis 38.

[0072] The base 12 includes a "palm" portion 36, which includes a surface 40 of the base 12 extending between a first finger / base joint 20 and a second finger / base joint 24.

[0073] from Figure 2 As can be seen, the surface 40 of the palm portion 26 defines a plane at an angle θ to the axis 38. In one embodiment, the angle θ is 15 degrees, or approximately 15 degrees, which allows the robotic gripper to effectively grasp and clamp objects.

[0074] Each joint (20, 24, 28) can rotate about its axis. For example... Figure 2 As shown, the axes of each joint (20, 24, 28) are parallel to each other and perpendicular to the plane of the drawing. Each joint includes its own motor, which fully actuates the robot gripper, thereby contributing to the gripping positions that the gripper can employ.

[0075] The motor in each joint can be directly associated with the joint (as follows). Figure 5 (As shown). This arrangement will facilitate the replacement of the gripper connected to the wrist with a replacement gripper (in case of damage) or an alternative robot manipulator.

[0076] Alternatively, the motors for each joint can be positioned away from the gripper 10 (e.g., within the arm 34) and can be connected to the joints via a suitable mechanical or hydraulic tendon system. This arrangement allows for a smaller gripper design compared to positioning the motors and each joint directly within the gripper.

[0077] The gripper can rotate about the wrist connection to allow it to move between a first manual position and a second manual position.

[0078] Go to Figure 3 , Figure 1 and Figure 2 The gripper is shown in a closed configuration (“clamping” configuration) in which the first and second fingers (14, 16) are arranged parallel to each other.

[0079] Note the distance between the proximal joints (20, 24) of the first and second fingers (14, 16) at the base 12 (in Figure 3 The length of the proximal phalanx 22 of the first finger 14 is approximately the same as that of the second finger 16, so that the first and second fingers can be parallel to each other, thereby making the proximal phalanx 18 of the first finger 14 adjacent to the distal phalanx 26 of the second finger 16.

[0080] Furthermore, the distance between the first phalanx 18 of the first finger 14 and the length of the distal phalanx 26 of the second finger 16 is substantially the same (in... Figure 3 (The subscript is "b"). As a result, the tip portion 42 of the first finger 14 and the tip portion 44 of the second finger 16 come together.

[0081] Figure 4 The gripper 10 is shown in its fully open configuration, where the surface 40 of the base 12 and the surface 30 of the first finger 14 define a straight line. Furthermore, the first and second phalanges (22, 26) of the second finger 16 define a straight line. Figure 4 As shown, the first finger 14 / base 12 forms an angle of approximately 90 degrees with the second finger 16.

[0082] Figure 5 A cross-section of the robot gripper 10 is shown, in which motors (46, 48, 50) and a control unit 52 are disposed within the structure of the gripper 10. Each joint of the gripper includes its own motor (joint 20 is actuated by motor 46; joint 24 is actuated by motor 48; joint 28 is actuated by motor 50). The control unit 52 is configured to send control signals to each motor to control the operation of the gripper 10.

[0083] The clamp 10 includes a metal (e.g., aluminum) frame in which the motor and control unit are mounted. The metal frame can be covered with any suitable material to form the clamp 10 (e.g., a plastic outer body with rubber grippers on surfaces (30, 40)).

[0084] Motors (46, 48, 50) can be configured to measure the torque applied to the joint. Sensors can be disposed within the contact surfaces (30, 40) to detect the contact position with the object manipulated by the gripper 10. The control unit 52 can determine the force applied to the gripped object based on the torque and sensor data.

[0085] Figure 6 Showing more details Figure 3 and 5 The tips (42, 44) of the fingers (14, 16) shown (“clamping” configuration). Note that the phalanx 18 of the first finger 14 includes a projection 54 (“nail” projection) which is located on the inner surface of the phalanx 18 and protrudes toward the other finger 16. Similarly, the distal phalanx 26 of the second finger 16 includes a projection 56 which is located on the inner surface of the phalanx 26 and protrudes toward the finger 14.

[0086] These two protrusions (54, 56) typically provide a pointed tip, making it easier to pick up objects from flat surfaces. In particular, this nail-like protrusion configuration allows the robotic gripper to more easily pick up low-profile objects, such as coins or pieces of material, on which it might otherwise not be able to obtain sufficient gripping force.

[0087] Figure 7 and Figure 8 A modified design of the gripper 10 is shown, in which the distal phalanx 26 of the finger 16 is divided into three parts—a central phalanx portion 26a and lateral portions (26b, 26c). The phalanx 26 includes a base 58 containing a joint 28. The central portion 26a is fixed relative to the base 58. The lateral portions (26b, 26c) are spring-loaded by a spring member 60, causing them to be biased toward the opposing finger 14.

[0088] Notice, Figure 7 and 8 A trident variant design is shown on finger 16. Those skilled in the art will understand that the trident arrangement can alternatively be used on the phalanx 18 of the first finger 14. Alternatively, the two fingers 14, 16 can be combined in the arrangement shown.

[0089] The flexible side portions (26b, 26c) facilitate clamping of objects.

[0090] Figure 9 It shows that according to Figures 1 to 6 The first perspective view of the gripper 10 holding an object (cup 62), with the finger 16 positioned in front of the image. Figure 10 The same interaction is shown from above the gripper 10. Figure 11 A second perspective view of the gripper is shown, with finger 14 positioned in front of the image. It can be seen that the gripper 10 is in... Figure 1 and 2 The typical clamping structure shown.

[0091] Figure 12 It shows that according to Figures 1 to 6 A plan view of the gripper 10 holding another object, namely pen 64. It can be seen that the gripper 10 is positioned... Figure 3 and 5The clamping structure shown. Figure 13 A first perspective view of the gripper 10 is shown, with the finger 14 positioned in front of the image. Figure 14 A second perspective view of the gripper is shown, with finger 16 positioned in front of the image. The robotic gripper allows the second finger 16 to bend via the phalangeal joint 28, enabling the second phalanx 26 to roll the pen along the phalanx 18 of the first finger.

[0092] Figure 15 and 16 The diagram illustrates the construction of a finger bone 70 for a robotic gripper according to an embodiment of the present invention, the finger including a structure capable of never unfolding. Figure 15 As shown) Expand to expand construction ( Figure 16 The nail protrusion shown is as follows. Figure 15 and 16 The arrangement of the fingernail protrusions shown is a passive arrangement, in which the fingernail moves from the non-deployed structure to the deployable structure upon contact with the object. This is consistent with... Figures 17 to 22 The illustrated active nail protrusion arrangement contrasts with an active nail protrusion arrangement in which a cam device or linear actuator is arranged to deploy the nail protrusion.

[0093] Back Figure 15 and 16 The phalanx 70 includes a base 72, within which a joint 74 is provided. Note that... Figure 15 and 16 The finger bone 70 can be attached to one or more fingers of the robotic gripper. For example, the finger bone 70 can be attached to one or both of the aforementioned finger bones 18 or 26.

[0094] The phalanx 70 includes an inner surface 76 that faces another finger on the gripper when the phalanx 70 is positioned on the finger of the robotic gripper. The inner surface 76 includes a deformable portion 78. The deformable portion 78 is located at the distal end of the joint 74.

[0095] The finger bone 70 also includes a tip portion 80, which includes a nail protrusion 82 that protrudes toward another finger on the gripper when the finger bone 70 is placed on the finger of the robotic gripper.

[0096] exist Figure 15 In the middle, the phalanges 70 are in an undeveloped structure, and the nail protrusions 82 do not protrude beyond the inner surface 76 of the phalanges.

[0097] exist Figure 16The image shows a finger bone in its unfolded configuration. When the finger bone 70 / gripper 10 contacts an object (not shown), the finger bone 70 can unfold into its unfolded configuration. When the object contacts the deformable portion 78, the deformable portion 78 deflects into a cavity 84 within the body of the finger bone 70. The previous position of the inner surface of the deformable portion 78 is... Figure 16 The middle section is shown by dashed line 86. It can be seen that in the unfolded configuration, the nail protrusion 82 now protrudes further beyond the inner surface of portion 78 and can be used to help pick up small objects (especially on flat surfaces) and improve gripping.

[0098] Figure 15 and 16 The nail structure shown conveniently provides improved gripping capability without the need for additional motors or other mechanical actuation devices, because the nail is provided by the deformable portion 78 of the finger.

[0099] Figures 17 to 21 Another configuration of a finger of a robotic gripper according to an embodiment of the present invention is shown, the finger including nail-like projections capable of being deployed from a non-deployed configuration to a deployed configuration. As described below, Figures 17 to 21 The nail protrusion arrangement shown is an "active" arrangement, in which the nail moves from a non-deployed structure to a deployed structure in response to the movement of a cam device connected to the nail protrusion. This is consistent with the above. Figure 15 and 16 The passive nail protrusion arrangement shown in the illustration contrasts with the passive nail protrusion arrangement in which contact with an object is used to deform the finger to unfold the nail protrusion.

[0100] For ease of reference, according to Figures 17 to 21 The arrangement of the nail protrusions is shown as a combination to Figures 1 to 14 In the robot gripper 10. However, it should be noted that the nail-like protrusion arrangement can be incorporated into any suitable robot gripper. It should also be noted that, Figures 17 to 21 Both fingers (14, 16) are shown as including a nail projection arrangement, but those skilled in the art will understand that the arrangement may be present only on one or the other finger.

[0101] like Figure 17 As shown, finger 14 includes a nail protrusion 90 within the tip portion 42 of phalanx 18. The nail protrusion 90 is connected to a cam device 94. The cam device is mounted on a pivot 96.

[0102] Figure 17 The image also shows another nail protrusion 92 within the tip portion 44 of the phalanx 26 of the finger 16. The nail protrusion 92 is connected to a cam device 98 mounted on a pivot 100.

[0103] The nail protrusion 90 and the cam device 94 are shown in an unfolded configuration, and it can be seen that the inner surface 102 of the cam (the "object contact" side) is substantially flush with the inner surface 30 of the phalanx 18. In the unfolded configuration, the nail protrusion 90 protrudes beyond the inner surface 30 of the phalanx 18.

[0104] The nail protrusion 92 and the cam device 98 are shown in an unexpanded configuration. In this configuration, the nail protrusion does not protrude beyond the inner surface 30 of the phalanx 26 (and can be completely recessed into the body of the phalanx 26). The inner surface 104 of the cam device 98 protrudes above the inner surface 30 of the phalanx 26.

[0105] Cam devices 94 and 98 can be biased about their respective pivots (96, 100) toward the undeployed configuration, and the cam devices (94, 98) are configured to move to their respective deployed configurations when an object contacts the cam device. [Note: In Figure 17 The image shows the cam device 94 in its unfolded configuration, but for clarity, no object in contact with the cam device is shown.

[0106] like Figure 18 As shown, when fingers 14 and 16 are in Figure 18 (and Figure 3 When the “clamping” configuration is shown, the cam devices 94 and 98 can be activated by each other to unfold the nail protrusions 90 and 92.

[0107] like Figure 19 As shown, the cam mechanism (94, 98) has been activated, thereby unfolding the nail protrusions 90, 92 when the fingers 14, 16 are holding the object (pen) 62.

[0108] Figure 20 and 21 They are shown respectively Figure 17 and 18 The plan view and perspective view of the arrangement of the fingernail protrusions, at which point the gripper 10 is holding the larger object, namely the cup 62.

[0109] Figure 22 Another “active” nail projection arrangement according to an embodiment of the invention is shown, wherein a linear actuator is used to deploy the finger projections.

[0110] For ease of reference, according to Figure 22 The nail protrusion device is shown as being attached to Figures 1 to 14 In the robot gripper 10. However, it should be noted that the nail-like protrusion arrangement can be incorporated into any suitable robot gripper. It should also be noted that, Figure 22 Both fingers (14, 16) are shown as including a nail projection arrangement, but those skilled in the art will understand that the arrangement may be present only on one or the other finger.

[0111] exist Figure 22 In the middle, the phalanx 18 of the finger 14 includes a groove 106 within the phalanx body. A nail protrusion 108 is located within the groove 106 and is movable between an unextended configuration of the nail protrusion 108 recessed within the groove 106 and an extended configuration of the nail protrusion 108 protruding beyond the inner surface 30 of the phalanx 18. The nail protrusion 108 is extended by a linear actuator 110 located within the phalanx 18. The linear actuator 110 can in turn be extended by a control unit (e.g., ...). Figure 5 The control unit 52 shown receives control signals for control.

[0112] Figure 22 The finger 16 shown illustrates a corresponding nail protrusion 112 within a groove 114 of the phalanx 26. The linear actuator 116 is configured to deploy the nail protrusion 112 between the extended and non-extended configurations.

[0113] Figures 23 to 26 A gripper including a suction cup according to an embodiment of the present invention is shown. For ease of reference, according to Figures 23 to 26 The suction cup is shown as being attached to Figures 1 to 14 The robot gripper 10. However, it should be noted that the suction cup can be incorporated into any suitable robot gripper.

[0114] Figure 23 The above shows about Figures 1 to 14 The described gripper 10. Furthermore, the base 12 includes a suction cup 120 mounted thereon. As previously described, the base 12 includes a palm portion 36. Additionally, it should be noted that the base includes side surfaces 122 and 124 (surface 122 on...). Figure 23 As shown, surfaces 122 and 124 are in Figure 25 (as shown in the image) and back surface 126. (As shown in the image) Figure 23 As shown, the suction cup 120 is mounted on the back surface 126 of the base 12.

[0115] Despite Figures 23 to 26 A single suction cup 120 is shown, but those skilled in the art will understand that multiple suction cups can be mounted on the gripper. Furthermore, one or more suction cups may be disposed on other surfaces of the gripper 10, such as side surfaces 122, 124.

[0116] Figure 23 The suction cup 120 shown is a passive suction cup, which is activated when the suction cup is pushed against an object. Figure 24 An example of a vacuum suction cup 128 connected to a vacuum pump 130 via a conduit 132 is shown. Note that the vacuum pump may be located inside or away from the robot gripper 10 (e.g., in a location such as...). Figure 2 The robot arm 34 shown is inside or in, for example Figure 24(Any suitable location inside the robot, including the robotic gripper, is shown).

[0117] like Figure 26 As shown, suction cups 120 and 128 according to embodiments of the present invention can be used when the gripper 10 grips an item (e.g., Figure 26 When the cup 62 shown interacts with an object such as door 134, the gripper 10 can perform tasks in a single sequence, such as placing an item into a cabinet (e.g., gripping the item, engaging the suction cup with door 134, opening the door, and placing the item into the cabinet), instead of having to put the item down in order to open the door using the gripper fingers 14, 16.

[0118] Figure 27 Is using Figures 23 to 26 The flowchart illustrates the method of using the gripper 10. In step 200, the first and second fingers (14, 16) are manipulated to grip the first object. Once the first object is gripped by the gripper 10, in step 202, the gripper moves so that the suction cup contacts the second object.

[0119] In step 204, a vacuum seal is formed between the suction cups (120, 128) and the second object. The vacuum seal can be formed by pressing the suction cups against the second object (in the case of a passive suction cup) or by creating a vacuum between the suction cups and the second object using a vacuum pump 130.

[0120] In step 206, the gripper 10 can be moved to manipulate the second object. For example, if the second object is a drawer or cabinet door, the gripper can be moved to open or close the drawer / door.

[0121] In step 208, the vacuum seal is broken. This can be achieved by shutting off the vacuum pump or by controlling the gripper to twist relative to the second object (or a combination of both).

[0122] In step 210, the first object can be placed and then released.

[0123] Figure 28 Robot 140 is shown, which includes arm 24 and according to the above Figures 1 to 26 Any of the robot grippers 10.

[0124] Many modifications may be made to the above examples without departing from the scope of this disclosure as defined by the appended claims.

Claims

1. A robot gripper, comprising: Base; The first finger includes a first phalanx connected to the base by a joint and a tip portion away from the base; The second finger includes the first phalanx connected to the base via a joint and the tip portion away from the base. The first finger and the second finger are opposite each other, the first finger includes an inner surface facing the second finger, and the second finger includes an inner surface facing the first finger; The tip of one of the fingers includes a nail projection that protrudes toward the other finger, and this nail projection can be positioned between the unfolded and unfolded structures. In the undeveloped configuration, the nail protrusion is either flush with the inner surface of the finger including the nail protrusion, or recessed into the finger including the nail protrusion.

2. The robot gripper as described in claim 1, wherein, The tip portion of the first finger includes a nail protrusion, the tip portion of the second finger includes a nail protrusion, each nail protrusion may be deployed between an extended configuration and an unextended configuration, and the nail protrusions of the first and second fingers are opposite each other in their extended configurations.

3. The robot gripper as described in claim 1, wherein, The nail protrusions extend further beyond the inner surface of the finger in the unfolded configuration than in the undiluted configuration.

4. The robot gripper as described in any one of claims 1 to 3, wherein, At least one of the fingers includes a first phalanx and a second phalanx, and the tip portion is attached to the second phalanx.

5. The robot gripper as described in any one of claims 1 to 3, wherein, The inner surface of the finger, including the nail protrusion, is movable between an undeformed configuration and a deformed configuration, and is configured such that moving the inner surface to the deformed position causes the nail protrusion to unfold.

6. The robot gripper as claimed in any one of claims 1 to 3, wherein, The finger, including the nail protrusion, includes a cam mechanism configured to extend the nail protrusion of the finger when the robotic gripper interacts with an object.

7. The robot gripper as claimed in claim 6, wherein, The cam mechanism is located on the inner surface of the finger.

8. The robot gripper as claimed in claim 6, wherein, The cam mechanism for the finger is located at the base of the robot gripper.

9. The robot gripper as claimed in any one of claims 1 to 3, wherein, The finger, including the nail protrusions, includes a groove in which the nail protrusions are arranged to move. The gripper includes a linear actuator for each nail protrusion, which is arranged to move each nail protrusion between an extended configuration and an unextended configuration.

10. The robot gripper as claimed in any one of claims 1 to 3, wherein, The gripper includes another finger opposite the first finger, and each finger includes a nail protrusion.

11. A robot comprising a robot gripper according to any one of claims 1 to 10.

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