A bionic pad-claw composite structure manipulator and its control method

Abstract

The present invention discloses a bionic pad-claw composite structure manipulator, comprising a palm portion, knuckles, and fingers. The palm portion is provided with a movable structure that can drive the knuckles to move to complete a grasping action. The finger portion includes an active module and a grasping module. The grasping module includes an inner pad, a middle pad, and an outer pad. The middle pad is provided with a claw array, and the inner pad is provided with an inner pad gap, through which the claw array can extend. The present invention mimics the grasping pad structure of the forelimbs of cats. The extension and retraction of the claw array can be controlled by the active module, enabling the fingers to freely switch between flexible and claw grasping modes. The grasping mode can be switched according to the type of object to be grasped, and effective grasping of objects can be achieved without changing the manipulator when grasping different types of objects. Compared with traditional manipulators, this bionic manipulator can adapt to different types of objects in different scenarios and has a wide range of application scenarios.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and in particular to a bionic pad-claw composite structure manipulator capable of switching modes and a control method thereof. Background Art

[0002] With the continuous development of robotics, the complexity of the tasks it faces continues to increase, further enhancing the operational capabilities of robotic arms. However, traditional robotic arms have a relatively simple grasping mode, capable of only handling a certain type of object. Therefore, the design and development of biomimetic manipulators has become a major research direction in robotics in recent years, aiming to create mechanical devices that can perform complex operations, adapt to changing environments, and possess high flexibility and intelligence. Currently developed biomimetic manipulators are mostly designed to mimic flexible limbs such as human hands and octopus tentacles. They typically use flexible materials and structures, enabling multi-degree-of-freedom movement, achieving flexibility and adaptability, and adjusting grip force, angle, and direction according to task requirements. While relatively flexible, these gripping modes remain fixed and relatively simple. When faced with widely varying object types, the manipulator must be replaced for targeted grasping, making it impossible to grasp multiple object types with a single manipulator. Summary of the Invention

[0003] In order to solve the problem that the robot has a single grasping mode and cannot grasp multiple types of objects through a single robot, the present invention discloses a bionic pad-claw composite structure robot, which can enable the robot grasping module to freely switch the grasping mode according to the type of object to be grasped, thereby achieving effective grasping of different types of objects.

[0004] The specific technical solution of the present invention is: a bionic pad-claw composite structure manipulator, including a palm, knuckles and fingers, the palm is a hollow structure forming a cavity, the palm is provided with a moving structure, the moving structure is arranged in the cavity and can move in the cavity, the knuckles are connected to the moving structure, the finger part includes a motion module and a grasping module, the motion module is connected to the knuckles, and the grasping module is connected to the motion module.

[0005] Specifically, the palm portion is correspondingly provided with 2 knuckles and 2 fingers.

[0006] Furthermore, the movable structure includes a slide rail, a gear and a gear servo, the slide rail is arranged in the cavity, the gear and the gear servo are fixed by knuckles, and the gear is installed on the slide rail and can move on the slide rail.

[0007] Furthermore, a sliding groove for the knuckle to move is opened on one side of the cavity, the knuckle passes through the sliding groove and extends out of the cavity, and the gear drives the knuckle to move along the sliding groove.

[0008] Furthermore, the motion module includes a single-axis motor, a dual-axis motor, a single belt, a dual belt, an outer drive pulley, and an inner drive pulley. The single-axis motor and the dual-axis motor are both fixed on the knuckle, the outer drive pulley is connected to the dual-axis motor, and the inner drive pulley is connected to the single-axis motor.

[0009] One end of the double belt is fixedly connected to the outer drive pulley, and the other end is wound around the outer drive pulley. When the outer drive pulley rotates, the double belt is tightened and loosened.

[0010] One end of the single belt is fixedly connected to the inner transmission pulley, and the other end is wound around the inner transmission pulley. When the inner transmission pulley rotates, the single belt is driven to tighten and loosen.

[0011] Furthermore, the grabbing module includes an inner pad, an outer pad and a middle pad, one end of the inner pad and the outer pad are fixedly connected to the double belt, one end of the middle pad is fixedly connected to the single belt, and the other ends of the inner pad, the outer pad and the middle pad are fixedly connected.

[0012] In particular, the surface of the inner pad can also be roughened by using micro-convexities, frosting, etc. to prevent objects with smooth surfaces from slipping due to insufficient grip.

[0013] Furthermore, a hook array is provided on one side of the middle pad close to the inner pad, and an inner pad gap adapted to the hook array is provided on the end of the inner pad away from the double belts, and the hook array can extend from the inner pad gap.

[0014] Furthermore, the bionic pad-claw composite structure manipulator also includes a manipulator adapter block, one end of which is connected to the side of the slide groove opposite to the palm, and the other end is connected to the manipulator arm, for installing the bionic pad-claw composite structure manipulator on the manipulator arm.

[0015] The present invention also provides a method for controlling a bionic pad-claw composite structure manipulator, including the above-mentioned bionic pad-claw composite structure manipulator, comprising the following steps:

[0016] S1 obtains the size, shape and position information of the object to be grasped;

[0017] S2 determines the grasping mode based on the object information;

[0018] S3 switches the gripping mode of the gripping module through the motion module;

[0019] S4 controls the movement of the mobile structure to achieve object grasping.

[0020] Specifically, in step S2, the grasping mode includes a flexible grasping mode and a claw grasping mode.

[0021] Furthermore, in step S3, the method for switching the grabbing mode is:

[0022] S31: When the object to be grasped has a smooth surface or is easily damaged, the motion module drives the grasping module to relax, the claws on the grasping module do not extend, and the inner pad of the grasping module directly contacts the object to be grasped;

[0023] S32 When the object to be grasped is a rough-surfaced object or a soft object, the motion module drives the grasping module to tighten, the claws on the grasping module extend through the inner pad, and the grasping module contacts the object to be grasped through the claws.

[0024] After switching to the appropriate grasping mode, adjust the gear servo, and the gear drives the grasping structure to move through the knuckles to complete the object grasping.

[0025] Beneficial effects of the present invention:

[0026] The present invention imitates the structure of the feline forelimb grasping pad and controls the extension and retraction of the inner pad claw array, so that the grasping module can be switched between flexible and claw grasping modes. It can switch to the appropriate grasping mode for grasping different types of objects without replacing the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. For those skilled in the art, other drawings can be obtained based on the drawings without paying any creative work.

[0028] Figure 1 This is a schematic diagram of the overall structure of the bionic pad-claw composite structure manipulator of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of a single manipulator of the present invention;

[0030] Figure 3 This is a schematic diagram of the finger structure of the present invention;

[0031] Figure 4 It is a side view of the finger portion of the present invention;

[0032] Figure 5 This is a schematic diagram of the inner pad structure of the present invention;

[0033] Figure 6 This is the control flow chart of the bionic pad-claw composite structure manipulator of the present invention.

[0034] Among them: 1. Palm; 101. Cavity; 102. Slide rail; 103. Gear; 104. Gear servo; 105. Slide groove; 2. Knuckle; 3. Finger; 301. Dual-axis motor; 302. Dual belts; 303. External drive pulley; 304. Single-axis motor; 305. Single belt; 306. Internal drive pulley; 307. External pad; 308. Middle pad; 309. Inner pad; 310. Inner pad gap; 311. Claw array; 4. Robot adapter block. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] Reference Figures 1 to 5 As shown, an embodiment of a bionic pad-claw composite structure manipulator includes a palm portion 1, knuckles 2 and fingers 3. The palm portion is a hollow structure, and the hollow part forms a cavity 101. A slide rail 102 is installed in the cavity 101. There is a movable gear 103 on the slide rail 102, and a gear servo 104 connected to the gear 103. The gear 103 and the gear servo 104 are fixed on the knuckle 2. The slide rail 102, the gear 103, and the gear servo 104 constitute a moving structure and drive the knuckle 2 to move. A slide groove 105 is provided on the cavity wall of the cavity 101 on one side of the slide rail 102. The knuckle 2 passes through the slide groove 105 and moves in the slide groove 105.

[0037] The finger part 3 includes a dual-axis motor 301 , a dual belt 302 , an outer drive pulley 303 , a single-axis motor 304 , a single belt 305 , an inner drive pulley 306 , an outer pad 307 , a middle pad 308 , and an inner pad 309 .

[0038] The dual-axis motor 301, dual belts 302, outer drive pulley 303, single-axis motor 304, single belt 305, and inner drive pulley 306 constitute the motion module of the finger 3. The dual-axis motor 301 and the single-axis motor 304 are both fixed to the portion of the finger joint 2 extending from the slide groove 105. The dual-axis motor 301 drives the outer drive pulley 303, which is connected to the dual belts 302. The single-axis motor 304 drives the inner drive pulley 306, which is connected to the single belt 305.

[0039] The outer pad 307, the middle pad 308, and the inner pad 309 constitute the grasping module of the finger part 3. One end of the outer pad 307 and the inner pad 309 are fixedly connected to the double belt 302, one end of the middle pad 308 is fixedly connected to the single belt 305, and the other ends of the inner pad 309, the outer pad 307, and the middle pad 308 are fixedly connected together.

[0040] A hook array 311 is provided on one side of the middle pad 308 close to the inner pad 309 , and an inner pad gap 310 adapted to the hook array 311 is provided on the end of the inner pad 309 away from the double belt 302 , and the hook array 311 can extend from the inner pad gap 310 .

[0041] One end of the double belt 302 connected to the inner pad 309 is fixedly connected to the outer drive pulley 303, and one end of the double belt 302 connected to the outer pad 307 is wound around the outer drive pulley 303. When the dual-axis motor 301 drives the outer drive pulley 303 to rotate, the double belt 302 can be tightened and loosened;

[0042] One end of the single belt 305 close to the outer pad 307 is fixedly connected to the inner transmission pulley 306, and one end of the single belt 305 close to the inner pad 309 is wound around the inner transmission pulley 306. When the single-axis motor 304 drives the inner transmission pulley 306 to rotate, the single belt 305 can be driven to tighten and loosen.

[0043] When the single belt 305 and the double belt 302 are tightened, the claw array 311 on the inner pad 309 extends from the inner pad gap 310 and switches to the claw grabbing mode;

[0044] When the single belt 305 and the double belt 302 are relaxed, the claw array 311 on the inner pad 309 does not extend, and is in a flexible grasping mode.

[0045] The inner pad surface is also frosted to increase the roughness of the inner pad, thereby improving the friction in the flexible grasping mode and preventing objects with smooth surfaces from slipping due to insufficient grip.

[0046] The palm portion 1 is mounted on the robotic arm via the robotic arm adapter block 4 .

[0047] Reference Figure 5 The control method of a bionic pad-claw composite structure manipulator of this embodiment is as follows:

[0048] S1 obtains the type, size, shape and location information of the object to be grasped;

[0049] S2 determines the grasping mode based on the object information;

[0050] S3 switches the gripping mode of the gripping module through the motion module;

[0051] S4 controls the movement of the mobile structure to achieve object grasping.

[0052] In step S2, the grasping mode includes a flexible grasping mode and a hook grasping mode. In the flexible grasping mode, the hook does not extend, and the inner pad directly contacts the object to be grasped to grasp the object.

[0053] The claw grabbing mode is to control the claw array to extend from the gap of the inner pad and use the claw to grab objects.

[0054] In step S3, the grabbing mode switching method is:

[0055] S31: When the object to be grasped has a smooth surface or is easily damaged, the motion module drives the grasping module to relax, the claws on the grasping module do not extend, and the inner pad of the grasping module directly contacts the object to be grasped;

[0056] S32 When the object to be grasped is a rough-surfaced object or a soft object, the motion module drives the grasping module to tighten, the claws on the grasping module extend through the inner pad, and the grasping module contacts the object to be grasped through the claws.

[0057] After switching to the appropriate grasping mode, the gear servo 104 is adjusted, and the gear 103 drives the finger part 3 to move through the knuckle 2 to complete the object grasping.

[0058] The specific operating steps of this embodiment are: first determine the type, size, shape and position information of the object to be grasped, and determine whether to use a flexible grasping mode or a claw grasping mode based on the information of the object to be grasped. If the object to be grasped has a smooth surface or is easily damaged, switch to the flexible grasping mode by controlling the single-axis motor 304 and the dual-axis motor 301; if the object to be grasped has a rough surface or is a soft object, switch to the claw grasping mode by controlling the single-axis motor 304 and the dual-axis motor 301; after the grasping mode is switched, according to the size and position information of the object, the gear servo 104 controls the gear 103 to move on the slide rail 102, and drives the two fingers 3 to move relative to each other through the knuckle 2 to grasp the object, and the robotic arm controls the robotic hand to pick up, move or put down to achieve the grasping work.

[0059] Although the preferred embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments. The above-mentioned specific embodiments are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms of specific changes without departing from the scope of protection of the invention and the claims. These all fall within the scope of protection of the present invention.

Claims

1. A bionic pad-claw composite structure manipulator, characterized in that: The hand comprises a palm portion, a knuckle and a finger portion, wherein the palm portion is a hollow structure forming a cavity, the palm portion is provided with a movable structure, the movable structure is arranged in the cavity and can move in the cavity, the knuckle is connected to the movable structure, the finger portion comprises a motion module and a grasping module, the motion module is connected to the knuckle, and the grasping module is connected to the motion module; The motion module includes a single-axis motor, a dual-axis motor, a single belt, a dual belt, an outer drive pulley, and an inner drive pulley. The single-axis motor and the dual-axis motor are both fixed on the knuckle. The outer drive pulley is connected to the dual-axis motor, and the inner drive pulley is connected to the single-axis motor. One end of the double belt is fixedly connected to the outer drive pulley, and the other end is wound around the outer drive pulley. When the outer drive pulley rotates, the double belt is tightened and loosened. One end of the single belt is fixedly connected to the inner transmission pulley, and the other end is wound around the inner transmission pulley. When the inner transmission pulley rotates, the single belt is tightened and loosened. The grabbing module includes an inner pad, an outer pad and a middle pad, one end of the inner pad and the outer pad are fixedly connected to the double belt, one end of the middle pad is fixedly connected to the single belt, and the other ends of the inner pad, the outer pad and the middle pad are fixedly connected; A hook array is provided on one side of the middle pad close to the inner pad, and an inner pad gap adapted to the hook array is provided on one end of the inner pad away from the double belts, and the hook array can extend from the inner pad gap.

2. The bionic pad-claw composite structure manipulator according to claim 1, characterized in that: The moving structure includes a slide rail, a gear and a gear servo. The slide rail is arranged in the cavity. The gear and the gear servo are fixed by knuckles. The gear is installed on the slide rail and can move on the slide rail.

3. The bionic pad-claw composite structure manipulator according to claim 2, characterized in that: A sliding groove for the knuckle to move is opened on one side of the cavity. The knuckle passes through the sliding groove and extends out of the cavity. The gear drives the knuckle to move along the sliding groove.

4. The bionic pad-claw composite structure manipulator according to any one of claims 1 to 3, characterized in that: It also includes a manipulator adapter block, one end of which is connected to the side of the palm opposite to the slide groove, and the other end is connected to the manipulator arm, for installing the bionic pad-claw composite structure manipulator on the manipulator arm.

5. A control method for a bionic pad-claw composite structure manipulator, comprising the bionic pad-claw composite structure manipulator according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1 obtains the size, shape and position information of the object to be grasped; S2 determines the grasping mode based on the object information; S3 switches the gripping mode of the gripping module through the motion module; S4 controls the movement of the mobile structure to achieve object grasping.

6. The bionic pad-claw composite structure manipulator control method according to claim 5, characterized in that: In step S2, the grasping mode includes a flexible grasping mode and a claw grasping mode.

7. The bionic pad-claw composite structure manipulator control method according to claim 6, characterized in that: In step S3, the grabbing mode switching method is: S31: When the object to be grasped has a smooth surface or is easily damaged, the motion module drives the grasping module to relax, the claws on the grasping module do not extend, and the inner pad of the grasping module directly contacts the object to be grasped; S32 When the object to be grasped is a rough-surfaced object or a soft object, the motion module drives the grasping module to tighten, the claws on the grasping module extend through the inner pad, and the grasping module contacts the object to be grasped through the claws.

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