A multi-finger dexterous gripper at the end of a robotic arm

Abstract

A multi-finger dexterous clamp at the end of a robotic arm relates to the field of clamps. The multi-finger dexterous clamp at the end of a robotic arm comprises a base and a plurality of clamp fingers arranged at intervals along the circumference of the center of the base, and the clamp fingers comprise a finger-end clamping rod, a finger moving assembly for driving the finger-end clamping rod to move axially, a finger rotating assembly for driving the finger-end clamping rod to rotate around the axial direction, and a finger angle adjustment assembly for driving the finger-end clamping rod to rotate along a vertical plane toward or away from the center of the base. The multi-finger dexterous clamp at the end of a robotic arm provided in the present application can quickly and efficiently realize multi-angle and multi-functional grasping and releasing of objects through the mutual coordination and adjustment of the finger-end clamping rods of each clamp finger, thereby improving production efficiency.

Description

Technical Field

[0001] The present application relates to the field of clamps, and in particular to a multi-finger dexterous clamp at the end of a robotic arm. Background Art

[0002] Industrial automatic production lines often require the use of robotic arms to drive fixtures to clamp and move parts. Currently available fixtures cannot perform high-precision clamping operations while having great flexibility or compliance. Summary of the invention

[0003] The purpose of the present application is to provide a multi-finger dexterous gripper at the end of a robotic arm, which can quickly and efficiently realize multi-angle and multi-functional grasping and releasing of objects through the mutual coordination and adjustment of the clamping rods at the finger ends of each gripper finger, thereby improving production efficiency.

[0004] The embodiment of the present application is implemented as follows:

[0005] An embodiment of the present application provides a multi-finger dexterous gripper at the end of a robotic arm, which includes a base and a plurality of gripper fingers arranged at intervals along the circumference of the center of the base, the gripper fingers including a finger-end clamping rod, a finger moving assembly for driving the finger-end clamping rod to move axially, a finger rotating assembly for driving the finger-end clamping rod to rotate axially, and a finger angle adjustment assembly for driving the finger-end clamping rod to rotate along a vertical plane toward or away from the center of the base.

[0006] In some optional embodiments, the finger rotation assembly includes a finger fixing plane plate, a tail end connecting rod rotatably connected to the finger fixing plane plate around an axis, a finger rotating pulley fixedly mounted on the tail end connecting rod, and a finger rotating motor connected to the finger fixing plane plate, the output shaft of the finger rotating motor is connected to the finger rotating pulley through a first belt, and the tail end connecting rod is connected to the finger end clamping rod through a finger moving assembly.

[0007] In some optional embodiments, the finger moving assembly includes a moving cylinder having two ends respectively connected to the tail end connecting rod and the finger end clamping rod.

[0008] In some optional embodiments, the finger fixing plane plate is connected to at least one first outer spherical bearing sleeved on the tail end connecting rod.

[0009] In some optional embodiments, the finger fixing plane plate is connected to at least one second outer spherical bearing sleeved on the finger end clamping rod.

[0010] In some optional embodiments, a connecting ring is fixedly sleeved on the tail end connecting rod, and the connecting ring is connected to a limiting ring slidably sleeved on the finger end clamping rod through at least two fixing rods.

[0011] In some optional embodiments, the finger angle adjustment assembly includes a first link fixed on a base, a second link and a third link respectively hinged to both ends of the first link, a fourth link and a fifth link, one end of the fourth link and the fifth link are respectively hinged to the second link and the third link, the other ends of the fourth link and the fifth link are hinged to each other, the two ends of the first link are respectively connected to an angle adjustment drive mechanism for driving the second link and the third link to rotate relative to the first link, and the fifth link is connected to the finger fixing plane plate.

[0012] In some optional embodiments, the angle adjustment drive mechanism includes an angle adjustment motor fixed to a base, an angle adjustment pulley connected to a second connecting rod or a third connecting rod, and a second belt, and the output shaft of the angle adjustment motor is connected to the corresponding angle adjustment pulley through the second belt.

[0013] The beneficial effects of the present application are as follows: the multi-finger dexterous clamp at the end of the robot arm provided by the present application comprises a base and a plurality of clamp fingers arranged at intervals along the circumference of the center of the base, and the clamp fingers comprise a finger-end clamping rod, a finger moving assembly for driving the finger-end clamping rod to move axially, a finger rotating assembly for driving the finger-end clamping rod to rotate around the axial direction, and a finger angle adjustment assembly for driving the finger-end clamping rod to rotate along a vertical plane toward or away from the center of the base. The multi-finger dexterous clamp at the end of the robot arm provided by the present application can realize multi-angle and multi-functional grasping and releasing of objects quickly and efficiently through the mutual coordination and adjustment of the finger-end clamping rods of each clamp finger, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 A schematic diagram of the structure of the multi-finger dexterous gripper at the end of a robotic arm provided in an embodiment of the present application from a first perspective;

[0016] Figure 2 A schematic diagram of the structure of the multi-finger dexterous gripper at the end of a robotic arm provided by an embodiment of the present application from a second perspective;

[0017] Figure 3 A schematic structural diagram of a multi-finger dexterous gripper at the end of a robotic arm provided by an embodiment of the present application from a third perspective;

[0018] Figure 4 A schematic structural diagram of a first-view of the gripper fingers in a multi-finger dexterous gripper at the end of a robotic arm provided in an embodiment of the present application;

[0019] Figure 5 A schematic diagram of the structure of the second perspective of the gripper fingers in the multi-finger dexterous gripper at the end of a robotic arm provided in an embodiment of the present application;

[0020] Figure 6 A schematic diagram of the structure of the gripper fingers in the multi-finger dexterous gripper at the end of a robotic arm provided in an embodiment of the present application from a third perspective;

[0021] Figure 7 A schematic structural diagram of a finger end clamping rod, a finger moving assembly and a finger rotating assembly in a multi-finger dexterous gripper at the end of a robotic arm provided in an embodiment of the present application from a first perspective;

[0022] Figure 8 A schematic diagram of the partial structure from a second perspective of a finger-end clamping rod, a finger moving assembly, and a finger rotating assembly in the multi-finger dexterous clamp at the end of a robotic arm provided in an embodiment of the present application;

[0023] Fig. 9 A schematic diagram of the partial structure from a third perspective of the finger-end clamping rod, the finger moving assembly and the finger rotating assembly in the multi-finger dexterous gripper at the end of a robotic arm provided in an embodiment of the present application.

[0024] In the figure: 100, base; 110, support plate; 200, clamp finger; 210, finger end clamping rod; 220, finger fixing flat plate; 230, tail end connecting rod; 240, finger rotating pulley; 250, finger rotating motor; 260, first belt; 270, moving cylinder; 280, first outer spherical bearing; 290, second outer spherical bearing; 300, connecting ring; 310, fixing rod; 320, limiting ring; 330, first connecting rod; 340, second connecting rod; 350, third connecting rod; 360, fourth connecting rod; 370, fifth connecting rod; 380, angle adjustment motor; 390, angle adjustment pulley; 400, second belt; 410, connecting rod pin; 420, transmission wheel; 430, tail end bearing sleeve; 440, third outer spherical bearing. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0028] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0029] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0030] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0032] The features and performance of the multi-finger dexterous gripper at the end of the robot arm of the present application are further described in detail below in conjunction with the embodiments.

[0033] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Fig. 9 As shown, an embodiment of the present application provides a multi-finger dexterous gripper at the end of a robotic arm, which includes a disc-shaped base 100 and four gripper fingers 200 arranged circumferentially and spaced apart along the center of the base 100, the gripper fingers 200 include a finger-end clamping rod 210, a finger moving assembly for driving the finger-end clamping rod 210 to move axially, a finger rotating assembly for driving the finger-end clamping rod 210 to rotate around the axial direction, and a finger angle adjustment assembly for driving the finger-end clamping rod 210 to rotate along a vertical plane toward or away from the center of the base 100.

[0034] The finger angle adjustment assembly includes a first link 330 fixed to the base 100, two ends of the first link 330 are respectively hinged to one end of the second link 340 and the third link 350 through a link pin 410, one end of the second link 340 and the third link 350 away from the first link 330 are respectively hinged to one end of the fifth link 370 and the fourth link 360 through the link pin 410, the other ends of the fourth link 360 and the fifth link 370 are hinged to each other through the link pin 410, and the two ends of the first link 330 are respectively connected to an angle adjustment driving mechanism for driving the second link 340 and the third link 350 to rotate relative to the first link 330. The fifth connecting rod 370 is connected to the support plate 110; the angle adjustment driving mechanism includes an angle adjustment motor 380 fixed to the base 100, a transmission wheel 420 connected to the output shaft of the angle adjustment motor 380, an angle adjustment pulley 390 and a second belt 400, the angle adjustment pulleys 390 of the two angle adjustment driving mechanisms are respectively connected to the second connecting rod 340 and the third connecting rod 350 at one end close to the first connecting rod 330, and the two angle adjustment pulleys 390 are respectively coaxially arranged with the connecting rod pins 410 connected at both ends of the first connecting rod 330, and the second belt 400 is transmission sleeved on the transmission wheel 420 and the corresponding angle adjustment pulley 390.

[0035] The finger rotation assembly includes a finger fixed plane plate 220 connected to the support plate 110, a tail end connecting rod 230 rotatably connected to the finger fixed plane plate 220 around an axis, a finger rotating pulley 240 fixedly sleeved on the tail end connecting rod 230, and a finger rotating motor 250 connected to the finger fixed plane plate 220. The output shaft of the finger rotating motor 250 is connected to the finger rotating pulley 240 through a first belt 260. The finger fixed plane plate 220 is connected to two first outer spherical bearings 280 respectively sleeved at both ends of the tail end connecting rod 230. The tail end connecting rod 230 is connected to the finger end clamping rod 210 through a finger moving assembly. The finger moving assembly includes A movable cylinder 270 is respectively connected to the tail end connecting rod 230 and the finger end clamping rod 210 at both ends, the finger fixed plane plate 220 is connected to a second outer spherical bearing 290 sleeved on the finger end clamping rod 210, and the tail end connecting rod 230 is also fixedly sleeved with a tail end bearing sleeve 430, the finger fixed plane plate 220 is connected to a third outer spherical bearing 440 sleeved on the tail end bearing sleeve 430, and the tail end bearing sleeve 430 is fixedly sleeved with a connecting ring 300, and the connecting ring 300 is connected to a limit ring 320 slidably sleeved on the finger end clamping rod 210 through three fixed rods 310, and the three fixed rods 310 are arranged at intervals along the circumference of the finger end clamping rod 210.

[0036] The multi-finger dexterous gripper at the end of a robotic arm provided in an embodiment of the present application is fixed to the end of the robotic arm when in use. When the robotic arm moves to move the multi-finger dexterous gripper at the end of the robotic arm to the part to be clamped, the four clamp fingers 200 connected to the base 100 can be used to clamp, fix and move the part. The user controls the finger moving components of the four clamp fingers 200 in turn to drive the finger end clamping rod 210 to move axially to the side of the part, and uses the finger angle adjustment component to drive the finger end clamping rod 210 to rotate along the vertical plane toward the center of the base 100 to clamp the outer wall of the part so as to move it. When necessary, the finger rotation component of the four clamp fingers 200 can be controlled to drive the finger end clamping rod 210 to rotate around the axial direction to drive the clamped part to twist and adjust the orientation, thereby achieving clamping, twisting, flipping, and changing direction of the part to meet usage requirements.

[0037] Specifically, the user controls the movement of the robotic arm to move the four finger-end clamping rods 210 of the multi-finger dexterous gripper at the end of the robotic arm to the outside of the part to be clamped, and then controls the telescopic cylinder rod of the moving cylinder 270 connected to the tail end connecting rod 230 to push the connected finger-end clamping rod 210 to move and retract along the axial direction, thereby adjusting the four finger-end clamping rods 210 to extend to a suitable position outside the part, and controls the finger angle adjustment component to drive the finger-end clamping rod 210 to rotate along the vertical plane toward the center of the base 100 to clamp the outer wall of the part, that is, controls the angle adjustment motor 380 of each finger angle adjustment component to drive the corresponding angle adjustment pulley 390 to rotate through the second belt 400, thereby driving the second connecting rod 340 and the third connecting rod 350 connected to the two angle adjustment pulleys 390 to rotate respectively relative to the two ends of the first connecting rod 330 toward the center of the base 100, thereby utilizing the second connecting rod 340 and the third connecting rod 350 to rotate away from the first connecting rod 330 at one end thereof to drive the fourth connecting rod 360 and the third connecting rod 360 to rotate. The five-link 370 rotates toward the center of the base 100, so that the finger-end clamping rod 210 set on the finger fixing plane plate 220 connected to the support plate 110 by the fifth link 370 rotates along the vertical plane toward the center of the base 100 to clamp the outer wall of the part, so that the four finger-end clamping rods 210 rotating along the vertical plane toward the center of the base 100 cooperate to stably clamp the outer wall of the part for fixing; when it is necessary to flip and twist the part clamped and fixed by the four finger-end clamping rods 210, the user controls the finger rotating motor 250 set on the finger fixing plane plate 220 to start and drive the finger rotating pulley 240 and the tail connecting rod 230 connected thereto to rotate through the first belt 260, thereby driving the finger-end clamping rod 210 connected to the tail connecting rod 230 to rotate, and then the four rotating finger-end clamping rods 210 drive the clamped and fixed parts to flip and twist so as to adjust the angular position of the part without moving the multi-finger dexterous clamp at the end of the robot arm as a whole to meet the part position adjustment requirements.

[0038] Among them, the finger fixing plane plate 220 is connected with a first outer spherical bearing 280 sleeved on both ends of the tail end connecting rod 230 and a second outer spherical bearing 290 sleeved on the finger end clamping rod 210. The tail end connecting rod 230 is also fixedly sleeved with a tail end bearing sleeve 430. The finger fixing plane plate 220 is connected with a third outer spherical bearing 440 sleeved on the tail end bearing sleeve 430. By arranging the first outer spherical bearing 280, the second outer spherical bearing 290, and the third outer spherical bearing 440 which are respectively rollingly sleeved on the tail end connecting rod 230, the finger end clamping rod 210 and the tail end bearing sleeve 430 of the tail end connecting rod 230, the radial stability of the tail end connecting rod 230 and the finger end clamping rod 210 can be effectively improved, and the finger end clamping rod 210 can be ensured to stably extend and rotate without radial movement, thereby utilizing the finger end clamping rod 210 to stably clamp parts and drive the parts to rotate.

[0039] In addition, a connecting ring 300 is fixedly provided on the tail end bearing sleeve 430, and the connecting ring 300 is connected to a limiting ring 320 slidably provided on the finger end clamping rod 210 through three fixing rods 310. By providing a limiting ring 320 connected to the tail end connecting rod 230 and slidably provided on the finger end clamping rod 210, the limiting ring 320 can be used to limit the position of the finger end clamping rod 210, thereby further improving the radial stability of the finger end clamping rod 210, ensuring that the finger end clamping rod 210 stably clamps the parts and drives the parts to rotate.

[0040] The embodiments described above are part of the embodiments of the present application, rather than all of the embodiments. The detailed description of the embodiments of the present application is not intended to limit the scope of the present application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

Claims

1. A multi-finger dexterous gripper at the end of a robotic arm, characterized in that: The invention comprises a base and a plurality of clamp fingers arranged at intervals along the circumference of the center of the base, wherein the clamp fingers comprise a clamping rod at a finger end, a finger moving assembly for driving the clamping rod at the finger end to move axially, a finger rotating assembly for driving the clamping rod at the finger end to rotate around the axial direction, and a finger angle adjusting assembly for driving the clamping rod at the finger end to rotate along a vertical plane toward or away from the center of the base; the finger rotating assembly comprises a finger fixing plane plate, a tail end connecting rod rotatably connected to the finger fixing plane plate around an axis, a finger rotating pulley fixedly sleeved on the tail end connecting rod, and a finger rotating motor connected to the finger fixing plane plate, the output shaft of the finger rotating motor being connected to the finger fixing plane plate through the first A belt is connected to the finger rotating pulley for transmission, and the tail end connecting rod is connected to the finger end clamping rod through the finger moving assembly; the finger angle adjustment assembly includes a first connecting rod fixed on the base, a second connecting rod and a third connecting rod respectively hinged to the two ends of the first connecting rod, a fourth connecting rod and a fifth connecting rod, one end of the fourth connecting rod and the fifth connecting rod are respectively hinged to the second connecting rod and the third connecting rod, and the other ends of the fourth connecting rod and the fifth connecting rod are hinged to each other, and the two ends of the first connecting rod are respectively connected to an angle adjustment driving mechanism for driving the second connecting rod and the third connecting rod to rotate relative to the first connecting rod, and the fifth connecting rod is connected to the finger fixing plane plate.

2. The multi-finger dexterous gripper at the end of a robotic arm according to claim 1, characterized in that: The finger moving assembly comprises a moving cylinder whose two ends are respectively connected to the tail end connecting rod and the finger end clamping rod.

3. The multi-finger dexterous gripper at the end of a robotic arm according to claim 2, characterized in that: The finger fixing plane plate is connected with at least one first outer spherical bearing sleeved on the tail end connecting rod.

4. The multi-finger dexterous gripper at the end of a robotic arm according to claim 2, characterized in that: The finger fixing plane plate is connected with at least one second outer spherical bearing sleeved on the finger end clamping rod.

5. The multi-finger dexterous gripper at the end of a robotic arm according to claim 1, characterized in that: A connecting ring is fixedly sleeved on the tail end connecting rod, and the connecting ring is connected to a limiting ring slidably sleeved on the finger end clamping rod through at least two fixing rods.

6. The multi-finger dexterous gripper at the end of a robotic arm according to claim 1, characterized in that: The angle adjustment driving mechanism includes an angle adjustment motor fixed to the base, an angle adjustment pulley and a second belt connected to the second connecting rod or the third connecting rod, and the output shaft of the angle adjustment motor is connected to the corresponding angle adjustment pulley through the second belt.

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