Multi-roughness surface self-adapting hooking gripper with intelligent hooking structure

Abstract

This invention discloses a multi-roughness surface adaptive hook gripper with an intelligent hook structure, relating to the field of robotic arm technology. It comprises a main control board, a central base, and main barb arm mechanisms mounted circumferentially to the bottom of the central base. Each main barb arm mechanism includes a main barb arm servo motor, a main barb arm connecting shaft, a support frame, a rubber surface, and various hook units. This invention can adaptively achieve stable adsorption and gripping of smooth surfaces using the rubber surface at the bottom of the support frame, and stable attachment and gripping of rough or soft surfaces using the hook units, depending on the surface conditions of the object to be gripped. The main barb arm servo motors of the main barb arm mechanism and the auxiliary arm servo motors of the auxiliary arm mechanism are integrated near the near end of the support frame, close to the central base. This significantly reduces the interference of the weight of the main barb arm servo motors and auxiliary arm servo motors on the hook gripper's movement, while also reducing the load on the main barb arm servo motors increased by the weight of the auxiliary arm servo motors, thus ensuring the hook gripper's working load and portability.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically to a gripper for grasping objects with different surface roughness. Background Technology

[0002] A gripper is an automated machine used to perform gripping actions and is widely used in various robotic arms.

[0003] Existing grippers often have high requirements for the surface morphology of the object being gripped, and are basically one gripper per object, resulting in poor versatility. This means that production lines producing different parts must be equipped with different types of mechanical grippers, which greatly increases the equipment cost of production and is not conducive to optimizing the input-output ratio.

[0004] Based on existing technology searches, the following known technical solutions exist:

[0005] Prior art 1:

[0006] Application No.: 201810670988.0, Application Date: June 26, 2018, Publication (Announcement) Date: September 21, 2018. Prior art 1 discloses a robotic gripper, comprising a palm portion with an internal cavity and several fingers rotatably connected to the palm portion. The palm portion has a medium input hole communicating with the cavity. Each finger includes several rotating joints rotatably connected by a rotating device and several driving devices for driving the rotating joints to rotate relative to each other. The driving device includes a medium channel and a support rod. The medium channel is located inside the palm portion and the rotating joints. The support rod includes a connected straight rod section and an elastic curved section. The straight rod section is connected to a plug, and the curved section extends out of the medium channel and is connected to the rotating joint. The bending direction of the curved section faces the rotating device. The plug is located inside the medium channel, and the medium channel communicates with the cavity. This invention selects gas or liquid as the power source for the device, improving its flexibility and effectively ensuring that the object is not damaged during the gripping process.

[0007] However, the robotic hand in prior art 1 is driven by a medium, which makes it less lightweight and easier to use. In addition, the weight of the medium itself in prior art 1 is distributed to the fingertips, generating excessive torque and reducing the overall load-bearing capacity of the robotic hand.

[0008] Prior art 2:

[0009] Application No.: 202122267270.7, Application Date: 2021.09.01, Publication (Announcement) Date: 2022.04.05. Prior art 2 discloses a robot and its gripper. The gripper includes a support; a first finger, including a first connecting body and a first grasping body, the first connecting body including opposing first and second parts, the first part being rotatably connected to the support; a second finger, including a second connecting body and a second grasping body, the second grasping body cooperating with the first grasping body, the second connecting body including opposing third and fourth parts, the third part being rotatably connected to the support; a first transmission rod, one end of which is rotatably connected to the second part of the first connecting body; a second transmission rod, one end of which is rotatably connected to the fourth part of the second connecting body; a drive arm, one end of which is rotatably connected to the other end of the first and second transmission rods; and a motor, which is connected to the other end of the drive arm to drive the drive arm to rotate. This solution can improve the gripping accuracy and speed of the gripper.

[0010] However, the gripper in the existing technology 2 uses a two-finger gripping method, which is lacking in the grasping dimension. It can only grasp objects with regular shapes on a two-dimensional plane. In addition, the limitation of this gripper is that it can grasp hard, regular objects with a certain roughness, but it is difficult to grasp softer objects with irregular shapes and variable roughness.

[0011] The above search results show that the above technical solutions do not affect the novelty of the present invention; and the combination of the above prior art does not destroy the inventiveness of the present invention. Summary of the Invention

[0012] To avoid the shortcomings of the prior art, the present invention provides a multi-roughness surface adaptive hook gripper with an intelligent hook structure.

[0013] To solve the technical problem, the present invention adopts the following technical solution: a multi-roughness surface adaptive hook gripper with an intelligent hook structure, comprising a main control board, a central base, and main barb arm mechanisms mounted and connected to the bottom of the central base circumferentially along the central base.

[0014] The main barb arm mechanism includes a main barb arm servo motor, a main barb arm connecting shaft, a support frame, a rubber surface, and various hook barb units;

[0015] The front end of the support frame is rotatably mounted to the bottom of the shaft base via the main spike arm connecting shaft, forming a rotating pair with the shaft base to support its own outward and inward movements; the main spike arm servo motor is mounted and fixed on the shaft base, and its output end is mounted and connected to the support frame to drive the support frame to perform outward or inward movements; the inner surface of the support frame is covered with the rubber surface.

[0016] The hook unit includes a guide frame, a guide slide rod, a hook, an outward shape memory spring, an inward shape memory spring, a first hook connecting rod, a second hook connecting rod, and a force sensor. The guide slide rod is slidably mounted on the guide frame, forming a sliding pair perpendicular to the axis of the main hook arm connection. The hook is rotatably mounted on the slide rod, forming a rotating pair with a pivot parallel to the axis of the main hook arm connection. The hook tip faces the inside of the support frame, and its side facing the object to be grasped has an outward convex arc shape.

[0017] The support frame has one end near the axial base as the proximal end and the other end as the distal end. The outward-spreading shape memory spring is located between the hook and the distal end, and its two ends are respectively connected and fixed to the hook and the distal end. The inward-spreading shape memory spring is located between the hook and the proximal end, and its two ends are respectively connected and fixed to the hook and the proximal end. The front end of the first hook connecting rod is rotatably mounted to the distal end, forming a rotating joint between them with a rotating shaft parallel to the axis of the main hook arm connecting shaft. The end of the first hook connecting rod is rotatably connected to the front end of the second hook connecting rod, forming a rotating joint between them with a rotating shaft parallel to the axis of the main hook arm connecting shaft. The end of the second hook connecting rod and the hook are connected to the hook through a force sensor integrated and fixed at the connection point of the two to form an integral structure.

[0018] The guide frame is connected and fixed to the guide frame of the adjacent hook unit, or installed and fixed to the support frame;

[0019] The main control board is connected to the main spike arm servo motor, force sensor, outward shape memory spring, and inward shape memory spring via data communication.

[0020] Preferably, the hook and barb units are arranged in an array or in a staggered arrangement of multiple rows / columns.

[0021] Preferably, it also includes an auxiliary arm mechanism;

[0022] The auxiliary arm mechanism includes an auxiliary arm servo motor, an auxiliary arm connecting shaft, and an auxiliary arm; the front end of the auxiliary arm is rotatably mounted to the end of the support frame via the auxiliary arm connecting shaft, forming a rotating pair with the support frame to support its own outward and inward movements; the output end of the auxiliary arm servo motor is mounted and connected to the auxiliary arm, driving the auxiliary arm to perform outward or inward movements.

[0023] Preferably, the system further includes a first auxiliary arm drive rod, a second auxiliary arm drive rod, and an auxiliary arm mounting shaft that are installed and connected between the output end of the auxiliary arm servo motor and the auxiliary arm.

[0024] The auxiliary arm servo motor is mounted and fixed to the front end of the support frame, and its output end is mounted and fixed to the front end of the first auxiliary arm drive rod; the end of the first auxiliary arm drive rod is rotatably connected to the front end of the second auxiliary arm drive rod, forming a rotating pair with the axis of rotation parallel to the axis of the main stab arm connecting shaft; the end of the second auxiliary arm drive rod is rotatably connected to the auxiliary arm through the auxiliary arm mounting shaft, forming a rotating pair with the axis of rotation parallel to the axis of the main stab arm connecting shaft.

[0025] Preferably, the first auxiliary arm drive rod and the second auxiliary arm drive rod are located on the outside of the support frame.

[0026] The first auxiliary arm drive rod is a straight rod structure, and the second auxiliary arm drive rod is a rod structure in which the middle is bent into an angle shape towards the auxiliary arm and the end is bent into a hook shape towards the front end of the auxiliary arm;

[0027] The front end of the auxiliary arm extends outward toward the support frame as a connecting plate structure, and the end of the second auxiliary arm drive rod is rotatably connected to the auxiliary arm at the outer edge of the connecting plate via the auxiliary arm mounting shaft.

[0028] Preferably, the hook unit, the first auxiliary arm drive rod, and the second auxiliary arm drive rod are all configured as hollow or grid-like structures.

[0029] Preferably, the support frame and the auxiliary arm are in a fitting structure that allows each of the main stab arm mechanisms to retract into a handle shape.

[0030] Preferably, the rubber surface is made of PDMS (polydimethylsiloxane).

[0031] This invention provides a multi-roughness surface adaptive hook gripper with an intelligent hook structure, which has the following beneficial effects:

[0032] 1. The hook unit of the present invention can adaptively retract the hooks to support the rubber surface at the bottom of the frame to achieve stable adsorption and gripping of smooth surfaces, or unfold the hooks to achieve stable gripping of rough and soft surfaces, which better meets the actual needs of gripping under special working conditions.

[0033] 2. The force sensor in the hook unit of the present invention feeds back a non-axial force to the main controller when the hook contacts a smooth surface, causing the main controller to control the inward shape memory spring to be energized and contracted, thereby strengthening the retraction of the hook; or when the hook contacts a rough or soft surface, it feeds back a force containing axial force to the main controller, causing the main controller to control the outward shape memory spring to be energized and contracted, thereby strengthening the outward extension of the hook, further improving the adaptability of the hook unit to forcefully grasp according to the surface conditions of the object to be grasped;

[0034] 3. The auxiliary arm mechanism of the present invention expands the application scope of the hook gripper, making it easy for the hook gripper to grasp objects of various sizes.

[0035] 4. In this invention, the main spike arm servo of the main spike arm mechanism and the auxiliary arm servo of the auxiliary arm mechanism are both integrated at the near end of the support frame and set close to the axial base. This significantly reduces the interference of the self-weight of the main spike arm servo and the auxiliary arm servo on the action of the hook and grappling hook, while reducing the load on the main spike arm servo increased by the self-weight of the auxiliary arm servo. This is beneficial to ensuring the working load and portability of the hook and grappling hook. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the present invention;

[0037] Figure 2 This is a structural schematic diagram of the retracted posture of the present invention;

[0038] Figure 3 This is a structural schematic diagram of the unfolded posture of the present invention;

[0039] Figure 4 This is a schematic diagram of the intelligent hook and barb unit of the present invention.

[0040] In the picture:

[0041] 1. Shaft base; 2. Main barb arm mechanism; 21. Main barb arm servo motor; 22. Main barb arm connecting shaft; 23. Support frame; 24. Rubber surface; 25. Hook unit; 251. Guide frame; 252. Guide slide rod; 253. Hook; 254. Outward shape memory spring; 255. Inward shape memory spring; 256. First hook link; 257. Second hook link; 3. Auxiliary arm mechanism; 31. Auxiliary arm servo motor; 32. First auxiliary arm drive rod; 33. Second auxiliary arm drive rod; 34. Auxiliary arm connecting shaft; 35. Auxiliary arm; 36. Auxiliary arm mounting shaft. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] like Figures 1-4 As shown, its structural relationship is as follows: it has a main control board, a shaft base 1, and main spike arm mechanisms 2 that are installed and connected to the bottom of the shaft base 1 along the circumference of the shaft base 1. In actual setup, the main control board can be an Arduino main control board.

[0044] The main barb arm mechanism 2 includes a main barb arm servo motor 21, a main barb arm connecting shaft 22, a support frame 23, a rubber surface 24, and various hook barb units 25;

[0045] The front end of the support frame 23 is rotatably mounted to the bottom of the shaft base 1 via the main barb arm connecting shaft 22, forming a rotating pair with the shaft base 1 to support its own outward and inward movements; the main barb arm servo motor 21 is mounted and fixed on the shaft base 1, and its output end is mounted and connected to the support frame 23 to drive the support frame 23 to perform outward or inward movements; the inner side of the support frame 23 is covered with a rubber surface 24;

[0046] The hook unit 25 includes a guide frame 251, a guide slide rod 252, a hook 253, an outward shape memory spring 254, an inward shape memory spring 255, a first hook connecting rod 256, a second hook connecting rod 257, and a force sensor. The guide slide rod 252 is slidably mounted on the guide frame 251, forming a sliding pair perpendicular to the axis of the main hook arm connecting shaft 22. The hook 253 is rotatably mounted on the slide rod 252, forming a rotating pair with a pivot parallel to the axis of the main hook arm connecting shaft 22. The hook tip of the hook 253 faces the inside of the support frame 23, and its side facing the object to be grasped has an outward convex arc shape.

[0047] The outwardly convex arc structure on the side edge of the hook 253 makes it easier for the hook 253 to transition to a retracted state when it contacts a smooth surface, and the hook tip structure allows the hook 253 to penetrate into the concave part of the rough surface and grip when it contacts a rough surface.

[0048] The support frame 23 has one end near the axial base 1 as the proximal end and the other end as the distal end. The outward-extending shape memory spring 254 is located between the hook 253 and the distal end, and its two ends are respectively connected and fixed to the hook 253 and the distal end. The inward-retracting shape memory spring 255 is located between the hook 253 and the proximal end, and its two ends are respectively connected and fixed to the hook 253 and the proximal end. The front end of the first hook connecting rod 256 is rotatably installed at the distal end, and a rotating pair with the rotating shaft parallel to the axis of the main hook arm connecting shaft 22 is formed between the two. The end of the first hook connecting rod 256 is rotatably connected to the front end of the second hook connecting rod 257, and a rotating pair with the rotating shaft parallel to the axis of the main hook arm connecting shaft 22 is formed between the two. The end of the second hook connecting rod 257 and the hook 253 are connected by a force sensor integrated and fixed at the connection point of the two to form an integral structure.

[0049] In actual setup, the force sensor can be a JLBS-M2 sensor. During the operation of the hook gripper, the force sensor monitors the force on the corresponding hook 253 in real time and feeds it back to the main control board: when the hook 253 transitions from contacting a smooth surface to a retracted state, the force sensor can only detect non-axial force; when the hook 253 contacts a rough or soft surface, the force sensor detects axial force. The main controller can determine the overall contact between the hook gripper and the surface of the object to be gripped based on the force on each hook 253, and then adjust the extension and retraction of the outward shape memory spring 254 and the inward shape memory spring 255 to adjust the gripping action of the hook gripper.

[0050] The guide frame 251 is connected and fixed to the guide frame 251 of the adjacent hook barb unit 25, or installed and fixed to the support frame 23.

[0051] The main control board is connected to the main spike arm servo motor 21, force sensor, outward shape memory spring 254 and inward shape memory spring 255.

[0052] Preferably, the hook units 25 are arranged in an array or in a staggered arrangement of multiple rows / columns.

[0053] To ensure that as many hooks as possible 253 are applied evenly to the surface of the object, and to achieve a stable gripping of the object.

[0054] Preferably, an auxiliary arm mechanism 3 is also provided;

[0055] The auxiliary arm mechanism 3 includes an auxiliary arm servo motor 31, an auxiliary arm connecting shaft 34, and an auxiliary arm 35. The front end of the auxiliary arm 35 is rotatably mounted to the end of the support frame 23 via the auxiliary arm connecting shaft 34, forming a rotating pair with the support frame 23 to support its own outward and inward movements. The output end of the auxiliary arm servo motor 31 is mounted and connected to the auxiliary arm 35 to drive the auxiliary arm 35 to perform outward or inward movements.

[0056] Preferably, it also includes a first auxiliary arm drive rod 32, a second auxiliary arm drive rod 33, and an auxiliary arm mounting shaft 36, which are installed and connected between the output end of the auxiliary arm servo motor 31 and the auxiliary arm 35.

[0057] The auxiliary arm servo motor 31 is installed and fixed to the front end of the support frame 23, and its output end is installed and fixed to the front end of the first auxiliary arm drive rod 32; the end of the first auxiliary arm drive rod 32 is rotatably connected to the front end of the second auxiliary arm drive rod 33, and a rotating pair with the rotating shaft parallel to the axis of the main stab arm connecting shaft 22 is formed between them; the end of the second auxiliary arm drive rod 33 is rotatably connected to the auxiliary arm 35 through the auxiliary arm mounting shaft 36, and a rotating pair with the rotating shaft parallel to the axis of the main stab arm connecting shaft 22 is formed between them.

[0058] The auxiliary arm servo motor 31 is mounted and fixed at the front end of the support frame 23. The auxiliary arm is driven to move through the first auxiliary arm drive rod 32 and the second auxiliary arm drive rod 33. Compared with setting the auxiliary arm servo motor 31 at the connection between the support frame 23 and the auxiliary arm 35 to directly drive the auxiliary arm 35, this greatly reduces the center of gravity of the auxiliary arm mechanism 3 and can effectively reduce the load burden on the main spike arm servo motor 21. That is, when grasping the same object, the gripper can be driven with a relatively low-power servo motor, or the same servo motor can be used to grasp objects with a larger load, which is conducive to controlling the manufacturing cost of the gripper and extending the service life of the main spike arm servo motor 21. This setting can also solve the problem of heat generation of the main spike arm servo motor 21 during continuous operation to a certain extent and improve the stability of the gripper's grasping action.

[0059] Preferably, the first auxiliary arm drive rod 32 and the second auxiliary arm drive rod 33 are located on the outside of the support frame 23.

[0060] The first auxiliary arm drive rod 32 has a straight rod structure, and the second auxiliary arm drive rod 33 has a rod structure in which the middle part bends towards the auxiliary arm in an angle shape and the end bends towards the front end of the auxiliary arm 35 in a hook shape.

[0061] The front end of the auxiliary arm 35 extends outward toward the support frame 23 in the form of a connecting plate structure. The end of the second auxiliary arm drive rod 33 is rotatably connected to the auxiliary arm 35 at the outer edge of the connecting plate via the auxiliary arm mounting shaft 36.

[0062] Preferably, the hook unit 25, the first auxiliary arm drive rod 32, and the second auxiliary arm drive rod are all configured as hollow or grid-like structures.

[0063] This makes the overall structure of the gripper lightweight, with good heat dissipation performance, which is conducive to the continuous operation of the gripper.

[0064] Preferably, the support frame 23 and the auxiliary arm 35 are in the shape of an interlocking structure that allows each main stab arm mechanism 2 to retract into a handle shape.

[0065] This greatly reduces the space occupied by the gripper when each main stab arm mechanism 2 is retracted.

[0066] Preferably, the rubber surface 24 is made of PDMS (polydimethylsiloxane).

[0067] With good flexibility, corrosion resistance and high mechanical strength, the rubber surface 24 can fit well with the object when the gripper uses it to grasp the object, so as to achieve a stable grip. At the same time, the rubber surface 24 protects the object being gripped and prevents damage to the object's surface during the gripping process.

[0068] The initial state of the aforementioned hook and grappling hook is as follows: Figure 2 The collapsed state shown, when actually used, includes the following process:

[0069] In the first step, the main barb arm servo motor 21 of each main barb arm mechanism 2 drives the support frame 23 to rotate around the axis of the main barb arm connecting shaft 22, making an outward movement, so that each main barb arm mechanism 2 unfolds relative to the axial base 1, and the overall barb grappling hook is in a state of extension. Figure 3 The unfolded state shown.

[0070] The second step is that the front-end mechanism drives the hook-and-grip gripper, which acts as the end effector, to move closer to the object to be gripped.

[0071] When actually grabbing, the direction in which the hook and barb approach the object to be grabbed should be judged comprehensively based on the actual situation of the object to be grabbed. Generally, it is preferred to move from above or diagonally above. However, in special working conditions, such as when picking fruit from trees, it is also possible to move from below to approach the object to be grabbed.

[0072] Third step, the main barb arm servo motor 21 of each main barb arm mechanism 2 drives the support frame 23 to rotate around the axis of the main barb arm connecting shaft 22, and performs an inward movement until the hooks of the hook units 25 in each main barb arm mechanism 2 contact the object to be grasped.

[0073] In the fourth step, each hook unit 25 independently performs intelligent grasping action, while each main hook arm mechanism 2 and each auxiliary arm mechanism 3 performs a retraction grasping action.

[0074] The intelligent gripping action of each hook unit 25 is as follows:

[0075] If the surface of a certain location on the object to be grasped is smooth, the main spike arm mechanism 2 at that location uses the rubber surface at the bottom of its support frame 23 to achieve a stable grip on that location. The specific process is as follows:

[0076] When the surface of the object to be grasped at the contact position of the hook 253 is smooth, the contact force between the outwardly convex arc-shaped side edge of the hook 253 and the object to be grasped causes the hook 253 to retract. At the same time, the force sensor of the hook unit 25 monitors that the hook 253 is only subjected to non-axial force. Then, the main control board controls the outwardly extending shape memory spring 254 to be energized and contracted, driving the guide slide rod 252 to slide along the guide frame 251 toward the proximal end of the support frame 23. As the hook 253 slides with the guide slide rod 252, it retracts and rotates inward under the cooperative limiting action of the first hook link 256 and the second hook link 257, further strengthening the retraction action of the hook 253 until the hook 253 retracts into the support frame 23.

[0077] If the surface of a certain location on the object to be grasped is rough or soft, the main barb arm mechanism 2 at the corresponding location uses its hook barb unit 25 to achieve a stable grasp of the object at that location. The specific process is as follows:

[0078] When the surface of the object to be grasped that the hook 253 contacts is rough or soft, the force sensor of the hook unit 25 detects that the hook 253 is subjected to axial force. Then the main control board controls the inward shape memory spring 255 to be energized and contracted, which drives the guide slide rod 252 to slide along the guide frame 251 toward the far end of the support frame 23. At the same time, the hook 253 slides with the guide slide rod 252 and rotates outward under the cooperative limiting action of the first hook link 256 and the second hook link 257. The hook tip of the hook 253 extends into or sinks into the concave part of the surface of the object to be grasped and attaches.

[0079] The retraction and gripping action of the main stab arm mechanism 2 is as follows:

[0080] The main barb arm servo motor 21 continues to drive the support frame 23 to rotate around the axis of the main barb arm connecting shaft 22 to perform an inward movement until the rubber surface 24 at the bottom of the support frame 23 contacts and presses against the object to be grasped or each hook 253 grips the surface of the object to be grasped at the corresponding position. Then, each main barb arm mechanism 2 works together to achieve a stable gripping of the object to be grasped.

[0081] The retraction and grasping actions of each auxiliary arm mechanism 3 are as follows:

[0082] The auxiliary arm servo motor 31 drives the first auxiliary arm drive rod 32 to swing, which in turn pushes the auxiliary arm 35 to rotate inward around the axis of the auxiliary arm connecting shaft 34 via the second auxiliary arm drive rod 33.

[0083] When the object being grabbed is large, the auxiliary arm 35 directly contacts and presses against the surface of the object, allowing the hook gripper to grip the object more firmly. When the object being grabbed is small, although the auxiliary arm 35 does not directly contact the object, it still helps to improve the gripping performance of the hook gripper, such as preventing the object from falling directly when it slips between the main barb arm mechanisms 2 in special circumstances.

[0084] The entire working process of the hook gripper can be controlled by the main control board or manually by personnel with relevant skills.

[0085] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, object, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, object, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, object, or apparatus that includes said element.

[0086] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-roughness surface adaptive hook gripper with intelligent hook structure, comprising a main control board, a spindle base (1) and main barb arm mechanisms (2) circumferentially mounted and connected to the bottom of the spindle base (1). characterized in that The main barb arm mechanism (2) includes a main barb arm servo motor (21), a main barb arm connecting shaft (22), a support frame (23), a rubber surface (24), and each hook barb unit (25). The front end of the support frame (23) is rotatably mounted to the bottom of the shaft base (1) via the main spike arm connecting shaft (22), forming a rotating pair with the shaft base (1) to support its own outward and inward movements; the main spike arm servo motor (21) is mounted and fixed on the shaft base (1), and its output end is mounted and connected to the support frame (23) to drive the support frame (23) to perform outward or inward movements; the inner side of the support frame (23) is covered with the rubber surface (24). The hook unit (25) includes a guide frame (251), a guide slide rod (252), a hook (253), an outward shape memory spring (254), an inward shape memory spring (255), a first hook connecting rod (256), a second hook connecting rod (257), and a force sensor; the guide slide rod (252) is slidably mounted on the guide frame (251), and a sliding pair perpendicular to the axis of the main hook arm connecting shaft (22) is formed between the two; the hook (253) is rotatably mounted on the slide rod (252), and a rotating pair with a rotating shaft parallel to the axis of the main hook arm connecting shaft (22) is formed between the two; the hook tip of the hook (253) faces the inside of the support frame (23), and its side facing the object to be grasped is convex arc-shaped; The support frame (23) has one end near the axial base (1) as the proximal end and the other end as the distal end. The outward-spreading shape memory spring (254) is located between the hook (253) and the distal end, with both ends connected and fixed to the hook (253) and the distal end respectively. The inward-spreading shape memory spring (255) is located between the hook (253) and the proximal end, with both ends connected and fixed to the hook (253) and the proximal end respectively. The first hook connecting rod... The front end of (256) is rotatably installed at the far end, forming a rotating pair with the pivot parallel to the axis of the main barb arm connecting shaft (22). The end of the first hook bar connecting rod (256) is rotatably connected to the front end of the second hook bar connecting rod (257), forming a rotating pair with the pivot parallel to the axis of the main barb arm connecting shaft (22). The end of the second hook bar connecting rod (257) and the hook (253) are connected to form an integral structure by a force sensor integrated and fixed at the connection point of the two. The guide frame (251) is connected and fixed to the guide frame (251) of the adjacent hook barb unit (25), or is installed and fixed to the support frame (23). The main control board is connected to the main spike arm servo motor (21), force sensor, outward shape memory spring (254), and inward shape memory spring (255) for data communication.

2. The multi-roughness surface adaptive hook gripper with intelligent hook structure according to claim 1, characterized in that: Each of the hook and barb units (25) is arranged in an array or in a staggered arrangement of multiple rows / columns.

3. The multi-roughness surface adaptive hook gripper with intelligent hook structure according to claim 1, characterized in that: It also has an auxiliary arm mechanism (3); The auxiliary arm mechanism (3) includes an auxiliary arm servo motor (31), an auxiliary arm connecting shaft (34), and an auxiliary arm (35). The front end of the auxiliary arm (35) is rotatably mounted to the end of the support frame (23) through the auxiliary arm connecting shaft (34), forming a rotating pair with the support frame (23) to support its own outward and inward movements. The output end of the auxiliary arm servo motor (31) is installed and connected to the auxiliary arm (35) to drive the auxiliary arm (35) to perform outward or inward movements.

4. The multi-roughness surface adaptive hook gripper with intelligent hook structure according to claim 3, characterized in that: It also includes a first auxiliary arm drive rod (32), a second auxiliary arm drive rod (33), and an auxiliary arm mounting shaft (36) that are installed and connected between the output end of the auxiliary arm servo motor (31) and the auxiliary arm (35). The auxiliary arm servo motor (31) is installed and fixed to the front end of the support frame (23), and its output end is installed and fixed to the front end of the first auxiliary arm drive rod (32); the end of the first auxiliary arm drive rod (32) is rotatably connected to the front end of the second auxiliary arm drive rod (33), and a rotating pair with the rotating shaft parallel to the axis of the main stab arm connecting shaft (22) is formed between them; the end of the second auxiliary arm drive rod (33) is rotatably connected to the auxiliary arm (35) through the auxiliary arm mounting shaft (36), and a rotating pair with the rotating shaft parallel to the axis of the main stab arm connecting shaft (22) is formed between them.

5. The multi-roughness surface adaptive hook gripper with intelligent hook structure according to claim 4, characterized in that: The first auxiliary arm drive rod (32) and the second auxiliary arm drive rod (33) are located on the outside of the support frame (23). The first auxiliary arm drive rod (32) is a straight rod structure, and the second auxiliary arm drive rod (33) is a rod structure in which the middle part bends towards the auxiliary arm in an angle shape and the end bends towards the front end of the auxiliary arm (35) in a hook shape. The front end of the auxiliary arm (35) extends outward toward the support frame (23) in the form of a connecting plate structure. The end of the second auxiliary arm drive rod (33) is rotatably connected to the auxiliary arm (35) at the outer edge of the connecting plate via the auxiliary arm mounting shaft (36).

6. The multi-roughness surface adaptive hook gripper with intelligent hook structure according to claim 4, characterized in that: The hook unit (25), the first auxiliary arm drive rod (32), and the second auxiliary arm drive rod are all configured with a hollow structure.

7. The multi-roughness surface adaptive hook gripper with intelligent hook structure according to claim 3, characterized in that: The support frame (23) and the auxiliary arm (35) are in a fitting structure that allows each of the main stab arm mechanisms (2) to retract into a handle shape.

8. The multi-roughness surface self-adaptive hook-grab hand with intelligent hooking structure according to claim 1, characterized in that: The rubber surface (24) is made of PDMS.

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