Robot gripper and robot

Abstract

This invention discloses a robotic gripper, relating to the field of robotic device technology. It mainly includes a gripper body and a filler. The non-gripping surface of the gripper body has multiple grooves along its length, and the filler is disposed within these grooves. The gripper body is connected to a first driving device, which can drive the gripper body to grasp or release objects. The filler is connected to a second driving device, which can vary the pressure applied by the filler to the gripper body. This invention also discloses a robot including the robotic gripper described above. This invention ensures high reliability in grasping objects and improves grasping accuracy.

Description

Technical Field

[0001] This invention relates to the field of robotic device technology, and in particular to robotic grippers and robots. Background Technology

[0002] Traditional industrial robot grippers are made of rigid materials, and their extremely high rigidity makes them prone to rigid collisions during movement, limiting their application scenarios. Currently, soft grippers, primarily made of flexible materials, are more widely used. They possess good continuous deformation capabilities, movement flexibility, and user-friendly interactivity. However, due to the low stiffness of the fingers, they cannot withstand high pressure, limiting the effective weight range of objects they can grasp. They are only effective at grasping relatively lightweight objects and face problems of low load-bearing capacity and insufficient rigidity. Therefore, there is an urgent need for a robotic gripper and robot to solve the aforementioned technical problems. Summary of the Invention

[0003] The purpose of this invention is to provide a robotic gripper and robot to solve the problems existing in the prior art, ensuring high reliability in grasping objects and improving grasping accuracy.

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

[0005] The present invention provides a robot gripper, including a gripper body and a filler. The non-gripping surface of the gripper body is provided with a plurality of grooves along the length direction. The filler is disposed in the grooves. The gripper body is connected to a first driving device, which can drive the gripper body to grasp or release objects. The filler is connected to a second driving device, which can change the pressure value applied by the filler to the gripper body.

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

[0007] Preferably, the gripper body is a silicone gripper, which comprises multiple silicone segments that are fixedly connected. The silicone gripper is bendable or twistable. When each silicone segment is square, the multiple silicone segments can be bent and deformed; when each silicone segment is a non-square block, the multiple silicone segments can be twisted and deformed.

[0008] Preferably, the filling material is a fabric airbag, and the second driving device is a second air pump, which is used to inflate the fabric airbag with gas.

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

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

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

[0012] Preferably, it further includes a first input connector and a second input connector. The gripper body is provided with a first opening, and the first input connector is fixedly connected to the first opening. The first input connector is used to connect to the first driving device. The fabric airbag is provided with a second opening, and the second input connector is fixedly connected to the second opening. 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 with an adhesive, and the second input connector is bonded and fixed to the second opening with an adhesive.

[0014] The present invention also provides a robot including the robotic gripper described above.

[0015] The present invention achieves the following technical effects compared to the prior art:

[0016] The non-gripping surface of the gripper body of this invention is provided with multiple grooves, and a filler is disposed within these grooves. The gripper body is connected to a first driving device, which drives the gripper body to grip or release objects. The filler is connected to a second driving device, which can change the pressure value of the filler. The second driving device increases the pressure of the filler, enabling the gripper body to exert greater gripping force, ensuring a more stable and secure grip. Furthermore, by changing the pressure value of the filler through the second driving device, the gripper body can adapt to gripping objects of different materials, shapes, and surface characteristics. The first driving device precisely controls the gripper body to grip or release objects, while the second driving device adjusts the pressure value of the filler. The two work together to achieve high-precision operation, meeting the gripping needs of small and delicate objects, and improving the quality and efficiency of production and processing. Attached Figure Description

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

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

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

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

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

[0022] Figure 5 This is a schematic diagram of the structure of the fabric airbag after inflation (bending deformation) in some embodiments of the present invention;

[0023] Figure 6 This is a three-dimensional structural diagram of the robot gripper (twisted and deformed) after the fabric airbag is inflated in some embodiments of the present invention;

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

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

[0026] Figure 9 This is a schematic diagram of the mold for the robot gripper (twisted and deformed) when the fabric airbag is not inflated in some embodiments of the present invention;

[0027] Figure 10 This is a schematic diagram of the structure of the fabric airbag after inflation (twisting and deformation) in some embodiments of the present invention.

[0028] In the diagram: 1-First input connector; 2-Grab body; 3-Fabric airbag; 4-Second input connector; 5-Groove. Detailed Implementation

[0029] 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.

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

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Example 1

[0033] like Figures 1-10 As shown, this invention provides a robot gripper, including a gripper body 2 and a filler. The non-gripping surface of the gripper body 2 has multiple grooves 5 along its length. The filler is disposed within the grooves 5. The gripper body 2 is connected to a first driving device, which can drive the gripper body 2 to grasp or release objects. The filler is connected to a second driving device, which can vary the pressure applied by the filler to the gripper body 2. The second driving device increases the pressure on the filler, enabling the gripper body 2 to exert greater gripping force, ensuring a more stable and secure grip. Furthermore, by changing the pressure value of the filler through the second driving device, the gripper body 2 can adapt to grasping objects of different materials, shapes, and surface characteristics. For example, for soft objects, the pressure can be reduced to avoid damage; for hard and smooth objects, the pressure can be increased to ensure stable gripping, expanding the gripper's applicability. The first driving device precisely controls the gripper body 2 to grasp or release objects, while the second driving device adjusts the pressure value of the filler. The two work together to achieve high-precision operation, meeting the needs of grasping small and delicate objects, and improving the quality and efficiency of production and processing.

[0034] In some embodiments, the gripper body 2 has a sealed cavity inside, and the first driving device is a first air pump, which is used to fill the sealed cavity with gas. The first air pump fills the sealed cavity with gas, using gas pressure as the driving force, providing a stable and uniform power output to the gripper body 2. During the gripping or releasing of objects, it can prevent objects from shaking or falling due to sudden changes in driving force. By adjusting the gas pressure and flow rate, the gripper can grip objects with appropriate force according to their shape, weight, and material characteristics. Furthermore, due to the compressibility of gas, when the flexible fabric gripper body comes into contact with an irregularly shaped object, the gas in the sealed cavity can adaptively adjust according to the object's contour. Compared to traditional rigid grippers, the movement of the flexible fabric gripper body driven by the air pump is smoother. During the gripping process, the gradual filling of gas allows the gripper to slowly and smoothly wrap around the object, reducing impact and protecting the gripped object to a certain extent.

[0035] It should be noted that a hydraulic drive system could exist to drive the flexible fabric gripper body for grasping. This system uses a hydraulic pump to deliver hydraulic oil to a sealed cavity inside the gripper body. When the hydraulic oil enters the sealed cavity, the pressure increases, causing the fabric gripper to expand and achieve the grasping action. However, hydraulic drive systems are relatively complex, requiring specialized hydraulic pumps, cylinders, valves, and other components, resulting in high costs and making them difficult to implement. Furthermore, hydraulic oil leaks can occur, causing pollution and damage to the environment and equipment.

[0036] In some embodiments, the gripper body 2 is a silicone gripper, comprising multiple silicone segments fixedly connected, preferably integrally molded. The silicone gripper is bendable or twistable. When each silicone segment is square, the multiple silicone segments can be bent and deformed; when each silicone segment is a non-square block, the multiple silicone segments can be twisted and deformed. Here, a non-square block refers to a block with a non-square top surface, generally a parallelogram, but the two outermost blocks are generally right-angled trapezoids on the top surface. The two surfaces of each adjacent block used for docking have the same shape. The type of robot gripper can be selected according to needs. The ability to bend and twist allows the robot gripper to perform more complex movements during operation and adapt to more types of objects. Moreover, the silicone material itself is soft, allowing for full contact with the object surface during gripping, dispersing pressure, and avoiding damage to the object surface, making it especially suitable for fragile, easily deformable, or surface-sensitive objects. At the same time, the multi-segment connection design allows the gripper to adjust its posture according to the object's center of gravity and shape during gripping, maintaining gripping stability.

[0037] In some embodiments, the filling element is a fabric airbag 3, and the second driving device is a second air pump, which is used to inflate the fabric airbag 3 with gas. 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 abrasion resistance, can be inflated with more gas, and provides a greater force against the sidewall of the groove 5, so that the gripper body 2 can obtain greater load-bearing capacity and grasp heavier objects. In addition, the good abrasion resistance of the fabric airbag 3 makes it more durable and can be used for a longer period of time.

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

[0039] In some embodiments, the groove 5 is a strip-shaped groove. When the fabric airbag 3 is not inflated, it is sheet-shaped and can fill the groove 5, and is fixedly connected to the inner wall of the groove 5. When inflated, the fabric airbag 3 is a wedge-shaped airbag, 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 inflation, with its top length greater than its bottom length, allows the gripper to bend or twist better, making the gripping of objects more secure and reliable. The sheet-shaped fabric airbag 3 when not inflated can be compactly placed in the strip-shaped groove, occupying little space. Within 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. Multiple gripping modes can be achieved by independently controlling each air pump. Each fabric airbag 3 is equipped with an independent second air pump, enabling precise control of the inflation volume and pressure of a single airbag. When gripping irregularly shaped objects, the pressure of airbags at different locations can be adjusted according to the specific surface conditions of the object, allowing the gripper to fit more closely to the object's surface and greatly improving gripping stability and accuracy. For example, when gripping handicrafts with significant surface undulations, the airbags at different locations can be adjusted separately to ensure that each contact point provides appropriate gripping force. Furthermore, if one air pump malfunctions, it will not affect the normal operation of other air pumps and fabric airbags 3, and will not significantly impact the gripping effect of the gripper body 2.

[0041] In some embodiments, the contact surfaces of the fabric airbag 3 and the groove 5 are bonded and fixed with an adhesive. The adhesive is evenly distributed on the contact surface, making the force distribution on the fabric airbag 3 within the groove 5 more uniform. This helps to avoid damage to the airbag or loosening of the connection due to excessive local stress, extending the service life of the fabric airbag 3 and the gripper as a whole. Furthermore, the bonding 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. Ethylene-vinyl acetate copolymer hot melt adhesive itself has good flexibility and, after curing, can adapt to the deformation of the fabric airbag 3 during inflation and deflation. Even under frequent stretching and bending, it is not prone to cracking or delamination, exhibiting good fatigue resistance. Alternatively, other fixing methods can be used, such as connecting the fabric airbag 3 to the sidewall of the groove 5 with rubber sealing pins. However, this method is more difficult to implement, requiring the rubber sealing pins to be passed through the fabric airbag 3 and the sidewall of the groove 5 sequentially before sealing the airbag 3. This carries a risk of air leakage and is not as effective as adhesive bonding.

[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 driving 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 driving device. The first input connector 1 and the second input connector 4 provide connection ports for the first driving device (first air pump) and the second driving device (second air pump), respectively, making the connection between the driving device and the gripper body 2 and the fabric airbag 3 more convenient and faster, eliminating the need for complex adapters or customized installations, reducing installation difficulty and time costs, and improving assembly efficiency.

[0044] In some embodiments, the first input connector 1 and the first opening are bonded together with an adhesive, and the second input connector 4 and the second opening are bonded together with an adhesive. The adhesive forms a tight seal between the input connector and the opening, effectively preventing gas leakage. Bonding the first input connector 1 to the first opening of the gripper body 2 ensures that the gas pumped into the sealed cavity by the first air pump will not escape, maintaining a stable air pressure within the cavity and ensuring normal operation of the gripper body 2. Bonding the second input connector 4 to the second opening of the fabric airbag 3 prevents gas pumped into the fabric airbag 3 from leaking, allowing the airbag to inflate stably and maintain the required pressure value, thereby ensuring the gripper's gripping performance and operational stability.

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

[0046] Example 2

[0047] This embodiment also provides a robot, including the robot gripper as described in Embodiment 1, which can ensure high reliability in grasping objects and improve grasping accuracy.

[0048] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A robotic gripper, characterized in that: The gripper includes a gripper body and a filler. The non-gripping surface of the gripper body has multiple grooves along its length. The filler is disposed within each groove. The gripper body is connected to a first driving device, which can drive the gripper body to grip or release objects. The filler is connected to a second driving device, which can change the pressure applied by the filler to the gripper body. The gripper body has an internal sealed cavity. The first driving device is a first air pump used to fill the sealed cavity with gas. The filler is a fabric airbag. The second driving device is a second air pump used to fill the fabric airbag with gas. The grooves are strip-shaped. When uninflated, the fabric airbag is sheet-shaped and can fill the groove, being fixedly connected to the inner wall of the groove. When inflated, the fabric airbag becomes a wedge-shaped airbag, with the length of the top portion of the groove being greater than the length of the bottom portion. Each fabric airbag is individually connected to a second air pump.

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

3. The robot gripper according to claim 1, characterized in that: The fabric airbag and the groove are bonded and fixed together by an adhesive.

4. The robot gripper according to claim 1, characterized in that: It also includes a first input connector and a second input connector. The gripper body is provided with a first opening, and the first input connector is fixedly connected to the first opening. The first input connector is used to connect to the first driving device. The fabric airbag is provided with a second opening, and the second input connector is fixedly connected to the second opening. The second input connector is used to connect to the second driving device.

5. The robot gripper according to claim 4, characterized in that: The first input connector is bonded and fixed to the first opening with adhesive, and the second input connector is bonded and fixed to the second opening with adhesive.

6. A robot, characterized in that: Including the robotic gripper as described in any one of claims 1-5.

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