Multi-functional work robot

Abstract

The present application relates to the technical field of robot grabbing operation, and more particularly to a multifunctional operation manipulator, comprising: an outer ring mechanism and an inner ring mechanism capable of relative rotation, a driving device for driving the outer ring mechanism and the inner ring mechanism to relatively rotate, and a grabbing device connected to the outer ring mechanism; the grabbing device comprises a fixed base fixed to the outer ring mechanism and a plurality of bendable fingers arranged at equal intervals along the circumference of the fixed base; the bendable fingers comprise an unfolded state, a gathered state and an intermediate state between the unfolded state and the gathered state; the positive and negative amplitude of the rotation angle of the outer ring mechanism and the inner ring mechanism does not exceed the included angle between the line connecting two adjacent bendable fingers and the axis.

Description

Technical Field

[0001] This invention relates to the field of robotic grasping technology, and more particularly to a multifunctional robotic arm. Background Technology

[0002] Robotics engineering is an important development direction in scientific research and industry. Grasping operations are typical tasks of various robots, which can meet important practical needs in agriculture, forestry, fisheries and environmental science.

[0003] Traditional gripping equipment is usually divided into two categories. One category is electric or hydraulically driven manipulators in the shape of clamps. This type of equipment has the advantages of simple drive structure and strong stability. However, due to its clamp-like shape, the number of targets that can be gripped is limited, and the movement of the gripping fingers requires a separate drive and transmission device, which makes the structure complex.

[0004] Another type is the dexterous robotic hand. This type of device uses a multi-motor or pneumatic drive structure to mimic the shape of human fingers and the grasping pattern of a human hand, significantly improving the success rate of grasping operations and the safety of the process. However, the multi-segment drive structure usually results in a complex overall structure, large drive volume, and difficulty in adapting to underwater environments, making it difficult for this type of robotic hand to achieve widespread engineering applications. Furthermore, these robotic hands require numerous power sources during operation, and their maximum operating power usually depends on the lowest power source, severely limiting the overall system's maximum output load.

[0005] Therefore, in order to solve the problems encountered by the above-mentioned types of robotic arms during operation, there is an urgent need for a simple, multi-functional grasping robotic arm that can accurately harvest various crops or safely grasp underwater organisms. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a multifunctional working robot, which solves the technical problem that the existing grasping robot has a large drive structure that is difficult to adapt to the precise harvesting of crops or the grasping of underwater organisms.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, the main technical solutions adopted by the present invention include:

[0010] A multi-functional robotic arm includes: an outer ring mechanism and an inner ring mechanism arranged in relative rotation, a drive device for driving the outer ring mechanism and the inner ring mechanism to rotate relative to each other, and a gripping device connected to the outer ring mechanism.

[0011] The gripping device includes a fixed base fixed to the outer ring mechanism and a plurality of flexible fingers evenly spaced along the circumference of the fixed base;

[0012] The flexible finger includes an extended state, a folded state, and an intermediate state between the extended and folded states.

[0013] The positive and negative rotation angles of the outer ring mechanism and the inner ring mechanism do not exceed the angle between the lines connecting two adjacent bendable fingers and the axis.

[0014] The flexible finger and the fixed base are made of sheet metal material that is integrally formed, and the flexible finger is connected to the inner ring mechanism by a flexible pull rope.

[0015] The inner ring mechanism is rotated by the drive device, and the flexible pull rope pulls the bent fingers together or releases the bent fingers.

[0016] The flexible finger has a bending function in the middle, and the bending point is provided with a connecting seat for connecting the flexible pull rope;

[0017] One end of the flexible pull rope is connected to the inner ring mechanism, and the other end of the flexible pull rope is connected to the connected seat.

[0018] The flexible finger is hinged to the fixed base, and the flexible finger is connected to the inner ring mechanism via a pull rod.

[0019] The flexible finger has a bending function in the middle, and the bending point is provided with a hinge seat for connecting the pull rod;

[0020] Ball-head buckles are fixedly installed at both ends of the pull rod, and the end of the pull rod that connects to the flexible finger is hinged to the hinge seat through the ball-head buckle.

[0021] The ball head buckle has an annular connecting end and a pull rod connecting end, and the pull rod connecting end is fixedly connected to the pull rod.

[0022] A positioning tube is inserted into the inner ring mechanism, with one end of the positioning tube inserted into the inner ring mechanism and the other end of the positioning tube protruding from the top of the inner ring mechanism.

[0023] The ball head of the end of the pull rod connected to the inner ring mechanism is sleeved on the positioning tube.

[0024] The end of the positioning tube that protrudes from the top of the inner ring mechanism is provided with a limiting block so that the pull rod can be connected to the positioning tube.

[0025] The flexible finger has an installation platform at the end away from the fixed base, and a conical component is fixedly installed on each installation platform.

[0026] (III) Beneficial Effects

[0027] The beneficial effects of this invention are: This invention provides a multifunctional robotic arm that is suitable for various scenarios such as agriculture, forestry, fisheries, environmental exploration, and medicine.

[0028] By incorporating an outer ring mechanism, an inner ring mechanism, and multiple flexible ropes, a series of bendable fingers can be deployed or converged to form a multifunctional mechanical gripper capable of grasping targets. This design effectively simplifies the manipulator's drive structure and increases drive output power, making it suitable for underwater operations.

[0029] By setting multiple flexible fingers at equal intervals on a fixed base, the grasping ability of the target is improved, making it easier to capture the target when the fingers are bent and gathered.

[0030] The multifunctional gripping robot provided by this invention simplifies the drive structure and proposes a novel gripping operation model, which greatly improves the environmental adaptability and success rate of the gripping operation process, so as to meet the gripping operation needs of various fields. Attached Figure Description

[0031] Figure 1 This is a perspective view of the multifunctional robotic arm of Embodiment 1 of the present invention in its unfolded state;

[0032] Figure 2 This is a perspective view of the multifunctional robotic arm of Embodiment 1 of the present invention in a converged state;

[0033] Figure 3 This is a side view of the multifunctional work robot of Embodiment 1 of the present invention in an intermediate state;

[0034] Figure 4 This is a top view of the multifunctional robotic arm of Embodiment 1 of the present invention in its unfolded state;

[0035] Figure 5 This is a perspective view of the outer ring mechanism and the inner ring mechanism of the present invention;

[0036] Figure 6 This is a side view of the outer ring mechanism and the inner ring mechanism of the present invention;

[0037] Figure 7 This is a top view of the outer ring mechanism and the inner ring mechanism of the present invention;

[0038] Figure 8 This is a perspective view of the multifunctional robotic arm of Embodiment 2 of the present invention in an intermediate state;

[0039] Figure 9This is a perspective view of the multifunctional robotic arm in its unfolded state according to Embodiment 2 of the present invention;

[0040] Figure 10 This is a perspective view of the multifunctional robotic arm of Embodiment 2 of the present invention in a converged state;

[0041] Figure 11 This is a perspective view of the multifunctional robotic arm of Embodiment 3 of the present invention in a converged state.

[0042] [Explanation of Labels in the Attached Image]

[0043] 1: Gripping device; 11: Fixed base; 12: Flexible finger; 2: Flexible pull rope;

[0044] 31: Outer ring mechanism; 32: Inner ring mechanism;

[0045] 4: Bolt; 5: Ball head buckle; 6: Tie rod; 7: Positioning tube; 8: Limiting block; 9: Conical component. Detailed Implementation

[0046] To better explain and facilitate understanding of the present invention, a detailed description of the invention is provided below with reference to the accompanying drawings and specific embodiments. In this document, directional terms such as "upper," "lower," etc., are used interchangeably with other directional terms. Figure 2 The orientation is used as a reference.

[0047] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention can be understood more clearly and thoroughly, and that the scope of the present invention can be fully conveyed to those skilled in the art.

[0048] This invention provides a multifunctional robotic arm suitable for various scenarios such as agriculture, forestry, fisheries, and environmental development, and can be used for underwater grasping operations. The multifunctional robotic arm includes: an outer ring mechanism 31 and an inner ring mechanism 32 that can rotate relative to each other, a drive device for driving the outer ring mechanism 31 and the inner ring mechanism 32 to rotate relative to each other, and a grasping device 1 connected to the outer ring mechanism 31.

[0049] The gripping device 1 includes an unfolded state, a converged state, and an intermediate state between the unfolded and converged states. The gripping device 1 always maintains the same rotation axis as the driving device. When the inner ring structure 32 and the outer ring structure 31 have no relative rotation angle, the gripping device 1 is in the unfolded state, which is the initial state of the gripping device 1.

[0050] The gripping device 1 includes a fixed base 11 and a plurality of flexible fingers 12 arranged at equal intervals along the circumference of the fixed base 11. The positive and negative amplitudes of the rotation angles of the outer ring mechanism 31 and the inner ring mechanism 32 do not exceed the angle between the line connecting two adjacent flexible fingers 12 and the axis.

[0051] Example 1:

[0052] The flexible finger 12 and the fixed base 11 are made of a single piece of sheet metal. The flexible finger 12 is connected to the inner ring mechanism 32 via a flexible pull rope 2. The sheet metal material is elastic. The drive device drives the inner ring mechanism 32 or the outer ring mechanism 31 to rotate relative to each other with a phase difference, so that the flexible pull rope 2 is in a taut state, pulling the flexible finger 12 to bend and converge, realizing the gripping operation of the gripping device 1. When the drive device drives the inner ring mechanism 32 or the outer ring mechanism 31 to rotate in the opposite direction, the flexible pull rope 2 gradually loosens, and the flexible finger 12 returns to the unfolded position under the elastic action of the sheet metal material.

[0053] The flexible finger 12 has a bend in the middle. One end of the flexible pull rope 2 is connected to the inner ring mechanism 32, and the other end of the flexible pull rope 2 is connected to the bend in the middle of the flexible finger 12. The flexible finger 12 has a connecting seat in the middle connected to the flexible pull rope 2. By driving the rotation of the inner ring mechanism 32, the flexible pull rope 2 is pulled, causing the flexible finger 12 to bend inward.

[0054] The fixed base 11 and the outer ring mechanism 31 are fixedly connected by bolts 4.

[0055] The outer ring mechanism 31 and the inner ring mechanism 32 may employ cross roller bearings capable of relative rotation.

[0056] Both the outer ring mechanism 31 and the fixed base 11 are provided with several through holes for the bolts 4 to pass through. In this embodiment, hexagonal socket head cap screws are used to fix the outer ring structure 31 and the fixed base 11.

[0057] The drive unit uses a power source such as a servo motor or electric motor to provide torque.

[0058] Example 2:

[0059] The flexible finger 12 is hinged to the fixed base 11. The flexible finger 12 has a bend in the middle and a hinge seat at the bend. The flexible finger 12 is connected to the inner ring mechanism 32 through the pull rod 6.

[0060] Ball head buckles 5 are fixedly installed at both ends of the pull rod 6. One end of the pull rod 6 is hinged to the hinge seat in the middle of the bendable finger 12, and the other end of the pull rod 6 is connected to the inner ring mechanism 32.

[0061] A positioning tube 7 is inserted into the inner ring mechanism 32. One end of the positioning tube 7 is inserted into the inner ring mechanism 32 and is fixedly connected to the inner ring mechanism 32. The other end of the positioning tube 7 is exposed at the top of the inner ring mechanism 32. The ball head buckle 5 of the end of the pull rod 6 connected to the inner ring mechanism 32 is sleeved on the positioning tube 7.

[0062] The inner ring mechanism 32 or the outer ring mechanism 31 is driven by a drive device to rotate relative to each other with a phase difference. This causes the inner ring mechanism 32 to pull the lever 6 and rotate the flexible finger 12 around the hinge point, thereby enabling the gripping device 1 to unfold or fold. By hinged the flexible finger 12 to the fixed base 11 and connecting it to the inner ring mechanism 32 via the lever 6, the stability of the operation process can be improved, and the output power when the finger is unfolded can be increased.

[0063] Example 3:

[0064] Based on Embodiment 2, the end of the flexible finger 12 that is not hinged to the fixed base 11 is provided with a mounting platform, and each mounting platform is provided with a corresponding conical component 9. By combining the conical component 9 with the flexible finger 12, the working scenarios of the mechanical gripper can be expanded, and it can be applied to environmental exploration and medical fields.

[0065] Conical component 9 can be replaced with cylindrical component.

[0066] Example 4:

[0067] The flexible finger 12 is replaced with scissors to cut or destroy the target during the grasping operation, thereby further improving the success rate of the operation process.

[0068] Example 5:

[0069] If the flexible structure uses three bendable fingers 12 as the gripper to perform work, then the installation angle between two adjacent bendable fingers 12 is 120°. The installation angle is the angle between the line connecting two adjacent bendable fingers 12 and the axis.

[0070] Each flexible finger 12 is arranged sequentially along the circumference of the fixed base 11, dividing the outer ring mechanism 31 and the inner ring mechanism 32 into 360° circumferential sections. 0° or 360° is taken as the origin / installation starting position. The first flexible finger 12 is connected to the 0° or 360° installation position of the outer ring mechanism 31, and the second and third flexible fingers 12 are sequentially connected to the 120° and 240° positions of the outer ring mechanism 31.

[0071] Correspondingly, the flexible pull rope 2 is connected sequentially at the 0°, 120° and 240° positions of the inner ring mechanism 32.

[0072] Example 6:

[0073] If the flexible structure uses 6 bendable fingers 12 as the gripper to perform work, then the installation angle between two adjacent bendable fingers 12 is 60°. The installation angle is the angle between the line connecting two adjacent bendable fingers 12 and the axis.

[0074] Each flexible finger 12 is arranged sequentially along the circumference of the fixed base 11, dividing the outer ring mechanism 31 and the inner ring mechanism 32 into 360° circumferential sections. 0° or 360° is taken as the origin / installation starting position. The first flexible finger 12 is connected to the 0° or 360° installation position of the outer ring mechanism, and the second, third, fourth, fifth, and sixth flexible fingers 12 are sequentially connected to the 60°, 120°, 180°, 240°, and 300° positions of the outer ring mechanism.

[0075] Correspondingly, the flexible pull ropes 2 of the first, second, third, fourth, fifth, and sixth bendable fingers 12 are sequentially connected to the inner ring mechanism at positions of 60°, 120°, 180°, 240°, and 300°.

[0076] Example 7:

[0077] If the power source is connected to the inner ring mechanism 32 and the outer ring mechanism 31 is fixed by a fastener, the gripping device 1 can be unfolded or brought together by driving the inner ring mechanism 32 to rotate.

[0078] If a servo motor is used as the power source, the drive end of the servo motor is connected to the inner ring mechanism 32, and the bottom of the outer ring mechanism 31 is fixed by the servo motor connecting plate. The servo motor drives the inner ring mechanism 32 to rotate relative to the outer ring mechanism 31, thereby realizing the unfolding or folding of the gripping device 1.

[0079] Example 8:

[0080] If the power source is connected to the outer ring mechanism 31 and the inner ring mechanism 32 is fixed by a fastener, the gripping device 1 can be unfolded or brought together by driving the outer ring mechanism 31 to rotate.

[0081] If an electric motor is used as the power source, the motor is connected to the outer ring mechanism 31 through a flange, and the inner ring mechanism 32 is fixed by a fastener. The motor drives the outer ring mechanism 31 to rotate, thereby expanding or closing the gripping device 1.

[0082] Example 9:

[0083] The outer ring mechanism 31 and the inner ring mechanism 32 are connected by two power sources respectively. The two power sources drive the rotation in opposite directions, and simultaneously drive the outer ring mechanism 31 and the inner ring mechanism 32 to rotate with a phase difference to realize the overall flexible gripper's unfolding or folding.

[0084] This invention provides a multifunctional robotic arm suitable for various scenarios such as agriculture, forestry, fisheries, environmental exploration, and medicine.

[0085] By combining the outer ring mechanism 31, the inner ring mechanism 32, and multiple flexible ropes 2, multiple bendable fingers 12 can be deployed or converged to form a multifunctional mechanical gripper capable of grasping targets. This effectively simplifies the manipulator's drive structure and increases the drive output power, making it suitable for underwater operations.

[0086] By combining multiple flexible fingers 12 with the outer ring mechanism 31 and the inner ring mechanism 32, the grasping ability of the grasping target is improved, making it easier to capture the grasping target when the fingers are bent and gathered.

[0087] The multifunctional gripping robot provided by this invention simplifies the drive structure and proposes a novel gripping operation model, which greatly improves the environmental adaptability and success rate of the gripping operation process, so as to meet the gripping operation needs of various fields.

[0088] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0089] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0090] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0091] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0092] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-functional robotic arm, characterized in that, include: The outer ring mechanism (31) and the inner ring mechanism (32) are rotatable relative to each other, the drive device for driving the outer ring mechanism (31) and the inner ring mechanism (32) to rotate relative to each other, and the gripping device (1) connected to the outer ring mechanism (31). The gripping device (1) includes a fixed base (11) fixed on the outer ring mechanism (31) and a plurality of flexible fingers (12) arranged at equal intervals along the circumference of the fixed base (11). The flexible finger (12) is hinged to the fixed base (11); A positioning tube (7) is inserted into the inner ring mechanism (32), one end of the positioning tube (7) is inserted into the inner ring mechanism (32), and the other end of the positioning tube (7) is exposed on the top of the inner ring mechanism (32); the flexible finger (12) is connected to the positioning tube (7) by a pull rod (6); The flexible finger (12) includes an unfolded state, a folded state, and an intermediate state between the unfolded state and the folded state; The positive and negative rotation angles of the outer ring mechanism (31) and the inner ring mechanism (32) do not exceed the angle between the lines connecting two adjacent bendable fingers (12) and the axis.

2. The multifunctional robotic arm according to claim 1, characterized in that, The bendable finger (12) and the fixed base (11) are made of sheet metal material, and the bendable finger (12) and the inner ring mechanism (32) are connected by a flexible pull rope (2). The inner ring mechanism (32) is rotated by the drive device, and the flexible pull rope (2) pulls the flexible finger (12) to gather or release.

3. The multifunctional robotic arm according to claim 2, characterized in that, The flexible finger (12) is provided with a connecting seat in the middle for connecting the flexible pull rope (2), and the flexible pull rope (2) can pull the flexible finger (12) to bend inward; One end of the flexible pull rope (2) is connected to the inner ring mechanism (32), and the other end of the flexible pull rope (2) is connected to the connecting seat.

4. The multifunctional robotic arm according to claim 1, characterized in that, The flexible finger (12) has a bend in the middle, and the bend has a hinge seat for connecting the pull rod (6); Ball head buckles (5) are fixedly provided at both ends of the pull rod (6). The end of the pull rod (6) connected to the flexible finger (12) is hinged to the hinge seat through the ball head buckle (5).

5. The multifunctional robotic arm according to claim 4, characterized in that, The ball head buckle (5) has an annular connecting end and a pull rod connecting end, and the pull rod connecting end is fixedly connected to the pull rod (6).

6. The multifunctional robotic arm according to claim 4, characterized in that, One end of the pull rod (6) connected to the positioning tube (7) is sleeved on the positioning tube (7) through the ball head buckle (5).

7. The multifunctional robotic arm according to claim 6, characterized in that, The positioning tube (7) has a limiting block (8) at one end exposed at the top of the inner ring mechanism (32) so that the pull rod (6) can be connected to the positioning tube (7).

8. The multifunctional robotic arm according to claim 7, characterized in that, The flexible finger (12) has an installation platform at one end away from the fixed base (11), and a conical component (9) is fixedly installed on each installation platform.

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