Robot gripper and robot

Abstract

The invention discloses a robot gripper, and relates to the technical field of robot devices, the robot gripper mainly comprises a gripper main body and filling pieces, a plurality of grooves are formed in the non-gripping surface of the gripper main body in the length direction, the filling pieces are arranged in the grooves, and the gripper main body is connected with a first driving device; the first driving device can drive the gripper body to grab or put down an object, the filling piece is connected with a second driving device, and the second driving device can enable the value of pressure applied by the filling piece to the gripper body to change. The invention further discloses a robot which comprises the robot gripper. The high reliability of object grabbing can be guaranteed, and the grabbing precision can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot devices, in particular to a robot gripper and a robot. Background Art

[0002] Traditional industrial robot grippers are made of rigid hard materials. Their extremely high rigidity makes them prone to rigid collisions during movement, limiting their application scenarios. Currently, soft grippers made of flexible materials are more widely used. They have good continuous deformation capabilities, movement flexibility, and friendly interactivity. However, due to the low stiffness of the fingers, they cannot withstand high pressures, and the weight range of objects that can be effectively grasped is limited. They can only effectively grasp lighter objects, facing the problems of small load-bearing capacity and insufficient rigidity. Therefore, there is an urgent need for a robot gripper and a robot to solve the above technical problems. Summary of the invention

[0003] The object of the present invention is to provide a robot gripper and a robot to solve the problems existing in the above-mentioned prior art, to ensure high reliability of grasping objects, and to improve grasping accuracy.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a robot gripper, comprising a gripper body and a filling piece, wherein a non-grasping surface of the gripper body is provided with a plurality of grooves along the length direction, the filling piece is arranged in the grooves, the gripper body is connected to a first driving device, the first driving device can drive the gripper body to grasp or put down an object, and the filling piece is connected to a second driving device, the second driving device can change the pressure value applied by the filling piece to the gripper body.

[0006] Preferably, a sealed cavity is provided inside the gripper body, and the first driving device is a first air pump, which is used to fill gas into the sealed cavity.

[0007] Preferably, the gripper body is a silicone gripper, which includes multiple sections of silicone, which are fixedly connected, and the silicone gripper can be bent or twisted. When each section of silicone is a square, the multiple sections of silicone can be bent and deformed; when each section of silicone is a non-square block, the multiple sections of silicone can be twisted and deformed.

[0008] Preferably, the filling piece is a fabric airbag, and the second driving device is a second air pump, and the second air pump is used to fill gas into the fabric airbag.

[0009] Preferably, the groove is a strip groove, and the fabric airbag is in a sheet shape when not inflated, can be filled in the groove, and is fixedly connected to the inner wall of the groove; the fabric airbag is a wedge-shaped airbag after being inflated, and the length of the top part of the groove is greater than the length of the bottom part of the groove.

[0010] Preferably, each of the fabric airbags is individually connected to one of the second air pumps.

[0011] Preferably, the contact surface between the fabric airbag and the groove is bonded and fixed by an adhesive.

[0012] Preferably, it also includes a first input connector and a second input connector, a first opening is provided on the gripper body, the first input connector is fixedly connected to the first opening, and the first input connector is used to connect to the first driving device; a second opening is provided on the fabric airbag, the second input connector is fixedly connected to the second opening, and the second input connector is used to connect to the second driving device.

[0013] Preferably, the first input connector is bonded and fixed to the first opening by adhesive, and the second input connector is bonded and fixed to the second opening by adhesive.

[0014] The present invention also provides a robot, comprising the robot gripper as described above.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The non-grabbing surface of the gripper body of the present invention is provided with a plurality of grooves, and the filling piece is provided in the grooves. The gripper body is connected to a first driving device, which can drive the gripper body to grab or put down an object, and the filling piece is connected to a second driving device, which can change the pressure value of the filling piece. The second driving device increases the pressure of the filling piece, which can make the gripping force of the gripper body stronger and ensure a more stable and firm grip. And by changing the pressure value of the filling piece through the second driving device, the gripper body can adapt to the gripping of objects of different materials, shapes and surface characteristics. The first driving device accurately controls the gripper body to grab or put down an object, and the second driving device adjusts the pressure value of the filling piece. The two cooperate to achieve high-precision operation, meet the gripping requirements for tiny and precise objects, and improve the quality and efficiency of production and processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the robot gripper (bending and deforming) after the fabric airbag is inflated in some embodiments of the present invention;

[0019] Figure 2 A front view of a robot gripper (bent and deformed) after the fabric airbag is inflated in some embodiments of the present invention;

[0020] Figure 3 Schematic diagram of a manufacturing mold for a gripper body (bending and deforming) in some embodiments of the present invention;

[0021] Figure 4 A schematic diagram of a mold of a robot gripper (bending and deforming) when the fabric airbag is not inflated in some embodiments of the present invention;

[0022] Figure 5 Schematic diagram of the structure of the fabric airbag after inflation (bending and deforming) in some embodiments of the present invention;

[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the robot gripper (distorted) after the fabric airbag is inflated in some embodiments of the present invention;

[0024] Figure 7 A front view of a robot gripper (distorted) after the fabric airbag is inflated in some embodiments of the present invention;

[0025] Figure 8 Schematic diagram of a manufacturing mold for a gripper body (distorted and deformed) in some embodiments of the present invention;

[0026] Fig. 9 Schematic diagram of a mold of a robot gripper (distorted) when the fabric airbag is not inflated in some embodiments of the present invention;

[0027] Fig.10 It is a schematic diagram of the structure of the fabric airbag after inflation (twisted and deformed) in some embodiments of the present invention.

[0028] In the figure: 1-first input connector; 2-gripper body; 3-fabric airbag; 4-second input connector; 5-groove. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0030] The object of the present invention is to provide a robot gripper and a robot to solve the problems existing in the prior art, to ensure high reliability of grasping objects, and to improve grasping accuracy.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Embodiment 1

[0033] like Figure 1-Figure 10 As shown, the present invention provides a robot gripper, including a gripper body 2 and a filler, a non-grasping surface of the gripper body 2 is provided with a plurality of grooves 5 along the length direction, the filler is provided in the groove 5, the gripper body 2 is connected to a first driving device, the first driving device can drive the gripper body 2 to grasp or put down an object, the filler is connected to a second driving device, the second driving device can change the pressure value applied by the filler to the gripper body 2. The second driving device increases the pressure of the filler, which can make the gripper body 2 have a greater gripping force, ensuring a more stable and firm grip. And by changing the pressure value of the filler through the second driving device, the gripper body 2 can adapt to the gripping of objects of different materials, shapes and surface characteristics, such as soft objects, the pressure can be reduced to avoid damage; hard and smooth objects, the pressure is increased to ensure stable gripping, and the scope of application of the gripper is expanded. The first driving device accurately controls the gripper body 2 to grasp or put down an object, and the second driving device adjusts the pressure value of the filler, and the two cooperate to achieve high-precision operation, meet the gripping requirements of tiny and precise objects, and improve the quality and efficiency of production and processing.

[0034] In some embodiments, a closed cavity is provided inside the gripper body 2, and the first driving device is a first air pump, which is used to fill gas into the closed cavity. The first air pump fills gas into the closed cavity, and uses gas pressure as a driving force, which can provide a smooth and uniform power output for the gripper body 2. In the process of grabbing or putting down an object, the shaking or falling of the object caused by the sudden change of the driving force can be avoided. By adjusting the pressure and flow of the gas, the gripper can grab the object with appropriate force according to the characteristics of the object such as shape, weight and material. And due to the compressibility of the gas, when the flexible fabric gripper body contacts an irregularly shaped object, the gas in the closed cavity can be adaptively adjusted according to the contour of the object. Compared with the traditional rigid gripper, the action of the flexible fabric gripper body driven by the air pump is more flexible. In the process of grabbing, the gradual filling of the gas enables the gripper to slowly and steadily wrap the object, reduce the impact on the object, and protect the grasped object to a certain extent.

[0035] It should be noted that there may be a hydraulic drive system that drives the flexible fabric gripper body to grasp. The hydraulic drive system delivers hydraulic oil to the closed cavity inside the flexible fabric gripper body through a hydraulic pump. When the hydraulic oil enters the closed cavity, the pressure in the closed cavity increases, causing the fabric gripper to expand and achieve the grasping action. However, the hydraulic drive system is relatively complex and requires special hydraulic pumps, hydraulic cylinders, hydraulic valves and other components. The cost is high and it is not easy to implement. In addition, the hydraulic oil may leak, causing pollution and damage to the environment and equipment.

[0036] In some embodiments, the gripper body 2 is a silicone gripper, which includes multiple sections of silicone, which are fixedly connected and preferably integrally formed. The silicone gripper can be bent or twisted. When each section of silicone is square, the multiple sections of silicone can be bent and deformed; when each section of silicone is a non-square block, the multiple sections of silicone can be twisted and deformed. The non-square block here refers to a block with a non-square top surface, generally a parallelogram, but the blocks at the two ends are generally blocks with a right-angled trapezoidal top surface, and the two faces of each adjacent block for docking are of the same shape. The type of robot gripper is selected according to needs. The ability to bend and twist enables the robot gripper to achieve more complex movements during operation and adapt to more types of objects. The silicone material itself is soft in texture, and can fully contact the surface of the object during the grasping process, disperse the pressure, and avoid damage to the surface of the object. It is particularly suitable for fragile, deformable or surface-sensitive objects. At the same time, the design of multi-section connection enables the gripper to adjust its posture according to the center of gravity and shape of the object during the grasping process to maintain the stability of the grasping.

[0037] In some embodiments, the filling member is a fabric airbag 3, and the second driving device is a second air pump, which is used to fill gas into the fabric airbag 3. The fabric airbag 3 has good flexibility and deformability. Compared with materials such as silicone, the fabric obtained by weaving technology has better tensile strength and wear resistance, can be filled with more gas, and provide a greater force against the side wall of the groove 5, so that the gripper body 2 can obtain a greater bearing capacity and grasp heavier objects. The good wear resistance of the fabric airbag 3 makes it more durable and can be used for a longer time.

[0038] It should be noted that the filling piece can also be other types of airbags or other types of materials, such as rubber airbags, cloth airbags, etc., or electrically controlled variable stiffness materials or magnetically controlled variable stiffness materials, etc. In this case, the second drive device also needs to be adjusted accordingly.

[0039] In some embodiments, the groove 5 is a strip groove, and the fabric airbag 3 is in a sheet shape when not inflated, which can be filled in the groove 5 and fixedly connected to the inner wall of the groove 5; the fabric airbag 3 is a wedge-shaped airbag after being inflated, and the length of the top part of the groove 5 is greater than the length of the bottom part of the groove 5. The wedge-shaped fabric airbag 3 after being inflated has a top length greater than the bottom, so that the gripper can be bent or twisted better, and can be more secure and reliable when grasping objects. The sheet-shaped fabric airbag 3 when not inflated can be compactly placed in the strip groove, occupying a small space. In a limited space, it can realize the driving function without affecting the overall structure of the robot gripper and the layout of other components.

[0040] In some embodiments, each fabric airbag 3 is individually connected to a second air pump. By independently controlling each air pump, a variety of gripping modes can be achieved. Each fabric airbag 3 is equipped with an independent second air pump, which can accurately regulate the inflation volume and pressure of a single airbag. When grasping irregularly shaped objects, the pressure of the airbags at different positions can be adjusted in a targeted manner according to the specific conditions of the object surface, so that the gripper fits more closely to the surface of the object, greatly improving the stability and accuracy of the grip. For example, when grasping a craft with a large surface undulation, the airbags at different positions can be adjusted separately to ensure that each contact point can provide appropriate gripping force. And when a certain air pump fails, it will not affect the normal operation of other air pumps and fabric airbags 3, and will basically not affect the gripping effect of the gripper body 2.

[0041] In some embodiments, the contact surface between the fabric airbag 3 and the groove 5 is fixed by bonding with an adhesive. The adhesive is evenly distributed on the contact surface, so that the force applied to the fabric airbag 3 in the groove 5 is more evenly distributed, which helps to avoid damage to the airbag or loosening of the connection part due to excessive local force, and prolongs the service life of the fabric airbag 3 and the gripper as a whole. In addition, the bonding and fixing method can maintain a stable connection, ensuring the reliability and stability of the entire gripping system.

[0042] It should be noted that the adhesive can be ethylene-vinyl acetate copolymer hot melt adhesive, which has good flexibility and can adapt to the deformation of the fabric airbag 3 during inflation and deflation after curing. Even under frequent expansion and contraction and bending actions, it is not easy to crack or debond, and has good fatigue resistance. In addition, other types of fixing methods can also be used, such as connecting the fabric airbag 3 to the side wall of the groove 5 with a rubber sealing nail, but this setting method is difficult to implement. When the airbag is not enclosed and sealed, the rubber sealing nail must first be passed through the fabric airbag 3 and the side wall of the groove 5 in turn, and then the fabric airbag 3 is sealed. However, there is a risk of air leakage, and the effect is not as good as the bonding effect.

[0043] In some embodiments, the robot gripper further includes a first input connector 1 and a second input connector 4. A first opening is provided on the gripper body 2, and the first input connector 1 is fixedly connected to the first opening. The first input connector 1 is used to connect to a first drive device. A second opening is provided on the fabric airbag 3, and the second input connector 4 is fixedly connected to the second opening. The second input connector 4 is used to connect to a second drive device. The first input connector 1 and the second input connector 4 provide connection ports for the first drive device (first air pump) and the second drive device (second air pump), respectively, so that the connection between the drive device and the gripper body 2 and the fabric airbag 3 is more convenient and faster, without the need for complex switching or customized installation, reducing the difficulty and time cost of installation, and improving assembly efficiency.

[0044] In some embodiments, the first input connector 1 is bonded and fixed to the first opening by an adhesive, and the second input connector 4 is bonded and fixed to the second opening by an adhesive. The adhesive can form a tight seal between the input connector and the opening, effectively preventing gas leakage. For the bonding of the first input connector 1 to the first opening of the gripper body 2, it is ensured that the gas filled into the closed cavity by the first air pump will not escape, and the stable air pressure in the cavity is maintained to ensure the normal driving of the gripper body 2. For the bonding of the second input connector 4 to the second opening of the fabric airbag 3, it can prevent the gas filled into the fabric airbag 3 by the second air pump from leaking, so that the airbag can be stably inflated and the required pressure value can be maintained, thereby ensuring the gripping performance and operational stability of the gripper.

[0045] It should be noted that the adhesive may be ethylene-vinyl acetate copolymer hot melt adhesive, which has good flexibility and is not prone to cracking.

[0046] Embodiment 2

[0047] This embodiment also provides a robot, including the robot gripper as described in the first embodiment, which can ensure high reliability of grasping objects and improve grasping accuracy.

[0048] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A robot gripper, characterized in that: It includes a gripper body and a filling piece, wherein the non-grabbing surface of the gripper body is provided with a plurality of grooves along the length direction, the filling piece is arranged in the grooves, the gripper body is connected to a first driving device, the first driving device can drive the gripper body to grab or put down an object, and the filling piece is connected to a second driving device, the second driving device can change the pressure value applied by the filling piece to the gripper body.

2. The robot gripper according to claim 1, characterized in that: A sealed cavity is provided inside the gripper body, and the first driving device is a first air pump, which is used to fill gas into the sealed cavity.

3. The robot gripper according to claim 1, characterized in that: The gripper body is a silicone gripper, which includes multiple sections of silicone. The multiple sections of silicone are fixedly connected, and the silicone gripper can be bent or twisted. When each section of silicone is a square, the multiple sections of silicone can be bent and deformed; when each section of silicone is a non-square block, the multiple sections of silicone can be twisted and deformed.

4. The robot gripper according to claim 1, characterized in that: The filling piece is a fabric airbag, and the second driving device is a second air pump, which is used to fill gas into the fabric airbag.

5. The robot gripper according to claim 4, characterized in that: The groove is a strip-shaped groove. When the fabric airbag is not inflated, it is in a sheet shape and can be filled in the groove and fixedly connected to the inner wall of the groove. After being inflated, the fabric airbag is a wedge-shaped airbag, and the length of the top part of the groove is greater than the length of the bottom part of the groove.

6. The robot gripper according to claim 5, characterized in that: Each of the fabric airbags is individually connected to one of the second air pumps.

7. The robot gripper according to claim 5, characterized in that: The contact surface between the fabric airbag and the groove is bonded and fixed by an adhesive.

8. The robot gripper according to claim 4, characterized in that: It also includes a first input connector and a second input connector. The gripper body is provided with a first opening, the first input connector is fixedly connected to the first opening, and the first input connector is used to connect to the first driving device; the fabric airbag is provided with a second opening, the second input connector is fixedly connected to the second opening, and the second input connector is used to connect to the second driving device.

9. The robot gripper according to claim 8, characterized in that: The first input connector is bonded and fixed to the first opening by adhesive, and the second input connector is bonded and fixed to the second opening by adhesive.

10. A robot, characterized in that: Comprising a robot gripper as described in any one of claims 1-9.

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