Grain three-jaw hand based on Kresling paper folding structure and magnetic drive

Abstract

A grain three-jaw hand based on a Kresling paper folding structure and magnetic drive comprises a hand grab base, and the upper end of the hand grab base is used for being connected with an external mechanical arm; the three multi-section magnetic Kringing units are fixedly connected to the lower end of the gripper base in a manner of being uniformly distributed in the annular direction; wherein each multi-section magnetic Kreshing unit comprises a plurality of sections of Kreshing paper folding single bodies which are connected end to end, a magnetic silica gel medium is connected between every two adjacent Kreshing paper folding single bodies, the Kreshing paper folding single body located at the bottommost end is also connected with a variable grabbing hook through the magnetic silica gel medium, and the Kreshing paper folding single body located at the topmost end is connected to the grabbing hand base through the silica gel medium. The problems that in the prior art, grabbing fitness of grains in different forms is insufficient, passive driving is achieved and the like can be solved, the grabbing efficiency and safety can be guaranteed, and the flexibility and expandability of the grabbing hand can be improved.

Description

Technical Field

[0001] The present invention relates to a robot gripper, in particular to a three-claw gripper for grains based on a Kresling origami structure and magnetic drive, belonging to the technical field of robot operations in grain yards. Background Art

[0002] In recent years, with the rapid development of modern agriculture and the continuous improvement of the automation level in the grain operation process, robot grippers play an increasingly important role in processes such as grain handling, sorting, and packaging. However, limited by the complex shape, fragility, and variety of grains, traditional rigid or pneumatic grippers often struggle to balance precise grasping and anti-damage protection, and generally have defects such as being bulky in structure or having insufficient adjustability.

[0003] The information disclosed in this background art section is only intended to enhance the overall understanding of the present invention and should not be regarded as an admission or any form of implication that this information constitutes prior art already known to those of ordinary skill in the art. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to some extent. For this purpose, the present invention proposes a three-claw gripper for grains based on a Kresling origami structure and magnetic drive, which can achieve stable grasping and releasing of objects with different shapes, sizes, small or irregular shapes, and has the advantages of simple and compact structure, high grasping flexibility and accuracy, strong scalability, and passive drive.

[0005] A three-claw gripper for grains based on a Kresling origami structure and magnetic drive according to the present invention includes:

[0006] A gripper base, the upper end of which is used to connect to an external robotic arm;

[0007] Multiple-section magnetic Kresling units, three multiple-section magnetic Kresling units are fixedly connected circumferentially and evenly to the lower end of the gripper base;

[0008] Wherein, each multiple-section magnetic Kresling unit includes multiple Kresling origami monomers connected end to end. A magnetic silicone medium is connected between adjacent Kresling origami monomers. The Kresling origami monomer at the bottommost end is also connected to a variable hook through a magnetic silicone medium, and the Kresling origami monomer at the topmost end is connected to the gripper base through a silicone medium.

[0009] According to some embodiments of the present invention, three installation grooves adapted to the outer shape of the ends of the multiple-section magnetic Kresling units are provided on the gripper base, and the silicone media of the three multiple-section magnetic Kresling units are closely fitted and installed in the corresponding installation grooves.

[0010] According to some embodiments of the present invention, the shape of the magnetic silica gel medium is also adapted to the end profile of the multi-jointed magnetic Kresling unit.

[0011] According to some embodiments of the present invention, the overall shape of the gripper base is an inverted triangular prism, and the mounting grooves are opened on the three bottom surfaces of the inverted triangular prism. The shapes of the mounting grooves, the silica gel medium, and the magnetic silica gel medium are all regular hexagons.

[0012] According to some embodiments of the present invention, the connection part of the magnetic silica gel medium for docking with the Kresling origami monomer has a first corresponding splicing structure adapted to the end surface of the Kresling origami, and the connection part of the silica gel medium for docking with the Kresling origami monomer has a second corresponding splicing structure adapted to the end surface of the Kresling origami; the first corresponding splicing structure and the second corresponding splicing structure are the same, and both include a plurality of fitting surfaces corresponding to the folding lines of the Kresling origami and a plurality of circumferential folding lines for positioning the edges of the Kresling origami.

[0013] According to some embodiments of the present invention, an annular buckle structure is provided on the connection part of the variable gripper for docking with the Kresling origami monomer, and a slot structure matching the annular buckle structure is provided on the end surface of the magnetic silica gel medium for connecting the variable gripper.

[0014] According to some embodiments of the present invention, a depth camera is further provided inside the gripper base, and the depth camera is used to obtain the position and shape information of the grains in real time.

[0015] According to some embodiments of the present invention, the gripper base includes a hollow body, and the hollow structure is composed of a connecting hole and an observation hole that communicate with each other up and down. The depth camera is placed in the connecting hole and one end of it is connected to the robotic arm, and the camera at the other end of the depth camera protrudes through the observation hole.

[0016] According to a kind of three-claw grain gripper based on the Kresling origami structure and magnetic drive of the present invention, by setting a multi-jointed magnetic Kresling unit with Kresling origami monomers, magnetic silica gel media, silica gel media and variable grippers, it focuses on integrating and utilizing the deformation characteristics and magnetic drive of the multi-jointed magnetic Kresling unit. While the structure is compact, it realizes the stable grasping and releasing of objects with different shapes and sizes, has the advantages of high grasping flexibility, strong scalability, passive drive, etc., and can be widely used for more reliable grasping of small or irregular objects, especially suitable for the field of intelligent robots in grain yards, and has high practical value.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the drawings and embodiments.

[0019] Figure 1 FIG. is a front view structural schematic diagram of a three-claw grain hand based on a Kresling origami structure and magnetic drive according to an embodiment of the present invention.

[0020] Figure 2 FIG. is a top view structural schematic diagram of a three-claw grain hand based on a Kresling origami structure and magnetic drive according to an embodiment of the present invention.

[0021] Figure 3 FIG. is a three-dimensional structural schematic diagram of a gripper base in a three-claw grain hand based on a Kresling origami structure and magnetic drive according to an embodiment of the present invention.

[0022] Figure 4 FIG. is a three-dimensional structural schematic diagram of a Kresling origami monomer in a three-claw grain hand based on a Kresling origami structure and magnetic drive according to an embodiment of the present invention.

[0023] The meanings of the reference numerals in the drawings are as follows:

[0024] 1 - Gripper base;

[0025] 11 - Base body;

[0026] 11-1 - Hollow structure; 11-1-1 - Connection hole; 11-1-2 - Observation hole;

[0027] 11-2 - Installation groove;

[0028] 2 - Multi-joint magnetic Kresling unit;

[0029] 21 - Kresling origami monomer;

[0030] 22 - Magnetic silica gel medium;

[0031] 23 - Silica gel medium;

[0032] 24 - Variable gripper;

[0033] 3 - Depth camera. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0035] Next, according to Figures 1-4 the present invention will be described in detail for the three - jaw gripper for grains based on the Kresling origami structure and magnetic drive.

[0036] Please refer to Figure 1 、 Figure 2 and Figure 4 As shown in, a three - jaw gripper for grains based on the Kresling origami structure and magnetic drive provided by an embodiment of the present invention includes a gripper base 1 and multiple - section magnetic Kresling units 2. The upper end of the gripper base 1 is used to connect to an external robotic arm; three multiple - section magnetic Kresling units 2 are fixedly connected to the lower end of the gripper base 1 in a circumferentially uniform distribution;

[0037] Among them, each multiple - section magnetic Kresling unit 2 includes multiple Kresling origami monomers 21 connected end to end. A magnetic silicone medium 22 is connected between adjacent Kresling origami monomers 21. The Kresling origami monomer 21 at the bottommost end is also connected to a variable gripper 24 through a magnetic silicone medium 22. The Kresling origami monomer 21 at the topmost end is connected to the gripper base 1 through a silicone medium 23.

[0038] In the embodiment of the present invention, the specific structure of the variable gripper 24 can be differentially adjusted according to the shape, volume, and material of the grains, so as to make the three - jaw grasping more flexible and inclusive, improve the grasping effect on special - shaped grains such as fragile or irregular grains, for example, improve the grasping efficiency and stability.

[0039] The multiple - section magnetic Kresling units 2 that constitute the three - jaw gripper for grains based on the Kresling origami structure and magnetic drive of the embodiment of the present invention are formed by connecting Kresling origami monomers 21 in series. Through the Kresling origami connection structure, foldable drive units are formed between the silicone medium 23 and the magnetic silicone medium 22, and between the magnetic silicone medium 22. Its advantage lies in combining the passive drive characteristics of Kresling origami and the magnetic silicone medium 22. Different magnetization schemes can be set for the magnetic silicone medium 22 according to actual needs, and then the precise adaptation to different grain shapes can be achieved through magnetic field control methods; this solution not only has a simple structure and strong scalability, but also reduces external energy consumption and complexity, and is suitable for popularization and application in grain fields, thereby being able to solve the problems of insufficient grasping adaptability to different - shaped grains and passive drive in the existing technology, and further ensuring the grasping efficiency and safety, and further improving the flexibility and scalability of the gripper.

[0040] Refer to Figure 3, three installation grooves 11-2 adapted to the end shapes of the multi-joint magnetic Kresling units 2 are formed on the gripper base 1 of the embodiment of the present invention, and the silicone media 23 fixedly connected to the three multi-joint magnetic Kresling units 2 are closely fitted and installed in the corresponding installation grooves 11-2.

[0041] In the embodiment of the present invention, the shape of the magnetic silicone medium 22 is also adapted to the end shape of the multi-joint magnetic Kresling unit 2.

[0042] Refer to Figure 2 and Figure 3 , the overall shape of the gripper base 1 of the embodiment of the present invention is an inverted triangular prism, and the installation grooves 11-2 are formed on the three bottom surfaces of the inverted triangular prism. The shapes of the installation grooves 11-2, the silicone media 23 and the magnetic silicone media 22 are all regular hexagons.

[0043] Exemplarily, a regular hexagonal installation groove 11-2 is formed on each of the three bottom surfaces of the inverted triangular prism-shaped gripper base 1 of the embodiment of the present invention shown in the figure, and each installation groove 11-2 is respectively connected to a multi-joint magnetic Kresling unit 2. A multi-joint magnetic Kresling unit 2 can be formed by splicing three, five or other numbers of Kresling origami monomers 21 end to end. A regular hexagonal silicone medium 23 and a regular hexagonal magnetic silicone medium 22 are respectively arranged at both ends of the topmost Kresling origami monomer 21. The regular hexagonal silicone medium 23 is closely fitted and installed with the regular hexagonal installation groove 11-2 on the surface of the gripper base 1, and regular hexagonal magnetic silicone media 22 are arranged at both ends of the other Kresling origami monomers 21.

[0044] By virtue of the bendable and elastic characteristics of the origami connection structure of the Kresling origami monomer 21, torque is applied through the magnetic silicone medium 22 at the connection of the Kresling origami monomers 21 so that the magnetic silicone medium 22 can be aligned with the magnetic field direction according to its medium magnetization direction in the magnetic field. Each magnetic silicone medium 22 is magnetized in a specific direction respectively. Therefore, a multi-joint magnetic Kresling unit 2 will open under the action of torque in a vertically upward uniform magnetic field and will merge under the action of torque in a vertically downward uniform magnetic field, and can flexibly change the fingertip posture during the process of grasping grains, so as to adapt to grains of various shapes and sizes, improve the grasping adaptability and reduce the extrusion damage to the grains.

[0045] In the embodiment of the present invention, the magnetic silica gel medium 22 for docking the connecting part of the Kresling origami monomer 21 has a first corresponding splicing structure adapted to the end face of the Kresling origami, and the silica gel medium 23 for docking the connecting part of the Kresling origami monomer 21 has a second corresponding splicing structure adapted to the end face of the Kresling origami; the first corresponding splicing structure and the second corresponding splicing structure are the same, and both include a number of fitting surfaces corresponding to the Kresling origami fold lines and a number of circumferential fold lines for positioning the edge of the Kresling origami.

[0046] It should be noted that the Kresling origami monomer 21 corresponds to various types of Kresling origami structures in the prior art. The Kresling origami structure is not an improvement point of the present invention, so the specific structure of the Kresling origami monomer 21 is not limited and can be in the form shown in the figure or any other form. Preferably, through the design of the above-mentioned fitting area and circumferential fold lines, the Kresling origami monomer 21 can be more rigorously and stably fitted between the silica gel medium 23 or the magnetic silica gel medium 22 during assembly, ensuring that the entire multi-joint structure has good foldability and recovery ability during the grasping process.

[0047] In the embodiment of the present invention, the variable hook 24 is provided with an annular buckle structure at the connecting part for docking the Kresling origami monomer 21, and the end face of the magnetic silica gel medium 22 for connecting the variable hook 24 is provided with a groove structure matching the annular buckle structure.

[0048] Specifically, the specific structures of the annular buckle structure and the groove structure are not limited, as long as they can meet quick disassembly and reliable assembly.

[0049] Refer to Figure 1 , in the embodiment of the present invention, a depth camera 3 is further provided inside the gripper base 1. The depth camera 3 is used to obtain the position and shape information of the grain in real time, and thus can provide accurate visual feedback to the upper computer, thereby improving the grasping positioning and operation efficiency.

[0050] More specifically, the gripper base 1 includes a seat body 11 with a hollow structure 11-1. The hollow structure 11-1 is composed of a connecting hole 11-1-1 and an observation hole 11-1-2 that are connected up and down. The depth camera 3 is placed in the connecting hole 11-1-1 and one end of it is connected to the robotic arm, and the camera at the other end of the depth camera 3 protrudes through the observation hole 11-1-2.

[0051] The gripper base 1 realizes the stable installation and vision guarantee of the depth camera 3 through the connecting hole 11-1-1 and the observation hole 11-1-2 of the hollow structure 11-1. The depth camera 3 can be powered and signaled by the robotic arm to obtain the position and shape information of the grain in a timely manner.

[0052] The three - claw gripper for grains based on the Kresling origami structure and magnetic drive provided by the embodiments of the present invention, on the one hand, has the characteristics of the Kresling origami structure, such as flexible folding form, controllable force, and lightweight volume. Utilizing its deformable and self - adaptive features, it improves the adaptability performance of the gripper in complex environments.

[0053] The three - claw gripper for grains based on the Kresling origami structure and magnetic drive provided by the embodiments of the present invention, on the other hand, introduces the magnetic silicone medium 22, realizing the passive drive of the gripper and more flexible grasping deformation.

[0054] The three - claw gripper for grains based on the Kresling origami structure and magnetic drive provided by the embodiments of the present invention, on yet another hand, efficiently couples the Kresling origami structure with the magnetic medium, and ensures its grasping stability and durability in the changing operating environments of grain fields.

[0055] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present invention.

[0056] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0057] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or communicable with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Any simple modifications and equivalent changes made to the above embodiments based on the technical essence of the present invention all fall within the protection scope of the present invention.

Claims

1. A three-claw gripper for grains based on the Kresling origami structure and magnetic drive, characterized in that, Comprising: A gripper base, the upper end of which is used to connect to an external robotic arm; Multiple joint magnetic Kresling units, three of which are fixedly connected circumferentially and evenly to the lower end of the gripper base; Wherein, each of the multiple joint magnetic Kresling units includes multiple Kresling origami monomers connected end to end, a magnetic silicone medium is connected between adjacent Kresling origami monomers, the Kresling origami monomer at the bottommost end is also connected to a variable gripper through a magnetic silicone medium, and the Kresling origami monomer at the topmost end is connected to the gripper base through a silicone medium.

2. The three-jaw gripper for grains based on the Kresling origami structure and magnetic drive according to claim 1, wherein Three installation grooves adapted to the end shapes of the multiple joint magnetic Kresling units are formed on the gripper base, and the silicone media of the three multiple joint magnetic Kresling units are tightly fitted and installed in the corresponding installation grooves.

3. The three-jaw manipulator for grains based on the Kresling origami structure and magnetic drive according to claim 2, characterized in that, The shape of the magnetic silicone medium is also adapted to the end shape of the multiple joint magnetic Kresling unit.

4. The three-jaw gripper for grains based on the Kresling origami structure and magnetic drive according to claim 3, wherein The overall shape of the gripper base is an inverted triangular body, the installation grooves are formed on the three bottom surfaces of the inverted triangular body, and the shapes of the installation grooves, the silicone medium and the magnetic silicone medium are all regular hexagons.

5. A three-jaw gripper for grains based on a Kresling origami structure and magnetic drive according to claim 4, wherein, The magnetic silicone medium for docking the connection part of the Kresling origami monomer has a first corresponding splicing structure adapted to the Kresling origami end face, and the silicone medium for docking the connection part of the Kresling origami monomer has a second corresponding splicing structure adapted to the Kresling origami end face; the first corresponding splicing structure and the second corresponding splicing structure are the same, and both include several fitting surfaces corresponding to the Kresling origami folding lines and several circumferential folding lines for positioning the Kresling origami edge.

6. The three-claw grain hand based on the Kresling origami structure and magnetic drive according to claim 5, wherein The variable gripper is provided with an annular buckle structure at the connection part for docking the Kresling origami monomer, and the end face of the magnetic silicone medium for connecting the variable gripper is provided with a groove structure matching the annular buckle structure.

7. A three-claw grain manipulator based on the Kresling origami structure and magnetic drive according to any one of claims 1 to 6, characterized in that A depth camera is further arranged inside the gripper base, and the depth camera is used to obtain the position and shape information of grains in real time.

8. A three-claw manipulator for grains based on Kresling origami structure and magnetic drive according to claim 7, characterized in that The gripper base includes a hollow seat body, the hollow structure is composed of a connecting hole and an observation hole communicating up and down, the depth camera is placed in the connecting hole and one end of it is connected to the robotic arm, and the camera at the other end of the depth camera projects out through the observation hole.

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