Rigid-flexible coupling end effector and execution robot

Abstract

The invention discloses a rigid-flexible coupling end effector and an execution robot. The rigid-flexible coupling end effector comprises a coupling unit and a rigid-flexible coupling base. The rigid-flexible coupling base comprises a base body, a connecting piece and a traction piece. The coupling unit includes a coupling element and a passive elastic member. The passive elastic piece is of a sheet structure and comprises a first passive elastic piece and a second passive elastic piece, one end of the first passive elastic piece is fixedly connected to the bottom of the first coupling element, and the other end of the first passive elastic piece is fixedly connected to the bottom of the second coupling element; one end of the second passive elastic piece is fixedly connected to the second coupling element, and the other end is fixedly connected to the tail end coupling element; the first coupling element is connected with the clamping block through the traction piece; the traction piece can be freely bent, one end is provided with a wire locking device to limit the traction piece to be separated from the clamping block and penetrates through the coupling element, and the other end is connected to the base body. Each coupling unit is provided with only one pair of traction pieces, so that various postures such as upward bending, suspension and separation of the coupling units are realized.

Description

Technical Field

[0001] The invention relates to the technical fields of animal milking, human body massage, fruit picking, etc., and in particular to a multifunctional terminal adjustable device. Background Art

[0002] With the continuous development of robot technology, traditional agriculture and manufacturing industries are gradually developing towards intelligence. The emergence of intelligent robots has changed the way of operation and reduced the labor intensity of workers. In recent years, due to the scarcity of labor resources and rising costs, it is necessary to develop the breeding industry, picking industry, etc. with the least labor. The emergence of intelligent robots reduces the cost of manual labor, and the optimal result is to obtain high-yield and high-quality operations at low cost. In order to improve operating efficiency and save costs, the technical level of intelligent robots directly affects the efficiency and quality of operations, and plays a decisive role in promoting breeding, picking, artificial massage, etc. Summary of the invention

[0003] A first aspect of the present invention provides a rigid-flexible coupling end effector for solving the technical problems in the prior art of poor environmental adaptability, large size and poor flexibility of the robotic arm.

[0004] The present invention provides a rigid-flexible coupling end effector, comprising: a rigid-flexible coupling base and a coupling unit, wherein the rigid-flexible coupling base comprises a base body, a connecting piece and a cover plate;

[0005] The coupling unit includes a coupling element and a passive elastic member. The passive elastic member is a sheet structure, including a first passive elastic member and a second passive elastic member, one end of the first passive elastic member is fixed to the bottom of the first coupling element, and the other end is fixed to the bottom of the second coupling element; one end of the second passive elastic member is fixed to the second coupling element, and the other end is fixed to the end coupling element; the end coupling element is fixed to the rigid-flexible coupling base; the first coupling element is connected to the clamping block through a traction member; the traction member can be bent freely, one end of which is provided with a wire lock to limit the clamping block from being separated from the traction member, and passes through the coupling member, and the other end is fixed to the base body; the traction member drives the coupling element to bend and deform to drive the clamping block.

[0006] The rigid-flexible coupling end effector provided by the present invention, on the one hand, each coupling unit only needs one driving mechanism to realize the action, thereby reducing the volume of the rigid-flexible coupling end effector; on the other hand, under the joint action of the active drive of the traction part and the passive bending of the passive elastic part, the coupling unit can realize bending at any angle within the allowed range. This design not only meets the requirements for the posture of the end of the robot arm under different working processes, but also allows further adjustment of the working angle, thereby improving the adaptability of the rigid-flexible coupling end effector to the differences in different working objects, thereby improving the success rate of the operation.

[0007] Furthermore, there are multiple traction members, which are spaced apart and coplanar, so that the bending stiffness of the coupling element in the coplanar direction of the passive elastic member is relatively large, thereby improving the stability of the rigid-flexible coupling end effector.

[0008] Furthermore, the number of the traction members is two, the passive elastic members are multiple and connected end to end, the passive elastic member and the two traction members are distributed in an inverted triangle, and the passive elastic member is located between the two traction members. This arrangement improves the structural stability of the coupling unit, is simple to manufacture, and has low cost.

[0009] Furthermore, the traction member and the passive elastic member are arranged in an inverted isosceles triangle, the passive elastic member is located at the vertex of the isosceles triangle, and the two traction members are located at the base of the isosceles triangle. With this arrangement, the supporting force applied by the passive elastic member to the coupling unit is symmetrical, which improves the structural stability of the coupling unit; in addition, the aesthetics of the coupling unit is improved.

[0010] Furthermore, the number of the traction member is one, and the passive elastic member and the traction member are arranged at intervals.

[0011] Furthermore, the coupling element further comprises other coupling elements located between the second coupling element and the end coupling element; there are a plurality of other coupling elements, which are closely arranged; and the traction member passes through a plurality of the coupling elements (210). Such an arrangement makes the bending deformation of the coupling unit more uniform, which is conducive to improving the accuracy of the kinematic model.

[0012] Furthermore, a curved top block is provided directly below the end coupling element, one end of the curved top block is fixedly connected to the rigid-flexible coupling base, the top is closely arranged with the end coupling element, and the other end thereof has a curved portion, and when the traction member is in a relaxed state, the curved portion (216) is matched with the coupling element (210). This arrangement reduces the impact force during the cup collection and cup placement actions, and at the same time plays a guiding role in the cup collection and cup placement states, thereby improving stability.

[0013] Further, the clamping block has a cavity, a wire locker is arranged in the cavity to limit the traction member from being separated from the clamping block, and the clamping block is provided with a groove portion and a protrusion portion to cooperate with the first coupling element to limit the displacement of the first coupling element when the traction member is in a tightened state;

[0014] Furthermore, the traction member is a traction rope or a traction rod.

[0015] Furthermore, the material of the traction rope includes nylon, steel wire rope, polyester or carbon fiber.

[0016] Further, the material of the coupling element is PLA, photosensitive resin or polycarbonate;

[0017] Furthermore, the passive elastic member is a rectangular sheet structure or an elliptical sheet structure;

[0018] Furthermore, the passive elastic member is made of glass fiber, carbon fiber, spring steel or memory alloy.

[0019] The rigid-flexible coupling end effector provided by the present invention can make the coupling unit bend arbitrarily within a range under the drive of the traction member, and can realize the multi-posture change of the coupling unit with only a pair of traction members, and has a high degree of integration.

[0020] A second aspect of the present invention provides a working robot, comprising a frame and the rigid-flexible coupling end effector described above, wherein the rigid-flexible coupling end effector is arranged on the frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A structural schematic diagram of a rigid-flexible coupling end effector provided by an embodiment of the present invention;

[0022] Figure 2 A bottom-up structural schematic diagram of a rigid-flexible coupling end effector provided in an embodiment of the present invention;

[0023] Figure 3 A structural diagram of a rigid-flexible coupling end effector provided in an embodiment of the present invention Figure 1 ;

[0024] Figure 4 Based Figure 2 The part of the schematic diagram is circled at A in the middle;

[0025] Figure 5 A schematic diagram of a "ready posture" of a coupling unit provided by an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of a "cup-up posture" of a coupling unit provided by an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of a "hanging posture" of a coupling unit provided in an embodiment of the present invention;

[0028] Figure 8 A schematic diagram of a "cup-fitting completion posture" of a coupling unit provided in an embodiment of the present invention;

[0029] Fig. 9 A schematic diagram of the structure of a working robot provided by an embodiment of the present invention;

[0030] Description of reference numerals:

[0031] 1. Frame;

[0032] 10. Rigid-flexible coupling base; 110. base body; 120. connector; 130. cover plate;

[0033] 20. Coupling unit; 210. Coupling element; 211. First coupling element; 212. Second coupling element; 213. Intermediate coupling element; 214. End coupling element; 215. Clamping block; 216. Pulling member; 217. Arc top block; 218. Arc portion; 220. Passive elastic member; 221. First passive elastic member; 222. Second passive elastic member; 231. Cavity; 232. Wire locker; 233. Protrusion; 234. Groove portion; DETAILED DESCRIPTION

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the following is a brief description of the present invention in conjunction with the attached drawings. Figure 1-9 The specific embodiments of the present invention are described in detail.

[0035] The embodiment of the present invention provides a rigid-flexible coupling end effector, see the attached Figure 1 , Figure 2 and Figure 4 The rigid-flexible coupling end effector comprises: a rigid-flexible coupling base 10 and a coupling unit 20 ; the rigid-flexible coupling base 10 comprises a base body 110 , a connecting member 120 and a cover plate 130 ; the coupling unit 20 comprises a coupling element 210 and a passive elastic member 220 . The passive elastic member 220 is a sheet structure, including a first passive elastic member and a second passive elastic member. One end of the first passive elastic member 221 is fixed to the bottom of the first coupling element 211, and the other end is fixed to the bottom of the second coupling element 212; one end of the second passive elastic member 212 is fixed to the second coupling element 212, and the other end is fixed to the end coupling element 214; the end coupling element 214 is fixed to the rigid-flexible coupling base 10; the first coupling element 211 is connected to the clamping block 215 through the traction member 130; the traction member 130 can be bent freely, and a wire lock is provided at one end to limit the clamping block 215 from detaching from the traction member 130, and passes through the coupling element 210, and the other end is provided on the base body 110; the traction member 130 drives the coupling element 210 to bend and deform to drive the clamping block.

[0036] In the embodiment of the present invention, there are multiple traction members, and the multiple traction members are arranged at intervals and in the same plane.

[0037] It should be noted that the number of traction members can be 2, 3 or more, and the multiple traction members are arranged at intervals and in the same plane, that is, the plane in which the multiple traction members 130 are located is parallel to the passive elastic member. When the traction member pulls the passive elastic member 220 to bend, the passive elastic member is subjected to uniform force, so that the coupling element can only bend in the vertical plane. At the same time, the bending stiffness of the coupling unit 20 in the coplanar direction of the passive elastic member is larger, thereby improving the stability of the coupling unit 20.

[0038] See attached Figure 1 In a specific implementation of the embodiment of the present invention, the number of the traction members 130 is two, the number of the passive elastic members 220 is multiple and connected end to end, the passive elastic member 220 and the two traction members 130 are distributed in an inverted triangle, and the passive elastic member 220 is located between the two traction members 130. Since the triangular structure has stability, such a configuration improves the structural stability of the coupling unit 20, is simple to manufacture, and has low cost.

[0039] It should be noted that the number of the traction members 130 is two, which may be two traction members 130 or a plurality of traction members 130 forming two bundles.

[0040] The present invention is a method for completing functions such as massage, cleaning, and grasping through a rigid-flexible coupling end effector and a configuration robot, wherein a rigid-flexible coupling end effector comprises: a coupling unit and a rigid-flexible coupling base; the rigid-flexible coupling base comprises a base body, a connecting member, and a traction member. The coupling unit comprises a coupling element and a passive elastic member. The passive elastic member is a sheet structure, comprising a first passive elastic member and a second passive elastic member, wherein one end of the first passive elastic member is fixed to the bottom of the first coupling element and the other end is fixed to the bottom of the second coupling element; one end of the second passive elastic member is fixed to the second coupling element and the other end is fixed to the end coupling element; the end coupling element is fixed to the rigid-flexible coupling base; the first coupling element is connected to the clamping block through the traction member; the traction member can be bent freely, and a wire locker is provided at one end to limit the traction member from being separated from the clamping block, and the traction member passes through the coupling member, and the other end is connected to the base body. The rigid-flexible coupling end effector provided by the present invention realizes various postures of the coupling unit such as bending up, hanging, and separation by configuring only one pair of traction members for each coupling unit. This highly integrated design significantly improves the robot's adaptability in unstructured environments, thereby increasing the device's flexibility and functionality.

[0041] See attached Figure 1 In the embodiment of the present invention, preferably, the traction member 130 and the passive elastic member 220 are arranged in an inverted isosceles triangle, the passive elastic member 220 is located at the vertex of the isosceles triangle, and the two traction members 130 are located at the base of the isosceles triangle. With this arrangement, the supporting force applied by the traction member 130 to the coupling unit 20 is symmetrical, which improves the structural stability of the coupling unit 20; in addition, the aesthetics of the coupling unit 20 is improved.

[0042] In another specific implementation of the embodiment of the present invention, there are multiple passive elastic members 220 and one traction member 130 , and the passive elastic member 220 and the traction member 130 are arranged at intervals.

[0043] See attached Figure 1 In the embodiment of the present invention, the coupling element 210 further includes other coupling elements 213 located between the second coupling element 212 and the end coupling element 214; there are multiple other coupling elements 213, which are closely arranged; the traction member 130 passes through all the coupling elements 210; the first coupling element 211 cooperates with the clamping block 215;

[0044] See attached Figure 1 , Figure 7 In a specific embodiment, the number of other coupling elements 213 is 2. With such a configuration, when the coupling unit 20 is in a "hanging posture", the coupling element 210 can fit tightly with the curved top block 215 while satisfying the working space of the end tool.

[0045] See attached Figure 5 In the embodiment of the present invention, the traction member 130 is in the initial state, and the corresponding coupling unit 20 is in the "ready posture". At this time, the traction member and the passive elastic member are both in a horizontal state.

[0046] See attached Figure 6 In the embodiment of the present invention, the driving motor 120 drives the traction member 130 to retract, and the second passive elastic member 220 bends upward, driving the clamping block 215 to rotate upward, thereby realizing the upward bending action of the end tool.

[0047] See attached Figure 7 In the embodiment of the present invention, the traction member 130 is released, and the first passive elastic member 221 bends downward under the gravity of the clamping block 215, thereby achieving the effect of loosening the end tool.

[0048] See attached Figure 8 In the embodiment of the present invention, when the clamping block 215 drives the tool to perform an operation, the traction member 130 is released. At this time, the clamping block 215 is separated from the first coupling element, which reduces the force on the end tool and increases the stability of the operating object during the operation.

[0049] See attached Figure 2 In the embodiment of the present invention, a curved top block 215 is provided directly below the end coupling element 214, one end of the curved top block 215 is fixedly connected to the rigid-flexible coupling base 10, the top is closely arranged with the end coupling element 214, and the other end thereof has an arc-shaped portion 216. When the traction member 130 is released, the arc-shaped portion 216 cooperates with the coupling element 210.

[0050] See attached Figure 4 In the embodiment of the present invention, the clamping block 215 has a cavity 231, and a wire locker 232 is provided in the cavity 231 to limit the traction member 130 from being separated from the clamping block 215. The clamping block 215 has a protrusion 233 and a groove 233 that cooperate with the first coupling element 211 to limit the displacement of the first coupling element 211 when the traction member 130 is in the recovery state;

[0051] In the embodiment of the present invention, the traction member 130 is a traction rope or a traction rod.

[0052] In the embodiment of the present invention, the material of the traction rope includes nylon, steel wire rope, polyester or carbon fiber.

[0053] In the embodiment of the present invention, the material of the coupling element 210 is PLA, photosensitive resin or polycarbonate.

[0054] In the embodiment of the present invention, the passive elastic member 220 is a rectangular sheet structure or an elliptical sheet structure.

[0055] In the embodiment of the present invention, the material of the dynamic elastic member 220 is glass fiber, carbon fiber, spring steel or memory alloy.

[0056] It should be noted that the memory alloy includes nickel-titanium alloy, copper-zinc alloy, copper-aluminum-nickel alloy, copper-molybdenum-nickel alloy, copper-gold-zinc alloy and the like.

[0057] See attached Fig. 9 An embodiment of the present invention provides an execution robot, including a frame 1 and the above-mentioned rigid-flexible coupling end effector, and the rigid-flexible coupling base is arranged on the frame 1.

[0058] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A rigid-flexible coupling end effector, characterized in that: include: A rigid-flexible coupling base (10) and a coupling unit (20); the rigid-flexible coupling base (10) comprises a base body (110), a connecting piece (120), a cover plate (130) and a traction piece (216); The coupling unit (20) comprises a coupling element (210) and a passive elastic member (220); the passive elastic member (220) is a sheet-like structure, comprising a first passive elastic member (221) and a second passive elastic member (222); one end of the first passive elastic member (221) is fixedly connected to the bottom of the first coupling element (211), and the other end is fixedly connected to the bottom of the second coupling element (212); one end of the second passive elastic member is fixedly connected to the second coupling element (212), and the other end is fixedly connected to the end coupling element (214); the end coupling element (214) The invention is fixedly connected to a rigid-flexible coupling base (10); a first coupling element (211) is connected to a clamping block (215) via a traction member (216); the traction member (216) can be bent freely, one end of which is provided with a wire lock to limit the clamping block (215) from being separated from the traction member (216), and passes through the coupling element (210), and the other end is connected to a base body (110); the driving mechanism (110) is configured to: drive the coupling element (210) to bend and deform through the traction member (216) to drive the clamping block (215).

2. The rigid-flexible coupling end effector according to claim 1, characterized in that: The number of the traction members (216) is multiple, and the multiple traction members are arranged at intervals and in the same plane; Alternatively, the number of the traction member (216) is one, and the passive elastic member (220) and the traction member are arranged at intervals.

3. The rigid-flexible coupling end effector according to claim 2, characterized in that: The number of the traction members (216) is two, the number of the passive elastic members (220) is multiple and connected end to end, the passive elastic member (220) and the two traction members (216) are distributed in an inverted triangle, and the passive elastic member (220) is located between the two traction members (130).

4. The rigid-flexible coupling end effector according to claim 3, characterized in that: The traction member (216) and the passive elastic member (220) are arranged in an inverted isosceles triangle, the passive elastic member (220) is located at the vertex of the isosceles triangle, and the two traction members (216) are located at the base of the isosceles triangle.

5. The rigid-flexible coupling end effector according to claim 1, characterized in that: The coupling element (210) further comprises other coupling elements (213) located between the second coupling element (212) and the terminal coupling element (214); there are a plurality of other coupling elements (213) which are closely arranged; the traction member (216) passes through the plurality of coupling elements (210); the first coupling element (211) cooperates with the clamping block (215); And / or, a curved top block (217) is provided directly below the terminal coupling element (214), one end of the curved top block (217) is fixed to the base body (101), the top is tightly arranged with the terminal coupling element (214), and the other end thereof has an arc-shaped portion (216), and when the traction member (216) is in a relaxed state, the arc-shaped portion (216) cooperates with the coupling element (210).

6. The rigid-flexible coupling end effector according to claim 5, characterized in that: The clamping block (215) has a cavity (231), in which a wire locker (232) is arranged to limit the traction member (216) from being separated from the clamping block (215); the clamping block (215) has a protrusion (233) and a groove (234) to cooperate with the first coupling element (211) to limit the displacement of the first coupling element (211) when the traction member (216) is in a tensioned state.

7. The rigid-flexible coupling end effector (220) according to claim 1, characterized in that: The driving mechanism (110) comprises a motor (120), a motor seat (112), a winding wheel (113), a winding block (114), and a traction member (216) that runs through all coupling elements; the traction member (216) is fixedly connected to the winding wheel (113), and the motor (120) is used to drive the coupling unit (20) to perform reciprocating bending motion along the normal direction of the passive elastic member (220).

8. The rigid-flexible coupling end effector according to claim 1, characterized in that The traction member (216) is a traction rope or a traction rod, and the material of the traction rope includes nylon, steel wire rope, polyester or carbon fiber; And / or, the material of the coupling element (210) is PLA, photosensitive resin or polycarbonate; And / or, the passive elastic member (220) is a rectangular sheet structure or an elliptical sheet structure; And / or, the passive elastic member (220) is made of glass fiber, carbon fiber, spring steel or memory alloy.

9. The rigid-flexible coupling end effector according to any one of claims 1 to 8, characterized in that: The coupling unit (20) realizes multiple states under the drive of the traction member (216), thereby realizing the lifting and hanging of the end-actuating tool (200).

10. An execution robot, characterized in that: It comprises a frame and a rigid-flexible coupling end effector according to any one of claims 1 to 9, wherein the rigid-flexible coupling base (10) is arranged on the frame (1).

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