An adaptive mechanical gripper device

Abstract

The application discloses a self-adaptive mechanical claw device, which comprises a driving mechanism, an executing mechanism, a gas conveying hose and a camera. The driving mechanism comprises a power module, a driving cylinder and a pressure sensor. The power module is used for controlling the movement of the driving piston of the driving cylinder. The pressure sensor is used for detecting the pressure value of the gas conveying end of the driving cylinder. The executing mechanism comprises a steering engine, an executing cylinder and a claw. The steering engine is used for driving the vertical self-rotation of the executing mechanism. The executing piston of the executing cylinder is in transmission connection with the claw. The vertical movement of the executing piston is used for driving the opening and closing of the claw. The gas path of the gas conveying hose is in conduction with the driving cylinder and the executing cylinder. The camera is used for shooting the grabbing direction of the claw. The self-adaptive mechanical claw device controls the rotation of the claw according to the shooting result, so that the grabbing angle of the claw is matched with the to-be-grabbed object. Thus, the soft grabbing of the rigid body structure to the object is realized.

Description

Technical Field

[0001] This invention relates to the technical field of mechanical grippers, and particularly to an adaptive mechanical gripper device. Background Technology

[0002] Mechanical grippers are part of robotic systems, but also exist as independent devices, primarily used for grasping, holding, and manipulating objects. This technology has been widely researched and applied in manufacturing, medical, agricultural, and construction industries.

[0003] Currently, robotic grippers are widely used in industrial production. However, common robotic grippers are directly driven by motors, and the gripping force is controlled by the motor's built-in feedback. If the feedback system fails, it will cause irreversible damage to the material. Commonly used soft grippers use air pumps as power sources, but air pumps are noisy. In addition, commonly used robotic grippers do not have self-adaptive functions. Here, self-adaptive refers to the self-adaptation of force and gripping angle. In industry, the position and angle of parts on the production line are not completely fixed. Self-adaptive robotic grippers can complete the gripping of materials more flexibly and efficiently, while also protecting the gripper from damage caused by improper gripping due to the angle of the material during the gripping process.

[0004] Obviously, the current methods for soft gripping of objects by mechanical claws usually involve using soft grippers or high-performance motors with feedback systems. However, soft grippers typically use air pumps, which are noisy, bulky, and more expensive than simple ordinary servo motors. Using motors with feedback systems is also expensive.

[0005] Current technology cannot use rigid structures to softly grip materials, so how to overcome this technical dilemma has become an urgent technical problem to be solved. Summary of the Invention

[0006] The purpose of this invention is to provide an adaptive mechanical gripper device to solve the problem that existing technologies cannot use rigid structures to softly grip materials.

[0007] To address the aforementioned technical problems, this invention provides an adaptive mechanical gripper device, comprising a drive mechanism, an actuator, an air supply hose, and a camera. The drive mechanism includes a power module, a drive cylinder, and a pressure sensor. The power module controls the movement of the drive piston of the drive cylinder. The pressure sensor detects the pressure value at the air supply end of the drive cylinder. The actuator includes a servo motor, an actuator cylinder, and grippers. The servo motor drives the actuator to rotate vertically. The actuator piston of the actuator cylinder is connected to the grippers, and the vertical movement of the actuator piston drives the grippers to open and close. The air supply hose connects the drive cylinder and the actuator cylinder. The camera captures images of the gripper's grasping direction, and the adaptive mechanical gripper controls the gripper's rotation based on the captured images to match the gripping angle of the gripper with the object to be gripped.

[0008] In one embodiment, the drive mechanism further includes a drive base, on which a drive clamp is provided, and the drive clamp fixes the drive cylinder to the drive base; the power module is disposed on the drive base, and a drive connecting block is connected between the power module and the drive piston.

[0009] In one embodiment, the power module includes a guide rail, a power rack, a power gear, and a power motor; the guide rail is disposed on the drive base; the power rack is slidably mounted on the guide rail and connected to the drive connecting block; the power gear meshes with the power rack for transmission; the power motor is used to drive the power gear to rotate, thereby controlling the power rack to drive the drive piston to move.

[0010] In one embodiment, the output shaft of the servo motor is connected to a cylinder rotation fixing component, which is sleeved around the actuating cylinder and fixedly connected to the actuating cylinder; the air supply hose passes through the cylinder rotation fixing component and connects to the actuating cylinder; the actuating mechanism further includes an actuating base, on which an actuating clamp is provided, which fixes the actuating cylinder to the actuating base; an actuating connecting block is connected between the actuating piston and the clamp.

[0011] In one embodiment, the gripper is a scissor-type telescopic gripper, and each of the two power input linkages of the gripper is provided with an arm gear. The two arm gears are rotatably mounted on the gear bracket of the execution base. The execution connecting block is connected to an execution rack, and the two opposite sides of the execution rack mesh with the two arm gears respectively. The up and down movement of the execution rack is used to drive the gripper to open and close.

[0012] In one embodiment, the camera is located at the bottom of the execution base.

[0013] The beneficial effects of this invention are as follows:

[0014] 1) Achieved soft gripping of materials using a rigid structure;

[0015] 2) It can adaptively grip materials at different placement angles;

[0016] 3) The compressibility of gas is utilized to ensure that the material is safely gripped and will not be damaged even when the sensor fails. Attached Figure Description

[0017] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure provided in an embodiment of the present invention;

[0019] Figure 2 yes Figure 1 Side view;

[0020] Figure 3 The gripper control mechanism provided in this embodiment of the invention is based on the following principle. Figure 1 ;

[0021] Figure 4 The gripper control mechanism provided in this embodiment of the invention is based on the following principle. Figure 2 .

[0022] The attached figures are labeled as follows:

[0023] 10. Drive mechanism; 11. Power module; 111. Guide rail; 112. Power rack; 113. Power gear; 114. Power motor; 12. Drive cylinder; 121. Drive piston; 13. Pressure sensor; 14. Drive base; 15. Drive clamp; 16. Drive connecting block;

[0024] 20. Actuator; 21. Servo motor; 22. Actuating cylinder; 221. Actuating piston; 23. Gripper; 231. Power input linkage; 232. Arm gear; 24. Cylinder rotating fixing component; 25. Actuating base; 26. Actuating clamp; 27. Actuating connecting block; 28. Gear bracket; 29. ​​Actuating rack;

[0025] 30. Gas delivery hose;

[0026] 40. Camera;

[0027] 50. Item to be picked up;

[0028] 61. Reference baseline; 62. Boundary wireframe model. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0030] This invention provides an adaptive mechanical gripper device that controls the gripping force through the cooperation of a single servo motor and a pressure sensor. Furthermore, because the gripper is pneumatically connected, its safety during operation is improved. Even if the pressure sensor fails, the compressibility of the gas in the cylinder provides an elastic space, preventing damage to the object or servo motor. Simultaneously, the use of a miniature camera allows the gripper to determine the object's position and angle, thus achieving self-adaptation to different object placement angles during gripping. Specific implementation examples include... Figures 1 to 4 As shown, it includes a drive mechanism 10, an actuator 20, an air supply hose 30, and a camera 40.

[0031] Regarding the drive mechanism 10, as Figure 1 As shown, the drive mechanism 10 includes a power module 11, a drive cylinder 12, and a pressure sensor 13. The power module 11 is used to control the movement of the drive piston 121 of the drive cylinder 12, so that the drive cylinder 12 can generate different positive and negative pressure outputs, thereby providing driving force for the actuator 20. The pressure sensor 13 is located at the air supply end of the drive cylinder 12 to detect the air supply end pressure value of the drive cylinder 12. At this time, the adaptive mechanical gripper can make corresponding adjustments and controls according to the monitoring results.

[0032] In order to realize the installation and connection between the various components, the drive mechanism 10 in this embodiment also includes a drive base 14 arranged in a horizontal direction. The drive base 14 is provided with a C-shaped drive clamp 15, which fixes the drive cylinder 12 on the drive base 14. The power module 11 is disposed on the drive base 14, and a drive connecting block 16 is connected between the power module 11 and the drive piston 121, so that the power module 11 and the drive piston 121 can be connected and fixed.

[0033] Specifically, the power module 11 includes a guide rail 111, a power rack 112, a power gear 113, and a power motor 114. The guide rail 111 is horizontally mounted on the drive base 14. The power rack 112 is slidably mounted on the guide rail 111 and is connected to the drive connecting block 16. The power gear 113 meshes with the power rack 112 for transmission. The power motor 114 is used to drive the power gear 113 to rotate, thereby controlling the power rack 112 to drive the drive piston 121 to move, so that the power rack 112 can achieve horizontal reciprocating movement under the drive of the power module 11.

[0034] Therefore, after adopting this setting, once the power motor 114 starts, it can drive the power gear 113 to rotate. For example, if the clockwise rotation of the power gear 113 can drive the drive piston 121 to move forward, then the counterclockwise rotation of the power gear 113 can drive the drive piston 121 to move backward, thus realizing the piston movement control of the drive cylinder 12, so that the drive cylinder 12 can generate different outputs of positive and negative pressure.

[0035] Regarding the aforementioned actuator 20, such as Figure 1 and Figure 2 As shown, the actuator 20 includes a servo motor 21, an actuator cylinder 22, and a gripper 23. When in use, the servo motor 21 needs to be fixed in the installation position, and then the output shaft of the servo motor 21 is connected to the actuator 20, so that the servo motor 21 can drive the actuator 20 to rotate vertically. The actuator piston 221 of the actuator cylinder 22 is connected to the gripper 23 so that the vertical movement of the actuator piston 221 can be used to drive the gripper 23 to open and close.

[0036] In order to achieve vertical rotation control of the actuator 20 by the servo motor 21, this embodiment is provided with a cylinder rotation fixing member 24 connected to the output shaft of the servo motor 21. The cylinder rotation fixing member 24 is sleeved on the actuator cylinder 22 and is fixedly connected to the actuator cylinder 22. In addition, the cylinder rotation fixing member 24 is hollow inside and has multiple slots on its peripheral wall that communicate with its interior, thereby ensuring that the air supply hose 30 can pass through the cylinder rotation fixing member 24 and connect to the actuator cylinder 22. Moreover, the actuator 20 also includes an actuator base 25, on which a C-shaped actuator clip 26 is provided so that the actuator clip 26 can fasten and fix the actuator cylinder 22 to the actuator base 25. Furthermore, an actuator connecting block 27 is connected between the actuator piston 221 and the gripper 23, thereby enabling the actuator piston 221 and the gripper 23 to be connected and fixed.

[0037] In addition, in order to realize the opening and closing control of the gripper 23 by the piston 221, this embodiment sets the gripper 23 as a scissor-type telescopic gripper. Both power input connecting rods 231 of the gripper 23 are equipped with arm gears 232. The two arm gears 232 are rotatably mounted on the gear bracket 28 of the execution base 25 to realize the rotatable positioning and installation of the gripper 23 on the execution base 25. The lower part of the execution connecting block 27 is connected to the execution rack 29. The two opposite sides of the execution rack 29 mesh with the two arm gears 232 respectively, so that the up and down movement of the execution rack 29 can be used to drive the gripper 23 to open and close.

[0038] It should be noted that the scissor-type telescopic claw is formed by multiple connecting rods that rotate and interlock. When in use, the extension, shortening, and opening / closing states of the scissor-type telescopic claw can be switched by simply controlling the opening angle of the two power input connecting rods 231.

[0039] Therefore, after applying the above settings, if moving the rack 29 in one direction can cause the gripper 23 to close, then moving the rack 29 in another direction can cause the gripper 23 to open, thus realizing the opening and closing control of the gripper 23.

[0040] Regarding the aforementioned gas delivery hose 30, such as Figure 1 As shown, one end of the air supply hose 30 is connected to the air supply end of the drive cylinder 12, and the other end is connected to the air supply end of the actuator cylinder 22. That is, the air supply hose 30 connects the drive cylinder 12 and the actuator cylinder 22, so that the drive mechanism 10 can provide power to the actuator 20. Moreover, in order to ensure the smooth rotation of the actuator 20, the air supply hose 30 should have sufficient flexibility and should not hinder the rotation of the actuator 20. Therefore, materials such as silicone or soft rubber can be used to make the air supply hose 30, or a flexible serpentine tube can be selected as the air supply hose 30.

[0041] Regarding the aforementioned camera 40, such as Figure 1 As shown, the camera 40 is used to capture the gripping direction of the gripper 23 so that the adaptive mechanical gripper device can control the rotation of the gripper 23 according to the capture results, ensuring that the gripping angle of the gripper 23 can match the object to be gripped 50.

[0042] For example, in this embodiment, the camera 40 is placed at the bottom of the execution base 25, so the camera 40 can clearly capture the object to be gripped 50. Then the servo motor 21 can drive the execution mechanism 20 to rotate until the gripping angle of the gripper 23 matches the circumferential position of the object to be gripped 50, ensuring that the gripper 23 can grip the object to be gripped 50 more stably when it grips.

[0043] To better understand the working principle of this embodiment, the following will describe the operation process through an example, which is roughly as follows:

[0044] 1. Install the adaptive mechanical gripper device at the corresponding work station. For example, the servo motor 21 can be fixed to a mechanical arm that can realize movement control, so that the mechanical arm can move the actuator 20 above the object to be gripped 50.

[0045] 2. After the gripper 23 has moved above the object to be gripped 50, the camera 40 can be used to take a picture of the object to be gripped 50. Then the processor of the adaptive mechanical gripper device will perform relevant judgment processing. For example, the adaptive mechanical gripper device will preset a reference baseline 61 based on the current position of the gripper 23, and will generate a boundary wireframe model 62 of the object to be gripped 50 based on the picture of the object to be gripped 50.

[0046] like Figures 1 to 4 As shown, the top view of the object to be gripped 50 is approximately square. Therefore, after taking the picture, a square boundary wireframe model 62 will be generated. Similarly, if the top view of the object to be gripped 50 is approximately pentagonal or hexagonal, a corresponding pentagonal or hexagonal boundary wireframe model 62 will be generated. Then, the adaptive mechanical gripper will determine whether there is a side line of the boundary wireframe model 62 that is parallel to the reference baseline 61. If there is parallelism, the gripper 23 can be driven to grip the object to be gripped 50. If there is no parallelism, the servo motor 21 will drive the actuator 20 to rotate until the reference baseline 61 is parallel to one of the side lines of the boundary wireframe model 62, and then drive the gripper 23 to grip the object to be gripped 50.

[0047] When generating the boundary wireframe model 62, it is preferable to generate an equilateral polygon boundary wireframe model 62. When the boundary wireframe model 62 has parallel and opposite edges, it is preferable to use the servo motor 21 to drive the actuator 20 to rotate until the reference baseline 61 is parallel to a pair of parallel edges in the boundary wireframe model 62. Then, the gripper 23 is driven to perform a gripping operation on the object to be gripped, so as to ensure that the gripper 23 can grip the object to be gripped 50 stably.

[0048] 3. After the gripper 23 has rotated to the angle that matches the object to be gripped 50, the power motor 114 is started to drive the power gear 113 to rotate. The rotation of the power gear 113 will drive the power rack 112 to move forward. The forward movement of the power rack 112 will drive the drive piston 121 to move through the drive connecting block 16, so that the drive piston 121 moves into the drive cylinder 12, and the drive cylinder 12 can realize gas output. At the same time, the pressure sensor 13 will also monitor the pressure of the output of the drive cylinder 12 to ensure that the output of the drive cylinder 12 meets the user's desired control requirements.

[0049] At this time, the gas output from the drive cylinder 12 will be sent to the execution cylinder 22 through the gas supply hose 30. As the gas filling the execution cylinder 22 increases, the execution piston 221 will be pushed out of the execution cylinder 22 to move downward. The downward movement of the execution piston 221 will drive the execution rack 29 to move downward through the execution connecting block 27, thereby driving the gripper 23 to extend and retract, thus realizing the gripping of the object to be gripped 50.

[0050] 4. When it is necessary to release the gripper 50, simply control the power motor 114 to rotate in the opposite direction, so as to drive the power gear 113 to rotate in the opposite direction. The reverse rotation of the power gear 113 will control the power rack 112 to move backward. The backward movement of the power rack 112 will drive the drive piston 121 to move through the drive connecting block 16, so that the drive piston 121 moves out of the drive cylinder 12. The drive cylinder 12 can then form a negative pressure, thereby drawing away the gas in the execution cylinder 22, so that the execution piston 221 drives the execution rack 29 to move upward, and the gripper 23 will shorten and open, releasing the gripper 50.

[0051] In summary, the aforementioned adaptive mechanical gripper device possesses at least the following beneficial effects:

[0052] 1. Achieved soft gripping of materials using a rigid structure;

[0053] 2. It can adaptively grip materials at different placement angles;

[0054] 3. Utilizing the compressibility of gas ensures that material handling remains safe and undamaged even when the sensor fails.

[0055] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. An adaptive mechanical gripper device, characterized in that, it comprises a driving mechanism, an executing mechanism, a gas conveying hose and a camera; the driving mechanism comprises a power module, a driving cylinder and a pressure sensor; the power module is used to control the movement of the driving piston of the driving cylinder; the pressure sensor is used to detect the pressure value of the gas conveying end of the driving cylinder; the executing mechanism comprises a steering engine, an executing cylinder and a gripper; the steering engine is used to drive the vertical self-rotation of the executing mechanism, the output shaft of the steering engine is connected with a cylinder rotation fixing part, the cylinder rotation fixing part is sleeved on the outside of the executing cylinder, and the cylinder rotation fixing part is fixedly connected with the executing cylinder; the executing piston of the executing cylinder is in transmission connection with the gripper, the vertical movement of the executing piston is used to drive the opening and closing of the gripper, an executing connecting block is connected between the executing piston and the gripper, and an executing rack is connected with the executing connecting block; the executing mechanism further comprises an executing base, the executing base is provided with an executing clamping buckle, and the executing clamping buckle fixes the executing cylinder on the executing base; the gripper is a scissor type telescopic gripper, arm upper gears are arranged on two power input connecting rods of the gripper, the two arm upper gears are rotatably installed on a gear support of the executing base, the opposite sides of the executing rack are respectively in meshing connection with the two arm upper gears, and the up-down movement of the executing rack is used to drive the opening and closing of the gripper; the gas conveying hose is in gas circuit conduction with the driving cylinder and the executing cylinder, and the gas conveying hose is in communication with the executing cylinder through the cylinder rotation fixing part; the camera is used to shoot the grabbing direction of the gripper, and the adaptive mechanical gripper device controls the rotation of the gripper according to the shooting result, so that the clamping angle of the gripper matches the object to be clamped.

2. The adaptive mechanical gripper device according to claim 1, characterized in that, the driving mechanism further comprises a driving base, the driving base is provided with a driving clamping buckle, and the driving clamping buckle fixes the driving cylinder on the driving base; the power module is arranged on the driving base, and a driving connecting block is connected between the power module and the driving piston.

3. The adaptive mechanical gripper device according to claim 2, characterized in that, the power module comprises a guide rail, a power rack, a power gear and a power motor; the guide rail is arranged on the driving base; the power rack is slidably installed on the guide rail, and the power rack is connected with the driving connecting block; the power gear is in meshing transmission with the power rack; the power motor is used to drive the self-rotation of the power gear, and the power motor is used to control the power rack to drive the movement of the driving piston.

4. The adaptive mechanical gripper device according to claim 1, characterized in that, the camera is arranged at the bottom of the executing base.

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