Three-degree-of-freedom self-adaptive flexible gripper for sorting robot

Abstract

A three-degree-of-freedom self-adaptive flexible gripper for a sorting robot comprises a pneumatic gripping execution assembly and a multi-degree-of-freedom movement assembly, and the pneumatic gripping execution assembly comprises a plurality of gripping actuators arranged in an annular array; one end of each grabbing actuator is connected to the multi-degree-of-freedom movement assembly through a support arm, and the other end and the side, facing the array center, of the end are provided with a pneumatic adsorption component and a pneumatic clamping component correspondingly. The multi-degree-of-freedom motion assembly comprises a center supporting component, a middle connecting component, an elastic buffering component and a multi-direction supporting component, one end of the center supporting component is connected with the robot main arm, the other end of the center supporting component is circumferentially connected with the multiple support arms, and the middle connecting component is arranged below the center supporting component and connected with the center supporting component. The multidirectional supporting component is arranged below the middle connecting component and is connected with the middle connecting component through a plurality of elastic buffering components; the grabbing actuator is connected with the support arm through a first clamping air cylinder, the first clamping air cylinder is connected with the multidirectional supporting component through a second clamping air cylinder, and the two ends of the first clamping air cylinder and the two ends of the second clamping air cylinder form rotating pair structures. The method has the advantages of high efficiency, flexibility and high adaptability.

Description

Technical Field

[0001] The present invention relates to a sorting robot gripper, in particular to a three-degree-of-freedom adaptive flexible gripper for a sorting robot, belonging to the technical fields of industrial automation and robotics, and particularly suitable for complex operation scenarios requiring flexibility and adaptability. Background Art

[0002] With the rapid development of industrial automation technology, robotics is increasingly being used in industrial production. As one of the core components of industrial robots, the performance of the gripper directly affects the efficiency of the entire production process and product quality. When performing sorting tasks, the gripper of a casting robot needs to be able to automatically adapt to the surface shape of the object being grasped, and meet the needs of adaptive and reliable grasping when sorting irregular and special-shaped castings.

[0003] In traditional industrial applications, rigid grippers are widely used in standardized production environments due to their simple structure and strong gripping force. However, with the diversification and complexity of production needs, the limitations of rigid grippers have gradually become apparent, especially when dealing with objects with complex shapes, irregular sizes or fragile surfaces. Therefore, when applied to the sorting operations of casting robots, traditional rigid grippers often show insufficient adaptability when grasping non-standard casting objects, which can easily lead to grasping failures or damage to objects. For example, a known robot gripper with a safety protection function (CN118269137A) has a safety protection device, but has limited operating freedom and poor flexibility. It can only handle objects of specific shapes or materials, and has a limited scope of application.

[0004] At present, the high flexibility of industrial robots can meet various special requirements in modern green casting production, but the existing flexible grippers are usually complex in structure, and the maintenance and debugging process is cumbersome, which limits their application in industrial production. For example, a known adaptive flexible robot gripper (CN118386274A) includes multiple active parts, guide parts, clamping elements, arc slides, arc clamps, drive motors, drive rods, etc. Although it can theoretically increase the adaptability of the gripper, it will also lead to the complexity of the system, especially in high-frequency industrial applications, and will also cause the stability of the system to decrease and increase the risk of failure.

[0005] Therefore, in the field of casting robot technology, there is an urgent need for a gripper system that is flexible, adaptable and multifunctional, so that it can firmly grasp castings of various shapes and surfaces without damaging the objects, and can quickly switch and adapt in different working environments.

[0006] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0007] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the present invention proposes a three-degree-of-freedom adaptive flexible gripper for a sorting robot, which can firmly grasp castings of various shapes and surfaces without damaging the objects, and can achieve rapid switching and adaptation in different working environments.

[0008] A three-degree-of-freedom adaptive flexible gripper for a sorting robot according to the present invention comprises:

[0009] A pneumatic grabbing actuator assembly, the pneumatic grabbing actuator assembly comprising a plurality of grabbing actuators arranged in a circular array; the first end of each grabbing actuator is connected to the multi-degree-of-freedom motion assembly through a bracket arm, and the second end thereof and the inner wall of one side of the end facing the center of the array are respectively provided with a pneumatic adsorption component and a pneumatic clamping component;

[0010] A multi-degree-of-freedom motion assembly, the multi-degree-of-freedom motion assembly includes a central support member, an intermediate connection member, an elastic buffer member and a multi-directional support member, one end of the central support member is connected to the robot main arm, and the other end thereof is circumferentially connected to a plurality of support arms, the intermediate connection member is arranged below the central support member and connected thereto, and the multi-directional support member is arranged below the intermediate connection member and connected via a plurality of elastic buffer members;

[0011] Among them, the grasping actuator and the support arm are connected through a first clamping cylinder, the first clamping cylinder and the multi-directional support member are connected through a second clamping cylinder, and both ends of the first clamping cylinder and the second clamping cylinder form a rotating pair structure.

[0012] According to some embodiments of the present invention, the grabbing actuator includes a grabbing claw piece and a grabbing portion formed on a side of the grabbing claw piece facing the center of the array, and the pneumatic clamping member is disposed on the grabbing portion.

[0013] According to some embodiments of the present invention, the grabbing portion includes a grabbing plate arranged on the inner edge covering the grabbing claw piece and grabbing blocks symmetrically arranged on both sides of the grabbing plate, the grabbing blocks having a grabbing surface parallel to the grabbing plate, and the grabbing blocks are fixedly connected to both sides of the inner edge and close to the pneumatic adsorption component.

[0014] According to some embodiments of the present invention, the pneumatic clamping member is configured as a pneumatic flexible pad, and the pneumatic flexible pad is disposed at least on a surface of the gripping plate.

[0015] According to some embodiments of the present invention, the pneumatic suction member is configured as a pneumatic suction cup.

[0016] According to some embodiments of the present invention, the central support member, the intermediate connection member, the elastic buffer member and the multi-directional support member are respectively configured as a central support plate, an intermediate connection plate, four elastic buffer rods and a multi-directional bracket;

[0017] The central support plate, the middle connecting plate and the multi-directional bracket are arranged in a straight line, and the central support plate and the middle connecting plate are connected through the middle. Four elastic buffer rods are located at the four corners close to the middle connecting plate and are connected to the multi-directional bracket. There are four bracket arms and they are distributed in a "cross" shape around the central support plate.

[0018] According to some embodiments of the present invention, a flange component for docking with the robot main arm is provided on the side of the central support plate facing away from the middle connecting plate, and the flange component is connected to the central support plate by a plurality of fastening components.

[0019] According to some embodiments of the present invention, the first clamping cylinder is configured as a rectangular clamping cylinder, the telescopic portion of the rectangular clamping cylinder is rotatably connected to the grab claw piece through the first hinge frame to form a first rotating auxiliary structure A; the cylinder body of the rectangular clamping cylinder is rotatably connected to the bracket arm through the connecting frame to form a first rotating auxiliary structure B;

[0020] The second clamping cylinder is configured as a cylindrical clamping cylinder, and the telescopic part of the cylindrical clamping cylinder is rotatably connected to the grab claw piece through the second hinged frame to form a second rotating auxiliary structure A; the cylinder body of the cylindrical clamping cylinder is rotatably connected to the multi-directional bracket through the connecting ear to form a second rotating auxiliary structure B.

[0021] According to some embodiments of the present invention, a collecting component is further provided at the bottom of the middle connecting plate, and the collecting component is used to detect the position and shape information of the clamped object.

[0022] According to some embodiments of the present invention, the collecting component is configured as a camera; the multi-directional bracket is configured to be in a "well" shape as a whole, and the camera and the bracket arm are respectively installed at the central notch and side grooves forming the "well" shape.

[0023] According to the present invention, a three-degree-of-freedom adaptive flexible gripper for a sorting robot has a modular design of a pneumatic grasping actuator component and a multi-degree-of-freedom motion component. On the one hand, the pneumatic grasping actuator component can be used to firmly grasp castings of various shapes and surfaces without damaging the objects. On the other hand, the multi-degree-of-freedom motion component can realize multi-degree-of-freedom motion of the gripper in three-dimensional space, which is convenient for rapid switching and adaptation in different working environments. Ultimately, the gripper can efficiently and safely grasp and carry castings of different shapes and materials in complex industrial environments.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0026] Figure 1 and Figure 2 Schematic diagram of the three-dimensional structure of some embodiments of the three-degree-of-freedom adaptive flexible gripper for the sorting robot of the present invention.

[0027] Figure 3 This is a schematic diagram of the main structure of some embodiments of the three-degree-of-freedom adaptive flexible gripper for the sorting robot of the present invention.

[0028] Figure 4 Schematic diagram of the top view of some embodiments of the three-degree-of-freedom adaptive flexible gripper for the sorting robot of the present invention.

[0029] Figure 5 Schematic diagram of the bottom-up structure of some embodiments of the three-degree-of-freedom adaptive flexible gripper for the sorting robot of the present invention.

[0030] Figure 6 It is a schematic diagram of the front view structure of some embodiments of the grasping actuator in the three-degree-of-freedom adaptive flexible gripper for the sorting robot of the present invention.

[0031] Figure 7 It is a left-side structural schematic diagram of some embodiments of the grasping actuator in the three-degree-of-freedom adaptive flexible gripper for the sorting robot of the present invention.

[0032] Meaning of reference numerals in the figure:

[0033] 10-Pneumatic grabbing actuator;

[0034] 11-grasping actuator; 111-grasping claw piece; 1111-grasping part; 1111-1-grasping plate; 1111-2-grasping block;

[0035] 12- support arm;

[0036] 13-pneumatic adsorption component; 131-pneumatic suction cup;

[0037] 14-pneumatic clamping member; 141-pneumatic flexible pad;

[0038] 15-first clamping cylinder; 151-rectangular clamping cylinder; 152-first articulated frame; 153-connecting frame;

[0039] 16-second clamping cylinder; 161-cylindrical clamping cylinder; 162-second articulated frame; 163-connecting ear;

[0040] 20-multi-degree-of-freedom motion components;

[0041] 21-center support member; 211-center support plate; 212-flange member; 213-fastening member;

[0042] 22-middle connecting member; 221-middle connecting plate;

[0043] 23-elastic buffer member; 231-elastic buffer rod;

[0044] 24-multi-directional support member; 241-multi-directional support;

[0045] 25-collection component; 251-camera. DETAILED DESCRIPTION

[0046] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0047] In the related art, casting robots used to perform sorting operations have problems with their existing rigid grippers (see, for example, 118269137A) when handling casting objects with complex shapes, irregular sizes or fragile surfaces, which may lead to grasping failures or damage to objects; while their existing flexible grippers (see, for example, CN118386274A) have complex structures, and cumbersome maintenance and debugging processes, which limit their application in industrial production.

[0048] In view of this, an embodiment of the present invention aims to provide a three-degree-of-freedom adaptive flexible gripper for a sorting robot. By setting a pneumatic grasping actuator component and a multi-degree-of-freedom motion component, it mainly utilizes the grasping actuator under the three-degree-of-freedom motion capability, the pneumatic adsorption component and the pneumatic clamping component to cooperate with each other, thereby realizing a grasping function that is flexible, adaptive and multifunctional, and can efficiently and safely grasp and carry objects of various shapes in a complex industrial environment, thereby solving the above-mentioned problems.

[0049] In the process of solving the above technical problems, the embodiments of the present invention not only achieve high-precision and high-reliability grasping operations through innovative design and modular structure, but also have high flexibility and adaptability, and can meet the diverse needs of modern industrial automation production. The gripper system of the embodiment of the present invention is particularly suitable for handling objects with complex shapes, irregular sizes, fragile or smooth surfaces, and exhibits extremely high adaptability and stability. Therefore, the gripper provided by the embodiment of the present invention is perfectly suitable for grasping and sorting operations of small and medium-sized castings and other parts for casting production, and can also be widely used in many other industrial fields such as electronic manufacturing, precision parts processing, and logistics handling through expansion.

[0050] According to the following Figure 1-Figure 7 The three-degree-of-freedom adaptive flexible gripper for the sorting robot of the present invention is described in detail.

[0051] Please refer to Figure 1-5 An embodiment of the present invention provides a three-degree-of-freedom adaptive flexible gripper for a sorting robot according to the present invention, comprising a pneumatic grasping execution component 10 and a multi-degree-of-freedom motion component 20.

[0052] In an embodiment of the present invention, a pneumatic grasping actuator assembly 10 includes a plurality of grasping actuators 11 arranged in a circular array; the first end of each grasping actuator 11 is connected to a multi-degree-of-freedom motion assembly 20 via a support arm 12, and a second end thereof and an inner wall on one side of the end facing the center of the array are provided with a pneumatic adsorption component 13 and a pneumatic clamping component 14, respectively; wherein the grasping actuator 11 and the support arm 12 are connected via a first clamping cylinder 15, and the first clamping cylinder 15 and the multi-directional support component 24 are connected via a second clamping cylinder 16, and both ends of the first clamping cylinder 15 and both ends of the second clamping cylinder 16 form a rotating pair structure.

[0053] More specifically, the central support member 21 is fixed on the central axis of the gripper as the core support structure, supporting and connecting all moving parts. The multi-directional support member 24 is connected to the central support member 21, and can realize translational movement in two directions and rotational movement in one direction in space, providing the main degree of freedom of movement of the gripper. The elastic buffer member 23 is designed to absorb the impact force and vibration during the grasping process, thereby reducing mechanical stress, protecting the gripper structure and the grasped object, and extending the service life of the gripper.

[0054] The multi-directional support member 24, which is a key component for the gripper to realize multi-degree-of-freedom motion, is combined with the first clamping cylinder 15, the second clamping cylinder 16 and the rotary substructure, so that the gripper has the ability to freely translate and rotate in three-dimensional space. By adjusting the telescopic length of the first clamping cylinder 15 and the second clamping cylinder 16, the gripper can flexibly adjust the grasping position and angle according to the size and shape of the object, flexibly adapt to objects of different sizes and shapes, ensure the accuracy and stability of the grasping operation, and meet the needs of accurate grasping operations under various complex working conditions.

[0055] During specific implementation, the gripping actuator 11 is combined with the action of the pneumatic adsorption component 13 or the pneumatic clamping component 14 to complete the adaptive gripping task. The gripping actuator 11 is located at the end of the entire gripper and is the core component of the gripper that directly contacts the object and completes the gripping task. The pneumatic adsorption component 13 located on the inner wall of the gripping actuator 11 can automatically adjust the gripping force according to the surface shape and material of the object, thereby ensuring that the surface of the object is not damaged during the gripping process. The pneumatic clamping component 14 located at the bottom end of the gripping actuator 11 enables the gripper to provide additional stability and safety when handling these objects, ensuring that the objects will not slip or move during the gripping and handling process.

[0056] In an embodiment of the present invention, the multi-degree-of-freedom motion component 20 includes a central supporting member 21, an intermediate connecting member 22, an elastic buffer member 23 and a multi-directional supporting member 24. One end of the central supporting member 21 is connected to the robot main arm, and the other end thereof is circumferentially connected to multiple support arms 12. The intermediate connecting member 22 is arranged below the central supporting member 21 and connected thereto, and the multi-directional supporting member 24 is arranged below the intermediate connecting member 22 and is connected through multiple elastic buffer members 23.

[0057] The design of the multi-degree-of-freedom motion assembly 20 enables the gripper of the embodiment of the present invention to have three-degree-of-freedom motion capability, and can realize two-direction translation motion and one-direction rotation motion in space. This motion capability provides a basis for the flexible operation of the gripper in a small space, ensuring that it can adapt to a variety of complex working environments.

[0058] The gripper of the embodiment of the present invention is modularly designed during the above design. First, efficient installation, maintenance and upgrading of the gripper are achieved. In industrial production, the gripper can quickly respond to changing needs of the production line by replacing components or adjusting settings, thereby reducing downtime and improving production efficiency. Second, each component can be easily replaced or adjusted to adapt to different gripping tasks and operating environments, thereby significantly improving the flexibility and adaptability of the system. Third, standardized connections between various components are achieved, which not only improves the reliability and operating efficiency of the system, but also enables the gripper to quickly adapt to different industrial application scenarios.

[0059] The gripper of the embodiment of the present invention also fully considers energy efficiency in the above design. By optimizing the design of the power transmission and pneumatic system (i.e., pneumatically connecting the cylindrical clamping cylinder 161 to the controller, pneumatically connecting the rectangular clamping cylinder 151 to the controller and used to connect and drive the actuator, etc.), the gripper of the embodiment of the present invention can still maintain stability and efficiency in long-term, high-frequency industrial operations. The improvement of energy efficiency not only reduces operating costs, but also reduces the impact on the environment, making the gripper system implemented by the present invention also have significant advantages in sustainable development.

[0060] The gripper of the embodiment of the present invention also takes structural compactness into consideration in the overall timing, so that the gripper can achieve complex operations in a limited space while maintaining high performance, thus adapting to the diverse needs of modern industrial production.

[0061] In some implementations of the embodiments of the present invention, reference Figure 6 and Figure 7 The grabbing actuator 11 includes a grabbing claw piece 111 and a grabbing portion 1111 formed on a side of the grabbing claw piece 111 facing the center of the array, and the pneumatic clamping member 14 is disposed on the grabbing portion 1111 .

[0062] The gripping portion 1111 of the gripping claw 111 directly acts on the clamped object (such as a casting) to apply pressure, thereby completing the gripping task; and then the pneumatic clamping member 14 distributed on the gripping portion 1111 changes the internal air pressure of the pneumatic flexible pad 141 according to the shape of the clamped object, thereby achieving a self-soft adaptive gripping function.

[0063] In some implementations of the embodiments of the present invention, reference Figure 6 and Figure 7 The grabbing portion 1111 includes a grabbing plate 1111-1 arranged on the inner edge covering the grabbing claw piece 111 and grabbing blocks 1111-2 symmetrically arranged on both sides of the grabbing plate 1111-1. The grabbing blocks 1111-2 have grabbing surfaces parallel to the grabbing plate 1111-1. The grabbing blocks 1111-2 are fixedly connected to both sides of the inner edge and close to the pneumatic adsorption component 13.

[0064] In some implementations of the embodiments of the present invention, the pneumatic clamping member 14 is configured as a pneumatic flexible pad 141, and the pneumatic flexible pad 141 is at least provided on the surface of the grabbing plate 1111-1. When in use, the grabbing claw piece 111 is closely attached to the surface of the object through the pneumatic flexible pad 141. For example, the pneumatic flexible pad 141 is only provided on the grabbing plate 1111-1, and can also be provided on the grabbing surface of the grabbing plate 1111-1.

[0065] The setting of the pneumatic clamping member 14 can not only provide uniform gripping force, but also can adaptively adjust the gripping method according to the surface characteristics of the object, thereby improving the stability and safety of the gripping. Since the internal structure of the pneumatic flexible pad 141 can be adaptively adjusted according to the characteristics of the object surface, it provides uniform gripping force and effectively avoids damage to the surface of the object. Therefore, the further design of the pneumatic flexible pad 141 enables the gripper to fit objects of various shapes tightly, and is particularly suitable for objects with irregular or fragile surfaces.

[0066] In some implementations of the embodiments of the present invention, the pneumatic adsorption component 13 is configured as a pneumatic suction cup 131 .

[0067] The pneumatic suction cup 131 is installed at the bottom of the gripper. Firstly, by adjusting the suction force of the pneumatic suction cup 131, the gripper's gripping ability is further enhanced, which can ensure the stability of the object during the gripping process and prevent it from slipping or moving. It is particularly suitable for handling objects with smooth surfaces, such as glass products or plastic parts. Secondly, multiple suction cups located in the extension direction of the gripper shrink inward, which can complete the task of gripping small or flat parts, so that the gripper has a wide range of adaptability to objects with different surface shapes, greatly expanding the scope of application and gripping of the gripper.

[0068] In some implementations of the embodiments of the present invention, the central support member 21, the intermediate connection member 22, the elastic buffer member 23 and the multi-directional support member 24 are respectively configured as a central support plate 211, an intermediate connection plate 221, four elastic buffer rods 231 and a multi-directional bracket 241;

[0069] The central support plate 211, the middle connecting plate 221 and the multi-directional bracket 241 are arranged in a straight line, and the central support plate 211 and the middle connecting plate 221 are connected in the middle, and four elastic buffer rods 231 are located near the four corners of the middle connecting plate 221 and connected to the multi-directional bracket 241; the number of the bracket arms 12 is four and they are distributed in a "cross" shape around the central support plate 211.

[0070] In some implementations of the embodiments of the present invention, a flange component 212 for docking with the robot main arm is provided on the side of the central support plate 211 facing away from the intermediate connecting plate 221 , and the flange component 212 is connected to the central support plate 211 via a plurality of fastening components 213 .

[0071] The center support plate 211, which is the core component of the gripper, is fixedly connected to the robot main arm through the flange member 212 and the fastening member 213, providing stability and support for the overall structure of the gripper. The fastening member 213, which includes a stud and a nut, is used for the flange member 212 and the center support plate 211, and plays a supporting and buffering role during the movement of the gripper. The middle connecting plate 221 is connected to the multi-directional bracket 241 through an elastic buffer rod 231. The function of the elastic buffer rod 231 is to absorb vibration and impact force during the gripping process to protect the gripper and the gripped object.

[0072] In some implementations of the embodiments of the present invention, the first clamping cylinder 15 is configured as a rectangular clamping cylinder 151, and the telescopic portion of the rectangular clamping cylinder 151 is rotatably connected to the grab claw piece 111 through the first hinge frame 152 to form a first rotating auxiliary structure A; the cylinder body of the rectangular clamping cylinder 151 is rotatably connected to the bracket arm 12 through the connecting frame 153 to form a first rotating auxiliary structure B;

[0073] The second clamping cylinder 16 is configured as a cylindrical clamping cylinder 161, and the telescopic part of the cylindrical clamping cylinder 161 is rotatably connected to the grab claw piece 111 through the second articulated frame 162 to form a second rotating sub-structure A; the cylinder body of the cylindrical clamping cylinder 161 is rotatably connected to the multi-directional bracket 241 through the connecting ear 163 to form a second rotating sub-structure B.

[0074] The cylindrical clamping cylinder 161 and the rectangular clamping cylinder 151 are selected in type and their respective telescopic parts are used to adjust the length, so as to flexibly adjust the clamping force and the grasping method according to the needs of the grasping task. The first rotating substructure A, the first rotating substructure B, the second rotating substructure A, and the second rotating substructure B are set, each having a degree of freedom at the rotating substructure, and they cooperate with each other to achieve the purpose of completing a more complex grasping action.

[0075] In some implementations of the embodiments of the present invention, a collecting component 25 is further provided at the bottom of the middle connecting plate 221 , and the collecting component 25 is used to detect the position and shape information of the clamped object.

[0076] The acquisition component 25 detects the position and shape information of the clamped object, which can be used to help optimize the intelligence and accuracy of the adaptive grasping effect. Specifically, when the acquisition component 25 is used to detect the clamped object, the target object is grasped by adjusting the inclination angle of the second articulated frame 162, the first articulated frame 152 and the support arm 12; and the acquisition component 25 continues to monitor that when the gripper contacts the object, the pneumatic flexible pad 141 is controlled to adjust the internal air pressure to achieve adaptive flexible grasping.

[0077] In some implementations of the embodiments of the present invention, the collection component 25 is configured as a camera 251; the multi-directional bracket 241 is configured to be in a "well" shape as a whole, and the camera 251 and the bracket arm 12 are respectively installed in the central notch and side groove forming the "well" shape.

[0078] The camera 251 is installed at the inner center of the gripper through the center slot, at the front end of the gripper (i.e., close to the direction of the object to be clamped), which is more convenient for real-time monitoring of the position and state of the object during the grasping process. Furthermore, the image data collected by the camera 251 can be transmitted to the external control system, and the control system can guide the gripper to perform accurate grasping operations based on image data analysis and judgment, such as automatically adjusting the action of the grasping actuator 11 to ensure the accuracy and efficiency of the grasping process; the control system has a high degree of automation, and can adaptively adjust various parameters of the gripper according to actual conditions, greatly improving the grasping success rate and operation efficiency.

[0079] The three-degree-of-freedom adaptive flexible gripper for a sorting robot provided in an embodiment of the present invention is a three-degree-of-freedom adaptive flexible gripper for castings with complex shapes and surfaces. The gripper can be applied to industrial robot systems to achieve efficient and accurate sorting and grasping of different types of parts, and is particularly suitable for complex operating scenarios that require flexibility and adaptability. Its significant technical advantages are specifically reflected as follows:

[0080] The gripper of the embodiment of the present invention has significantly improved its adaptability and flexibility through modular design, and simplified maintenance and replacement operations. The various components of the gripper have standardized connection designs to ensure that they can be quickly installed, maintained and upgraded, thereby improving the overall efficiency and reliability of the system. The high adaptability, high flexibility and high reliability of the gripper give it broad application prospects in the field of modern industrial automation, especially for diversified and complex production tasks.

[0081] The gripper of the embodiment of the present invention is suitable for various industrial application scenarios, and particularly exhibits significant advantages in production lines that need to handle objects of various shapes and sizes.

[0082] The gripper of the embodiment of the present invention is not only designed to adapt to a variety of industrial environments, but also can automatically adjust the gripping strategy through an intelligent control system, thereby significantly improving production efficiency and reducing production costs.

[0083] In the future, the gripper system of the embodiment of the present invention can be further expanded and improved, such as integrating more sensors, increasing the degree of freedom of gripping, or adopting new materials, so as to meet more complex and diverse industrial needs.

[0084] The gripper of the embodiment of the present invention has been rigorously verified and optimized by experiments, and has shown excellent performance and stability in practical applications. The design of the gripper fully considers the needs of users, and has the advantages of easy operation, simple maintenance, and low operating costs. Therefore, the gripper is not only suitable for large industrial enterprises, but also for the transformation and upgrading of production lines of small and medium-sized enterprises.

[0085] In summary, the gripper of the embodiment of the present invention has the advantages of simple structure, powerful functions, wide adaptability, etc. It can meet the strict requirements of diversity and flexibility in modern industrial automation production and has good application prospects and promotion value.

[0086] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0087] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0088] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0089] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any simple modifications and equivalent changes made to the above embodiments based on the technical essence of the present invention fall within the protection scope of the present invention.

Claims

1. A three-degree-of-freedom adaptive flexible gripper for a sorting robot, characterized in that: include: A pneumatic grasping actuator assembly, the pneumatic grasping actuator assembly comprising a plurality of grasping actuators arranged in a circular array; the first end of each grasping actuator is connected to the multi-degree-of-freedom motion assembly through a bracket arm, and the second end thereof and the inner wall of one side of the end facing the center of the array are respectively provided with a pneumatic adsorption component and a pneumatic clamping component; A multi-degree-of-freedom motion assembly, the multi-degree-of-freedom motion assembly comprising a central support member, an intermediate connection member, an elastic buffer member and a multi-directional support member, one end of the central support member is connected to the robot main arm, and the other end thereof is circumferentially connected to a plurality of the support arms, the intermediate connection member is arranged below the central support member and connected thereto, and the multi-directional support member is arranged below the intermediate connection member and connected through a plurality of the elastic buffer members; Among them, the grasping actuator and the support arm are connected through a first clamping cylinder, the first clamping cylinder and the multi-directional support member are connected through a second clamping cylinder, and both ends of the first clamping cylinder and the second clamping cylinder form a rotating pair structure.

2. The three-degree-of-freedom adaptive flexible gripper for a sorting robot according to claim 1, characterized in that: The grabbing actuator comprises a grabbing claw piece and a grabbing portion formed on a side of the grabbing claw piece facing the center of the array, and the pneumatic clamping member is arranged on the grabbing portion.

3. The three-degree-of-freedom adaptive flexible gripper for a sorting robot according to claim 2, characterized in that: The grabbing portion includes a grabbing plate arranged to cover the inner edge of the grabbing claw piece and grabbing blocks symmetrically arranged on both sides of the grabbing plate. The grabbing blocks have grabbing surfaces parallel to the grabbing plate. The grabbing blocks are fixedly connected to both sides of the inner edge and close to the pneumatic adsorption component.

4. The three-degree-of-freedom adaptive flexible gripper for a sorting robot according to claim 3, characterized in that: The pneumatic clamping member is configured as a pneumatic flexible pad, and the pneumatic flexible pad is disposed at least on a surface of the gripping plate.

5. The three-degree-of-freedom adaptive flexible gripper for a sorting robot according to claim 4, characterized in that: The pneumatic suction member is configured as a pneumatic suction cup.

6. A three-degree-of-freedom adaptive flexible gripper for a sorting robot according to claim 2, 3, 4 or 5, characterized in that: The central support member, the intermediate connection member, the elastic buffer member and the multi-directional support member are respectively configured as a central support plate, an intermediate connection plate, four elastic buffer rods and a multi-directional bracket; The central support plate, the intermediate connecting plate and the multi-directional bracket are arranged in a straight line, and the central support plate and the intermediate connecting plate are connected through the middle, and the four elastic buffer rods are located near the four corners of the intermediate connecting plate and are connected to the multi-directional bracket; the number of the bracket arms is four and they are distributed in a "cross" shape around the central support plate.

7. The three-degree-of-freedom adaptive flexible gripper for a sorting robot according to claim 6, characterized in that: A flange component for docking with the robot main arm is provided on the side of the central support plate away from the intermediate connecting plate, and the flange component is connected to the central support plate through a plurality of fastening components.

8. The three-degree-of-freedom adaptive flexible gripper for a sorting robot according to claim 7, characterized in that: The first clamping cylinder is configured as a rectangular clamping cylinder, the telescopic portion of the rectangular clamping cylinder is rotatably connected to the grab claw piece through a first hinge frame to form a first rotating auxiliary structure A; the cylinder body of the rectangular clamping cylinder is rotatably connected to the bracket arm through a connecting frame to form a first rotating auxiliary structure B; The second clamping cylinder is configured as a cylindrical clamping cylinder, and the telescopic part of the cylindrical clamping cylinder is rotatably connected to the grabbing claw piece through a second articulated frame to form a second rotating auxiliary structure A; the cylinder body of the cylindrical clamping cylinder is rotatably connected to the multi-directional bracket through a connecting ear to form a second rotating auxiliary structure B.

9. The three-degree-of-freedom adaptive flexible gripper for a sorting robot according to claim 8, characterized in that: A collection component is further provided at the bottom of the intermediate connecting plate, and the collection component is used to detect the position and shape information of the object to be clamped.

10. The three-degree-of-freedom adaptive flexible gripper for a sorting robot according to claim 9, characterized in that: The collection component is configured as a camera; the multi-directional bracket is configured to be in an overall "well" shape, and the camera and the bracket arm are respectively installed at the central notch and the side grooves forming the "well" shape.

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