Gripper module for improving gripping of object

Abstract

The invention relates to a gripper module for improving the gripping of an object, in which the gripper module comprises a base member and at least two fingers, in which each finger comprises at least two finger segments, namely a first finger segment and a second finger segment, in which two adjacent finger segments are rotatably connected to each other by means of a connection, in which the first finger segment and the second finger segment are connected to each other in a rotatable manner. The finger segments each include a rigid finger segment base and a deformable gripping section mounted to the rigid finger segment base, where the deformable gripping section each includes a flexible outer layer and a particle, where the particle is movably disposed within the gripping section to allow geometric adjustment of the gripping section for enhanced gripping of the object. The invention further relates to a robot comprising such a gripper module.

Description

Technical Field

[0001] The present invention relates to a gripper module for improving the gripping of an object, wherein the gripper module comprises a base member and at least two fingers. Furthermore, the present invention relates to a robot comprising such a gripper module. Background Art

[0002] The increasing automation of industrial processes requires the use of more and more robots, which are used for various purposes. In particular, gripping and transporting objects, especially gripping and transporting objects at the production site, requires grippers or gripper modules with specific designs to meet the technical requirements. For example, under conditions of high speed or vibration, it is necessary to ensure a sufficiently large clamping force between the gripper and the object. At the same time, this clamping force must not exceed a specific value to avoid deforming, breaking, or otherwise damaging the object. In addition, objects may have different geometric shapes, which may require a gripper design that can adapt to the object geometry to at least a certain extent. In addition, the mechanical properties of the object, such as softness, can vary and therefore must be taken into account during the design of the gripper. In addition, the physical properties of the object can be different, such as wet or dry, heavy or light, conductive or dielectric, etc.

[0003] Grippers according to the prior art typically include fingers, thereby at least partially simulating a human hand. However, these fingers are typically rigid, one-piece fingers, leaving little or no room for geometric adjustment to the object, and in particular its general mechanical, physical, chemical, and other properties. Furthermore, while grippers can be adapted to specific requirements, such as applying a high gripping force in one direction to handle heavy objects, this is insufficient when it comes to covering a wide range of requirements.

[0004] Against this background, the problem to be solved is to provide a gripper with improved gripping capabilities which in particular meets the above-mentioned broad requirements. Summary of the Invention

[0005] In order to solve this problem, the present invention proposes a gripper module for improving the grip of an object, wherein the gripper module comprises a base member and at least two fingers.

[0006] Each finger-shaped member includes at least two finger segments, namely a first finger segment and a second finger segment, wherein two adjacent finger segments are rotatably connected to each other through a connecting portion.

[0007] Wherein, each finger segment includes a rigid finger segment base and a deformable gripping segment mounted to the rigid finger segment base, wherein each deformable gripping segment includes a flexible outer layer and particles, wherein the particles are movably arranged in the gripping segment to achieve geometric adjustment of the gripping segment, thereby enhancing the grip of the object.

[0008] The gripper module of the present invention includes at least two fingers that perform the actual gripping, holding, or retaining of an object. The two fingers can be pincer-shaped and can be moved toward each other so as to clamp an object between the two fingers. The gripper module also includes a base member, to which the fingers can be connected, preferably rotatably. The base member can be plate-like or cuboidal.

[0009] Each finger-like member includes at least two finger segments. The first finger segment can be a proximal finger segment and the second finger segment can be a distal finger segment. Adjacent finger segments are rotatably connected to each other by a connecting portion, so that relative movement can be performed between the finger segments and an angle different from 180 degrees can be formed between two adjacent finger segments. In other words, the finger-like members can be formed to be linear or curved. Fingers with a curved or curved shape can better adjust the geometry to the object and apply force in more than one direction, for example, first applying a clamping force in one direction and secondly applying a retaining force in a direction perpendicular to the clamping force. In other words, lateral and vertical forces can be applied to the object. Therefore, the stability of the grasped object can be improved while transporting the grasped object. The connecting portion can be formed to be able to move around an axis.

[0010] Each finger segment includes a rigid finger segment base. The rigid finger segment base provides mechanical stability similar to the bones of a human finger and therefore also provides geometric stability. Each finger segment also includes a deformable gripping segment mounted to the rigid finger segment base. The deformable gripping segment can advantageously be formed between the fingers and enhance the grip between the fingers and an object.

[0011] Each deformable gripping segment comprises a flexible outer layer and particles. The particles are arranged in a removable manner within the gripping segment. The particles of each finger segment can advantageously be arranged in a non-constant volume, which is bounded on one side by the flexible outer layer and on a second side by the rigid finger segment base. By virtue of its deformability, which is at least partially supported and maintained by the mobility of the particles, the finger segment can adapt its shape and rigidity to various objects. The deformable gripping segment can act as a cushion when gripping an object, thereby avoiding or at least reducing damage to the object to be gripped and transported.

[0012] The subject matter of the invention has the advantage of covering a wide range of different purposes, in particular having sufficient stability to grip heavy objects, having sufficient grip to transport wet objects, having deformability to adjust to different object geometries and avoid damage, etc. The invention thus combines several advantageous characteristics, thereby providing an enhanced and versatile gripper module.

[0013] According to an advantageous embodiment of the invention, the gripper module can be detachably connected to another device, preferably a robot or a drone, by means of a base member. This connectivity with a variety of devices makes the gripper module versatile and usable in a wide range of applications, not only in manufacturing but also in medical, agricultural, aerospace, or military applications.

[0014] According to a preferred embodiment of the present invention, the gripper module is provided with exactly three fingers, which are rotatably connected to the base member. The base member may include a first lateral surface and a second lateral surface. The two lateral surfaces may be parallel to each other and formed at two opposite sides of the base member. Two of the three fingers may be arranged on the first lateral surface, and the third finger may be arranged on the second lateral surface. The fingers may also be connected to the base member on the distal surface of the base member. Each finger may be rotatably connected to the base member by means of a connection connecting the finger segments or another form of connection.

[0015] In a preferred embodiment of the present invention, at least one of the fingers includes at least one third finger segment, which is rotatably connected to the second finger segment via a joint. Each finger may include four, five, six, or more finger segments, wherein two adjacent finger segments are rotatably connected to each other via a joint. Increasing the number of finger segments in each finger improves the adaptability of the finger to the geometry of an object.

[0016] According to an advantageous embodiment of the invention, the flexible outer layer is a membrane, in particular a membrane made of silicone rubber. This membrane offers the advantages of simple deformability and, therefore, better geometric adaptability. Silicone rubber can increase friction between the fingers and the object, thereby enhancing grip, stability, and safety. All or part of the flexible outer layer of the gripper module can be made of silicone rubber. Furthermore, silicone rubber can reduce the risk of structural and surface damage—internal and external—to the object, in particular the risk of scratches and dents. Furthermore, silicone rubber can electrically insulate the object from the gripper module.

[0017] In a preferred embodiment of the present invention, the surface of the flexible outer layer includes at least one of a textured portion and a suction cup that protrudes toward the object or away from the base of the rigid finger segment. The textured portion, the suction cup, or a combination of the textured portion and the suction cup can increase adhesion and / or grip between the object and the finger-like member, thereby enhancing stability and safety. The textured portion can include a plurality of linear, wavy, or dot-shaped protrusions.

[0018] An advantageous embodiment of the invention is provided with a pneumatic system comprising gas supply conduits, wherein each gas supply conduit is fluidically connected to a deformable gripping segment for controlling at least one of the volume and the stiffness of the deformable gripping segment, wherein gas can be pumped into or out of the deformable gripping segment. The volume and stiffness of the deformable gripping segment can be designed so that a soft contact between the finger-like member and the gripped object can be achieved. Control of the volume and stiffness of the gripping segment can be achieved by evacuating the gripping segment, in particular by evacuating the gripping segment with the aid of air or by pumping air into the gripping segment. Each gas supply conduit can pass through an opening formed in the base of each rigid finger segment or can be directly connected to the gripping segment by bypassing the base of the corresponding rigid finger segment.

[0019] According to a preferred embodiment of the present invention, the gripper module is provided with a cable system, wherein each of the at least two fingers (5) comprises at least one of a first cable for contracting or closing the finger and a second cable for extending or opening the finger. The cables may be Kevlar cables and maintain the tension of the finger. The first cable may advantageously be arranged on the inner side of the finger facing the flexible outer layer or between the rigid finger segment base and the gripping section. The second cable may advantageously be arranged on the outer side of the finger facing the rigid finger segment base and away from the gripping section. The cables may be guided through one or more channel elements or supported by one or more, in particular spherical, protrusions or a combination of channel elements and protrusions. The channel elements and the spherical protrusions may be formed on one or more finger segments. The channel elements and the spherical protrusions may be formed integrally with the rigid finger segment base to which they correspond. The distal end of the first cable and the distal end of the second cable of each finger may be attached to the distalmost finger segment of the corresponding finger.

[0020] In a preferred embodiment of the present invention, the first cable and the second cable are connected to a servo motor and can be controlled by the servo motor, wherein the servo motor can be attached to a base member. The proximal end of the first cable and the proximal end of the second cable of each finger-like member can be attached to a servo motor or a shaft of a servo motor. The servo motor can control the opening / extension and / or closing / contraction of the finger-like member. The servo motor can also control the speed and acceleration of the finger-like member when opening and closing. In addition, by modifying the torque, the servo motor can control the clamping force applied by the finger on the object. The servo motor can be mounted to the base member, which can realize a compact gripper module.

[0021] Another subject of the present invention is a robot comprising a gripper module according to one of the aforementioned embodiments of the present invention. The same technical effects and advantages mentioned within the framework of the above embodiments also apply to the robot of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] These and other characteristics, features and advantages of the present invention will become apparent from the following detailed description taken in conjunction with the accompanying drawings which illustrate the principles of the invention by way of example. The description is given for the purpose of illustration only and is not intended to limit the scope of the invention. The reference figures cited below refer to the accompanying drawings.

[0023] Figure 1 A first embodiment of a gripper module according to the invention with two fingers is shown in cross section;

[0024] Figure 2 A second embodiment of the gripper module according to the invention is shown in a perspective view with three fingers. DETAILED DESCRIPTION

[0025] The present invention will be described with respect to specific embodiments and with reference to two accompanying drawings, but the invention is not limited thereto and only by the claims. The drawings described are merely schematic and non-limiting. In the drawings, the dimensions of some of the elements may be exaggerated and not drawn to scale for illustrative purposes.

[0026] When the indefinite or definite article is used when referring to a singular noun, such as "a," "an," or "the," this includes the plural of that noun unless specifically stated otherwise. Furthermore, the terms first, second, third, etc. in the specification and claims are used to distinguish between similar elements and are not necessarily used to describe a sequential or chronological order. It should be understood that the terms so used are interchangeable where appropriate, and that the embodiments of the invention described herein are capable of operating in sequences other than those described or illustrated herein. Furthermore, the terms top, bottom, above, below, etc. in the specification and claims are used for descriptive purposes and are not necessarily used to describe relative positions. It should be understood that the terms so used are interchangeable where appropriate, and that the embodiments of the invention described herein are capable of operating in sequences other than those described or illustrated herein. It should be noted that the term "comprising" as used in the specification and claims should not be construed as being limited to the components listed thereafter; the term "comprising" does not exclude other elements or steps. Thus, the scope of the expression "a device comprising components A and B" should not be limited to a device consisting solely of components A and B. This means that, for purposes of the present invention, the only relevant components of the device are A and B.

[0027] Figure 1 A first embodiment of a gripper module 1 according to the present invention for improving the gripping of an object 2 is schematically depicted in cross-section. The gripper module 1 comprises a base member 3 and at least two fingers 5 for gripping the object 2. The object 2 is exemplarily formed as an oval in order to illustrate the ability of the gripper module 1 to grip and transport objects 2 that do not have edges or corners that would be more easily gripped.

[0028] Each finger 5 includes a first finger segment 7.1, a second finger segment 7.2, and a third finger segment 7.3. Relative to the base member 3, the first finger segment 7.1 is arranged at the proximal end, the second finger segment 7.2 is arranged in the middle, and the third finger segment 7.3 is arranged at the distal end. The first finger segment 7.1 and the second finger segment 7.2 of each finger 5 are rotatably connected to each other via a connection 9. The second finger segment 7.2 and the third finger segment 7.3 of each finger 5 are also rotatably connected to each other via another connection 9. In addition, each finger 5 is rotatably connected to the base member 3 by means of the first finger segment 7.1 of the finger 5 via the connection 9. This configuration of the finger 5 enables the gripper module 1 to "bend" its finger 5 so as to grasp the object 2 in a geometrically enhanced manner, because the finger 5 can adjust its shape according to the object 2.

[0029] Each finger segment 7.1, 7.2, 7.3 comprises a rigid finger segment base 7' and a deformable gripping segment 7". Each deformable gripping segment 7" is mounted to its corresponding rigid finger segment base 7' and comprises a flexible outer layer 7'" and particles 7". The particles 7"" are arranged in a movably manner within its gripping segment 7" so as to allow geometric adjustment of the gripping segment 7" to enhance the grip of the object 2. The flexible outer layer 7'" is formed as a membrane made of silicone rubber to optimize / increase the friction between the finger 5 and the object 2. The curvature of the finger 5 can be interpreted as a first-order geometric adaptation, while the deformability of the gripping segment 7" can be regarded as a second-order adaptation, both of which enhance the grip and transportation of the object 2 due to increased stability and safety.

[0030] like Figure 1 The illustrated gripper module 1 also includes a pneumatic system 10. The pneumatic system 10 comprises a vacuum pump 11 and six gas supply lines 12. Each gas supply line 12 extends through a finger segment 7.1, 7.2, 7.3 and is arranged so that the vacuum pump 11 can pump air into and out of the deformable gripping segment 7" in order to control the volume and stiffness of the gripping segment 7".

[0031] Furthermore, the gripper module 1 comprises a cable system 20, the deformable gripping segment having a servo motor 23 mounted to the base member 3. The servo motor 2 controls a first cable 21 and a second cable 22 at each finger 5. The first cable 21 is arranged between the gripping segment 7" and the rigid finger segment base 7'. The second cable 22 is formed on the outside of the finger 5, away from the gripping segment 7" and the object 2. The second cable 22 is partially supported by a spherical protrusion 22'. The first cable 21 and the second cable 22 are attached at one end to the third finger segment 7.3 for opening and closing the finger 5. At the other opposite end, the first cable 21 and the second cable 22 are connected to the servo motor 23.

[0032] exist Figure 2 A second embodiment of the present invention is schematically shown in a perspective view, wherein the gripper module 1 comprises three fingers 5. Two fingers 5 are arranged on one side of the base member 3 and one finger 5 is arranged on the opposite second side of the base member 3. Each finger 5 comprises a first finger segment 7.1, a second finger segment 7.2 and a third finger segment 7.3. Figure 2 The rotation of the finger segments 7.1, 7.2, 7.3 is performed about the rotor axis 9' depicted in FIG.

[0033] As the finger segments 7.1, 7.2, 7.3 rotate about the rotor axis 9', each finger 5 can move along a corresponding plane E1, E2, or E3. Planes E1, E2, and E3 are arranged parallel to or coplanar with each other. Furthermore, planes E1, E2, and E3 are sufficiently offset so that the fingers 5 always avoid potential collisions while opening and closing the fingers 5.

[0034] Reference Signs List

[0035] 1 Gripper module

[0036] 2 objects

[0037] 3 base components

[0038] 5 fingers

[0039] 7 finger segments

[0040] 7.1 First phalanx segment

[0041] 7.2 Second phalanx segment

[0042] 7.3 Third phalanx segment

[0043] 7' rigid finger segment base

[0044] 7” deformable gripping section

[0045] 7" flexible outer layer

[0046] 7" particles

[0047] 9 Connection

[0048] 9' connecting axis

[0049] 10 Pneumatic system

[0050] 11 Vacuum pump

[0051] 12 Gas supply pipeline

[0052] 20 Cable System

[0053] 21 First Cable

[0054] 22 Second cable

[0055] 22' bulge

[0056] 23 Servo motor

[0057] E1 First plane

[0058] E2 Second plane

[0059] E3 third plane.

Claims

1. A gripper module (1) for improving the grip of an object, wherein The gripper module (1) comprises a base member (3) and at least two fingers (5), Each finger (5) comprises at least two finger segments (7), namely a first finger segment (7.1) and a second finger segment (7.2), wherein two adjacent finger segments (7) are connected to each other in a rotatable manner via a connecting portion (9). wherein each finger segment (7) comprises a rigid finger segment base (7') and a deformable gripping segment (7") mounted to the rigid finger segment base (7'), The deformable gripping segments (7") each comprise a flexible outer layer (7') and particles (7"), wherein the particles (7") are movably arranged within the gripping segments (7") to allow geometric adjustment of the gripping segments (7") for enhancing gripping of the object.

2. The gripper module (1) according to claim 1, characterized in that The gripper module (1) can be connected in a detachable manner to another device, preferably a robot or a drone, by means of the base member (3).

3. Gripper module (1) according to one of the preceding claims, characterized in that There are exactly three fingers (5) which are rotatably connected to the base member (3).

4. Gripper module (1) according to one of the preceding claims, characterized in that At least one of the fingers (5) comprises at least one third finger segment (7.3), which is rotatably connected to the second finger segment (7.2) via a joint (9).

5. Gripper module (1) according to one of the preceding claims, characterized in that The flexible outer layer (7'") is a membrane made of silicone rubber.

6. Gripper module (1) according to one of the preceding claims, characterized in that The surface of the flexible outer layer (7'") includes at least one of a textured portion and a suction cup that protrudes toward the object or away from the rigid finger segment base (7').

7. Gripper module (1) according to one of the preceding claims, characterized in that There is a pneumatic system (10) comprising gas supply conduits (12), wherein each gas supply conduit (12) is fluidly connected to a deformable gripping segment (7") for controlling at least one of the volume and stiffness of the deformable gripping segment (7"), wherein gas can be pumped into or out of the deformable gripping segment (7").

8. Gripper module (1) according to one of the preceding claims, characterized in that There is a cable system (20), wherein each of the at least two fingers (5) includes at least one of a first cable (21) for retracting or closing the finger (5) and a second cable (22) for extending or opening the finger (5).

9. The gripper module (1) according to claim 8, characterized in that The first cable (21) and the second cable (22) are connected to and controllable by a servo motor (23), wherein the servo motor (23) is attachable to the base member (3).

10. A robot (100) comprising a gripper module (1) according to one of the preceding claims.

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