Visual and tactile clamping jaw structure matched with Piper mechanical arm

Abstract

The invention discloses a visual tactile clamping jaw structure adaptive to a Piper mechanical arm. The visual tactile clamping jaw structure comprises a mechanical driving module, a clamping jaw assembly and a visual tactile sensor module. And the mechanical driving module adopts a Piper six-axis lightweight mechanical arm, integrates a motion control algorithm, and realizes accurate track planning and dynamic adjustment. The clamping jaw assembly is composed of a high-strength aluminum alloy base platform, a stainless steel transmission connecting rod and an L-shaped supporting arm, a visual touch sensor module is installed at the tail end of the supporting arm, a GelSight Mini sensor is adopted, and the surface texture, shape and pressure distribution of an object can be detected in a high-precision mode. The modular design facilitates maintenance, sensor integration optimization ensures accurate acquisition of tactile information, and geometric structure optimization improves narrow space operation capability. The problems that a traditional clamping jaw is single in sensing and poor in adaptability are solved, the clamping jaw is suitable for the fields of industrial automation, medical treatment and service robots, and high-precision and high-adaptability grabbing operation is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot end effectors, and in particular relates to a visual-tactile gripper structure adapted for a Piper robotic arm. Background Art

[0002] Traditional robotic gripper technology has the following limitations in design and application: Single perception capability: It mainly relies on force sensors, which only provide basic contact force information and cannot perceive multi-dimensional features such as surface texture, hardness, and shape of objects, limiting its precision operation capabilities.

[0003] Lack of adaptability: Lack of real-time surface feature feedback makes it difficult to adjust the grasping strategy according to the object material and shape, resulting in poor adaptability.

[0004] Low integration: The integration of sensors and mechanical structures is not high, requiring additional space and complex wiring, which increases the size and complexity of the system.

[0005] Insufficient precision: The resolution and accuracy of tactile sensors are low, making it difficult to meet the needs of grasping tiny parts and precise assembly.

[0006] Reliability issues: The connection between the sensor and the mechanical structure is unstable and prone to loosening and wear after long-term use, affecting its lifespan and reliability.

[0007] These problems limit the application of grippers in industrial automation, medical and service robotics, and there is an urgent need for solutions with high integration, strong sensing capabilities and high adaptability. Summary of the Invention

[0008] The object of the present invention is to provide a visual-tactile gripper structure adapted to a Piper robotic arm to solve the above-mentioned technical problems.

[0009] To solve the above technical problems, the specific technical solution of the visual-tactile gripper structure adapted to the Piper robotic arm of the present invention is as follows: A visual-tactile gripper adapted for a Piper robotic arm comprises a mechanical drive module, a gripper assembly and a visual-tactile sensor module. The mechanical drive module is fixedly connected to the gripper assembly, and the visual-tactile sensor module is installed at the end of the gripper structure.

[0010] Furthermore, the mechanical drive module adopts the Piper six-axis lightweight robotic arm, which integrates advanced motion control algorithms and sensors, and realizes complex trajectory planning and dynamic adjustment through multi-joint collaborative control, with rapid response and precise execution.

[0011] Furthermore, the clamping claw assembly includes a base platform, a transmission connecting rod and a support arm. The two ends of the transmission connecting rod are connected to the ball heads at both ends of the base platform to provide a moving path for the support arm. The bottom of the support arm is slidably connected to the transmission connecting rod through a sliding block.

[0012] Furthermore, the base platform is made of high-strength aluminum alloy, the surface is anodized, the middle is circular, and a central hole and multiple auxiliary holes are provided for fixed connection with the mechanical drive module.

[0013] Furthermore, the transmission connecting rod is made of stainless steel and is in the shape of a slender rod.

[0014] Furthermore, the support arm is L-shaped, made of high-strength aluminum alloy, CNC-processed, and surface-sandblasted and anodized.

[0015] Furthermore, the front end of the support arm has a sensor mounting seat, and the visual-tactile sensor module is installed on the sensor mounting seat.

[0016] Furthermore, the visual-tactile sensor module includes a sensor housing and a GelSight Mini visual-tactile sensor. The sensor housing is made of POM material and has a shape that matches the GelSight Mini visual-tactile sensor, and is used to install the GelSight Mini visual-tactile sensor.

[0017] Furthermore, one side of the sensor mounting base has a positioning groove, and one side of the sensor housing has a Type C port, and the Type C port is aligned with the positioning groove for connecting a data transmission line.

[0018] The visual-tactile gripper structure adapted to the Piper robotic arm of the present invention has the following advantages: 1. Modular design: independent functional modules, standardized interfaces, easy maintenance and upgrades, and adjustable support arms to suit different grasping tasks.

[0019] 2. Optimized sensor integration: The sensors are placed at the fingertips of the grippers to ensure optimal tactile information collection and maintain system compactness.

[0020] 3. Optimized geometric structure: L-shaped support arms and circular base optimize force distribution, reduce stress concentration, and improve working capabilities in confined spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of the visual-tactile gripper structure adapted to the Piper robotic arm of the present invention; Figure 2 This is a schematic diagram of the decomposed structure of a visual-tactile gripper adapted to a Piper robotic arm of the present invention; Explanation of the marks in the figure: 1. Base platform; 2. Transmission connecting rod; 3. Support arm; 31. Sliding block; 32. Sensor mounting base; 321. Positioning slot; 4. Visual and tactile sensor module; 41. Sensor housing; 411. Type C port; 42. GelSight Mini visual and tactile sensor. DETAILED DESCRIPTION

[0022] In order to better understand the purpose, structure and function of the present invention, the visual-tactile gripper structure adapted to the Piper robotic arm of the present invention is further described in detail below with reference to the accompanying drawings.

[0023] like Figure 1 Figure 2 As shown, the present invention is a visual tactile gripper adapted for a Piper manipulator, comprising a mechanical drive module, a gripper assembly, and a visual tactile sensor module 4. The mechanical drive module is fixedly connected to the gripper assembly, and the visual tactile sensor module 4 is mounted at the end of the gripper structure. The mechanical drive module utilizes a Piper six-axis lightweight robotic arm, integrated with advanced motion control algorithms and sensors. Through multi-joint collaborative control, it enables complex trajectory planning and dynamic adjustment, enabling rapid response and precise execution. The highly efficient motor system provides powerful power and stable performance in a lightweight design, enabling multi-directional free movement in complex environments.

[0024] The gripper assembly includes a base platform 1, a transmission connecting rod 2 and a support arm 3. The base platform 1 is made of high-strength aluminum alloy, with an anodized surface and a circular design in the middle. It is equipped with a center hole and multiple auxiliary holes for fixed connection with the mechanical drive module. It is corrosion-resistant and suitable for high-frequency operation, providing stable support and an optimized force transmission path for the gripper assembly.

[0025] The transmission connecting rod 2 is made of stainless steel and is in the shape of a slender rod. Its two ends are connected to the ball heads at both ends of the base platform 1 to provide a moving path for the support arm 3. The transmission connecting rod 2 has high synchronous movement accuracy and is wear-resistant and corrosion-resistant.

[0026] The bottom of the support arm 3 is slidably connected to the transmission link 2 via a sliding block 31. The support arm 3 is L-shaped and made of high-strength aluminum alloy. It is CNC machined, sandblasted, and anodized. It can rotate precisely to optimize the gripping space and sensor contact angle.

[0027] The front end of the support arm 3 has a sensor mounting base 32, and a visual-tactile sensor module 4 is installed on the sensor mounting base 32. The visual-tactile sensor module 4 includes a sensor housing 41 and a GelSight Mini visual-tactile sensor 42. The sensor housing 41 is made of POM material and its shape matches the GelSight Mini visual-tactile sensor 42. It is used to install the GelSight Mini visual-tactile sensor 42. A positioning groove 321 is provided on one side of the sensor mounting base 32, and a Type C port 411 is provided on one side of the sensor housing 41. The Type C port 411 is aligned with the positioning groove 321 for connecting the data transmission line.

[0028] The present invention provides a high-precision, highly adaptable gripping solution that overcomes the problems of single perception, poor adaptability, and low integration of traditional grippers, and is suitable for the fields of industrial automation, medical care, and service robots.

[0029] The core sensing element of this invention is the GelSight Mini visual-tactile sensor, which utilizes breakthrough tactile intelligence technology to achieve 2D / 3D digital mapping of touch with human-like sensitivity and high resolution. The sensor precisely detects contact position, shape, texture, and pressure distribution, and its output data is compatible with machine learning frameworks, making it widely applicable in robotics, precision measurement, and AI research. Its compact design (soft contact surface and robust structure) is suitable for industrial, collaborative, and service robots, improving workflow efficiency.

[0030] The modular design of the gripper assembly and high-strength bolts make it easy to assemble and maintain, withstand mechanical loads, and ensure long-term stable operation.

[0031] Working principle: Mechanical grasping: The Piper robotic arm's precision drive controls the movement of the support arm 3 on the transmission connecting rod 2, controlling the opening and closing of the gripper structure. Through visual prediction and path planning, the optimal grasping path is determined to complete the object envelopment.

[0032] Contact sensing: The GelSight Mini sensor captures information such as surface texture and pressure distribution through the deformation of the gel layer, and tracks contact status in real time.

[0033] Information processing: Analyze tactile images, extract texture, hardness, and shape features, and compare them with the material database to identify object characteristics.

[0034] Feedback control: Intelligent algorithms adjust gripping force and posture based on feedback to adapt to fragile, smooth or irregular objects, ensuring stable and precise grasping.

[0035] Application of the present invention: Intelligent manufacturing and precision assembly fields This invention utilizes the advanced GelSight Mini visual-tactile sensor, which can perceive detailed information such as surface texture, deformation, and hardness of grasped objects in real time. This significantly improves the performance of robotic arms in high-precision assembly tasks such as precision electronic components, optical devices, and medical equipment. With ±0.1mm repeatability and high-resolution tactile feedback, it enables precise grasping and positioning of micro-parts, making it particularly suitable for industrial applications requiring extremely high precision, such as semiconductor manufacturing and precision instrument assembly.

[0036] Medical robotics and biomedical engineering The visual-tactile perception capabilities of this invention enable it to simulate the sensitivity of human touch, playing a vital role in applications such as medical robotic surgery assistance, rehabilitation equipment, and laboratory automation. By precisely controlling contact force and sensing surface properties in real time, it can safely handle sensitive items such as biological samples, pharmaceutical packaging, and medical devices, providing reliable technical support for medical automation.

[0037] Service robots and human-machine collaboration This invention perfectly adapts to the connection method of Piper's six-axis lightweight robotic arm. Weighing only 4.2 kg, it can stably carry a 1.5 kg load. Its large 626 mm working radius gives it broad application prospects in scenarios such as home service, catering, and logistics sorting. The integration of visual and tactile sensors enables the robot to perceive the characteristics of objects like a human, achieving more natural and safer human-machine interaction.

[0038] Unknown environment exploration and adaptive grasping Traditional mechanical grippers often perform poorly when faced with objects of unknown shapes and materials. This invention can adaptively adjust the grasping strategy through real-time feedback from visual and tactile sensors, adapt to various complex environments and unknown objects, and provide technical support for special application scenarios such as field operation robots, disaster rescue robots, and deep-sea exploration robots.

[0039] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. A visual tactile gripper adapted for a Piper robotic arm, characterized in that: It comprises a mechanical drive module, a clamping claw assembly and a visual tactile sensor module (4), wherein the mechanical drive module is fixedly connected to the clamping claw assembly, and the visual tactile sensor module (4) is installed at the end of the clamping claw structure.

2. The visual-tactile gripper adapted for a Piper robotic arm according to claim 1, characterized in that: The mechanical drive module adopts the Piper six-axis lightweight robotic arm, which integrates advanced motion control algorithms and sensors. Through multi-joint collaborative control, it realizes complex trajectory planning and dynamic adjustment, fast response and precise execution.

3. The visual-tactile gripper adapted for a Piper robotic arm according to claim 1, characterized in that: The clamping claw assembly comprises a base platform (1), a transmission connecting rod (2) and a support arm (3), wherein both ends of the transmission connecting rod (2) are connected to the ball heads at both ends of the base platform (1) to provide a moving path for the support arm (3), and the bottom of the support arm (3) is slidably connected to the transmission connecting rod (2) via a sliding block (31).

4. The visual-tactile gripper adapted for a Piper robotic arm according to claim 1, characterized in that: The base platform (1) is made of high-strength aluminum alloy, has an anodized surface, is circular in center, and is provided with a center hole and multiple auxiliary holes for fixed connection with the mechanical drive module.

5. The visual-tactile gripper adapted for a Piper robotic arm according to claim 1, characterized in that: The transmission connecting rod (2) is made of stainless steel and is in the shape of a slender rod.

6. The visual-tactile gripper adapted for a Piper robotic arm according to claim 1, characterized in that: The support arm (3) is L-shaped, made of high-strength aluminum alloy, CNC-processed, and surface-sandblasted and anodized.

7. The visual-tactile gripper adapted for a Piper robotic arm according to claim 1, characterized in that: The front end of the support arm (3) is provided with a sensor mounting seat (32), and the visual-tactile sensor module (4) is mounted on the sensor mounting seat (32).

8. The visual-tactile gripper adapted for a Piper robotic arm according to claim 1, characterized in that: The visual-tactile sensor module (4) comprises a sensor housing (41) and a GelSight Mini visual-tactile sensor (42). The sensor housing (41) is made of POM material and has a shape matching that of the GelSight Mini visual-tactile sensor (42) for mounting the GelSight Mini visual-tactile sensor (42).

9. The visual-tactile gripper adapted for a Piper robotic arm according to claim 8, characterized in that: One side of the sensor mounting seat (32) has a positioning groove (321), and one side of the sensor housing (41) has a Type C port (411), and the Type C port (411) is aligned with the positioning groove (321) and is used for connecting a data transmission line.

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