Universal tail end grabbing actuator with variable claw forms

Abstract

The invention relates to the technical field of tail end grabbing actuators of grabbing robots, in particular to a universal tail end grabbing actuator capable of changing claw forms. The universal tail end grabbing actuator capable of changing the claw form comprises a tail end grabbing module, a form changing module and a steering engine driving module. The form transformation module comprises a plurality of inner tooth adjusting wheels which are stacked in the arm axis direction of the grabbing actuator. The tail end grabbing module comprises claw finger bodies distributed around an arm shaft and a plurality of corresponding linkage rods. The included angles between the multiple claw finger bodies are adjusted under rotation of the inner tooth adjusting wheel, and the multiple claw finger bodies are driven by the linkage rod to conduct grabbing operation. The robot can be quickly switched among a four-claw mode, a three-claw-like mode and a double-claw-like mode, has an independent opening and closing driving function, and is suitable for efficient and accurate grabbing in the environment with limited space and changeable target forms.

Description

Technical Field

[0001] The present invention relates to the technical field of an end-gripping actuator of a gripping robot, and in particular to a universal end-gripping actuator with a variable claw form. Background Art

[0002] In recent years, with the rapid development of robotics, the end effectors of gripping robots have become increasingly widely used in industrial assembly, logistics sorting, agricultural harvesting, and general grasping. In particular, in complex environments like fruit picking, traditional single-claw grippers are unable to meet the requirements for efficient grasping in diverse target shapes and confined spaces.

[0003] Existing multi-claw grippers mostly use a fixed three-claw or four-claw structure. Although they perform well on regular workpieces and large-space operations, when faced with irregular shapes, targets obscured by branches and leaves, or targets with narrow gaps, they often experience problems such as unstable grasping, slippage, or inability to enter the working space due to the claws being too wide or not wrapping tightly.

[0004] To improve flexibility, research has introduced deformable gripper designs using flexible materials, modular multi-joints, or independent servo drives, which can adjust the distance and number of claws to a certain extent. However, these solutions either suffer from reduced positioning accuracy due to material fatigue, or from excessive joints and motors, resulting in a bloated structure and slow switching response. These solutions fail to achieve the desired balance between fast switching, compactness, and high load capacity.

[0005] Therefore, a universal grasping actuator is needed that can quickly switch between four-claw, three-claw, and two-claw modes with a minimum of driving servos and gear mechanisms, and has independent opening and closing control to meet the needs of efficient and precise grasping in environments with limited space and variable target shapes. Summary of the Invention

[0006] (1) Technical issues to be resolved In order to overcome the defects of existing multi-claw grippers such as the inability to quickly switch the number of claws, bloated structure, and slow response, and in view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a universal end-gripping actuator with variable claw morphology, which can quickly switch between four-claw, three-claw, and two-claw modes, and has an independent opening and closing drive function. It is suitable for efficient and accurate grasping in environments with limited space and variable target morphology; it is suitable for grasping targets in complex morphology or space-limited environments in various scenarios such as agricultural picking, industrial assembly, and logistics sorting.

[0007] (2) Technical solution In order to achieve the above-mentioned object, the present invention provides a universal end-gripping actuator with variable claw shape, comprising an end-gripping module, a shape transformation module and a steering gear drive module; wherein, The morphology transformation module includes a plurality of internal-tooth adjustment wheels stacked along the arm axis direction of the grasping actuator, and an annular rack is provided on the inner wall of each internal-tooth adjustment wheel; The end gripping module includes claw fingers distributed around the arm axis and corresponding multiple linkage rods; the top of each claw finger is rotatably connected to the internal tooth adjustment wheel via a first rotating shaft, and the middle of each claw finger is connected to the first end of the linkage rod via a second rotating shaft; the first rotating shaft is parallel to the second rotating shaft, and the first rotating shaft is perpendicular to the arm axis; The servo drive module includes a gripping drive servo and a transmission rod, a deformation drive servo group and a deformation drive gear group; The deformable driving gear set includes a plurality of adjusting spur gears corresponding to and meshing with the internal-tooth adjusting wheel, and the deformable driving servo set drives the adjusting spur gears of the deformable driving gear set to rotate, thereby driving the internal-tooth adjusting wheel to rotate around the arm shaft; The transmission rod passes through the plurality of stacked internal-tooth adjustment wheels along the direction of the arm axis, and the central axis of the transmission rod coincides with the central axis of the internal-tooth adjustment wheels; the grab drive servo drives the top end of the transmission rod to drive the transmission rod to move along the direction of the arm axis; a transmission rod base is provided at the end of the transmission rod, and the second end of the linkage rod is rotatably connected to the transmission rod base so that the second end of the linkage rod can rotate relative to the transmission rod base about a third rotation axis and the second end can rotate about the arm axis; the third rotation axis is parallel to the first rotation axis; The multiple claw fingers adjust the angles between the multiple claw fingers as the internal tooth adjustment wheel rotates, and the multiple claw fingers are driven by the linkage rod to perform a grasping operation as the transmission rod moves along the arm axis.

[0008] Preferably, the transmission rod base includes a circular connecting disk, the center of the connecting disk is connected to the end of the transmission rod and the connecting disk is perpendicular to the transmission rod, and an annular connecting groove arranged around the center is opened on the outer wall of the connecting disk; a ball head is provided on the second end, and the ball head cooperates with the connecting groove to realize the ball head shaft connection.

[0009] Preferably, the form transformation module includes a disc-shaped upper cover, a disc-shaped lower cover, a side fixing strip and a plurality of the internal-tooth adjustment wheels; the upper cover and the lower cover are spaced apart and fixed by the side fixing strips, and a spacing cavity for accommodating the deformation drive gear set is formed between the upper cover and the lower cover; the upper cover and the lower cover are also provided with a central hole for the transmission rod to pass through, and the plurality of internal-tooth adjustment wheels are stacked in the spacing cavity along the arm axis direction, and the height of the spacing cavity matches the sum of the thicknesses of the plurality of internal-tooth adjustment wheels, and the diameters of the upper cover, the lower cover and the internal-tooth adjustment wheels are the same.

[0010] Preferably, there are two side fixing strips, and the two side fixing strips are arranged opposite to each other along the diameter direction of the upper cover; the upper end of the side fixing strip is fixedly connected to the side of the upper cover, and the lower end of the side fixing strip is detachably connected to the bottom surface of the lower cover through a thread.

[0011] Preferably, a connecting plate is provided deep inside the outer side of the inner-toothed adjusting wheel, and the end of the connecting plate is rotatably connected to the top of the claw finger body via a first rotating shaft.

[0012] Preferably, the number of the internal-tooth adjustment wheels and claw fingers is 4, and the internal-tooth adjustment wheels include a first internal-tooth adjustment wheel, a second internal-tooth adjustment wheel, a third internal-tooth adjustment wheel and a fourth internal-tooth adjustment wheel stacked in sequence from the upper cover toward the lower cover; the claw fingers include a first claw finger connected to the first internal-tooth adjustment wheel, a second claw finger connected to the second internal-tooth adjustment wheel, a third claw finger connected to the third internal-tooth adjustment wheel and a fourth claw finger connected to the fourth internal-tooth adjustment wheel; the deformation drive gear group includes a first adjustment spur gear meshed with the first internal-tooth adjustment wheel, a second adjustment spur gear meshed with the second internal-tooth adjustment wheel, a third adjustment spur gear meshed with the third internal-tooth adjustment wheel and a fourth adjustment spur gear meshed with the fourth internal-tooth adjustment wheel.

[0013] Preferably, the deformation drive gear set also includes a first transmission spur gear meshing with the first adjustment spur gear, a second transmission spur gear meshing with the second adjustment spur gear, a third transmission spur gear meshing with the third adjustment spur gear, and a fourth transmission spur gear meshing with the fourth adjustment spur gear.

[0014] Preferably, the first claw finger and the third claw finger are arranged opposite to each other along the diameter direction of the upper cover, and the second claw finger and the fourth claw finger are arranged opposite to each other along the diameter direction of the upper cover; the deformable drive servo group includes a first deformable drive servo and a second deformable drive servo, the first transmission spur gear and the third transmission spur gear are coaxially connected to the output shaft of the first deformable drive servo, and the second transmission spur gear and the fourth transmission spur gear are coaxially connected to the output shaft of the second deformable drive servo; the rotation directions of the first adjusting spur gear and the third adjusting spur gear are opposite, and the rotation directions of the second adjusting spur gear and the fourth adjusting spur gear are opposite.

[0015] Preferably, the first deformable driving servo and the second deformable driving servo are installed above the upper cover, and the upper cover is provided with a through hole for the output shafts of the first deformable driving servo and the second deformable driving servo to pass through.

[0016] Preferably, the top end of the transmission rod is provided with a bar rack arranged along the axial direction of the transmission rod, and the output end of the grabbing drive servo is provided with a spur gear meshing with the bar rack; the grabbing drive servo is installed on the top surface of the upper cover.

[0017] (3) Beneficial effects The universal end-gripping actuator with a variable claw configuration provided by the present invention has at least the following advantages: (1) The present invention uses a servo drive module to achieve rapid switching between four-claw, three-claw, and two-claw modes, using at least two deformation-driven servos for shape transformation and one grasping-driven servo for gripper opening and closing, as well as meshing internal gear adjustment wheels and adjustment spur gears. This reduces the amount of hardware, reduces the overall weight of the grasping actuator, and provides a high degree of integration and compactness. (2) The deformable drive servo of the present invention can complete mode switching in a short time. The switching process is driven by two single control signals, which can quickly switch the claw shape to meet the real-time grasping requirements of targets in complex environments. (3) The present invention adopts a quick-detachable claw design, which allows users to quickly replace soft claws and hard claws according to the grasping object, and can additionally install a vision module to realize intelligent grasping strategies, adapting to various complex scenarios such as agricultural picking, industrial assembly, logistics sorting, and grasping objects in narrow gaps; (4) The present invention has a high degree of modularity. All key components (servo, gear, claw) can be quickly replaced or maintained through quick-release connections. The replacement time of a single component is short, which greatly reduces downtime for maintenance. In addition, the overall unit manufacturing and assembly costs are low, achieving significant economic benefits, reducing maintenance costs and improving the continuous availability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the universal end-gripping actuator with a variable claw shape of the present invention.

[0019] Figure 2 for Figure 1 Schematic diagram of the decomposed structure of the end-grasping module of the universal end-grasping actuator with variable claw shape.

[0020] Figure 3 for Figure 1 Schematic diagram of the decomposed structure of the end gripping module and the internal gear adjustment wheel of the universal end gripping actuator with a variable claw shape.

[0021] Figure 4 for Figure 3 A structural diagram from another angle.

[0022] Figure 5 for Figure 1Schematic diagram of the linkage structure of the end grasping module, grasping drive servo and transmission rod of the universal end grasping actuator with variable claw shape.

[0023] Figure 6 for Figure 1 Schematic diagram of the three-dimensional structure of the universal end-grasping actuator with a variable claw shape after changing its shape. DETAILED DESCRIPTION

[0024] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below with reference to the accompanying drawings and through specific embodiments. Figure 1 The orientation is referenced.

[0025] like Figures 1 to 6 As shown, the present invention provides a structural schematic diagram of a universal end-grasping actuator 100 with a variable claw form in an embodiment.

[0026] The universal end-grasping actuator 100 with a variable claw form can be used as the end-grasping actuator of a grasping robot and is suitable for various complex scenarios such as agricultural picking, industrial assembly, logistics sorting, and grasping objects in narrow gaps.

[0027] The universal end-grasping actuator 100 with a variable claw morphology (hereinafter referred to as the gripping actuator 100 ) comprises an end-grasping module 1, a morphology transformation module 2, and a servo drive module (not numbered in the figure). The end-grasping module 1 is used to grasp objects, the morphology transformation module 2 is used to transform the end-grasping module 1, and the servo drive module is used to drive the grasping action of the end-grasping module 1 and the morphology transformation operation of the morphology transformation module 2.

[0028] Specifically, the shape-shifting module 2 includes multiple internally toothed adjustment wheels 10 stacked along the arm axis of the gripping actuator 100. Each internally toothed adjustment wheel 10 has an annular rack 11 on its inner wall. The arm axis refers to the axial center of the gripping actuator 100's squeezing wall, typically the center axis of the gripping jaws. The internally toothed adjustment wheels 10 are annular internal gears.

[0029] The servo drive module includes a grabbing drive servo 41 and a transmission rod 31 , a deformation drive servo assembly 42 and a deformation drive gear assembly 32 .

[0030] The deformation drive gear set 32 ​​includes a plurality of adjustment spur gears (321, 322, 323, and 324 in this embodiment) that correspond one-to-one to and mesh with the internal-tooth adjustment wheel 10. The deformation drive servo set 42 drives the adjustment spur gears of the deformation drive gear set 32 ​​to rotate, thereby driving the internal-tooth adjustment wheel 10 to rotate around the arm shaft.

[0031] The end grasping module 1 includes a plurality of claw fingers 30 distributed around the arm axis and a corresponding plurality of linkage rods 8; the top of each claw finger 30 is rotatably connected to the internal tooth adjustment wheel 10 through a first rotating shaft 51, and the middle part of each claw finger 30 is connected to the first end 81 of the linkage rod 8 through a second rotating shaft 52; the first rotating shaft 51 is parallel to the second rotating shaft 52, and the first rotating shaft 51 is perpendicular to the arm axis.

[0032] The transmission rod 31 passes through the multiple stacked internal-tooth adjustment wheels 10 along the direction of the arm axis, and the transmission rod 31 coincides with the central axis of the internal-tooth adjustment wheel 10; the grabbing drive servo 41 drives the top end of the transmission rod 31 to drive the transmission rod 31 to move along the direction of the arm axis; the end of the transmission rod 31 is provided with a transmission rod base 312, and the second end 82 of the linkage rod 8 is rotatably connected to the transmission rod base, so that the second end 82 of the linkage rod 8 can rotate around the third rotation axis relative to the transmission rod base, and the second end 82 can rotate around the arm axis; the third rotation axis is parallel to the first rotation axis 51.

[0033] Specifically, the deformation drive servo group 42 drives the adjustment spur gear of the deformation drive gear group 32 to rotate, and the internal tooth adjustment wheel 10 engaged with the adjustment spur gear rotates around the arm shaft. Since the second end 82 of the linkage rod 8 is rotatably connected to the transmission rod base, the second end 82 is rotatable around the arm shaft, and the rotation of the internal tooth adjustment wheel 10 can drive the claw finger body 30 connected thereto to rotate; thereby realizing that the multiple claw finger bodies 30 can adjust the angle between the multiple claw finger bodies 30 under the rotation of the internal tooth adjustment wheel 10.

[0034] The grabbing drive servo 41 drives the top end of the transmission rod 31 to drive the transmission rod 31 to move along the direction of the arm axis. The transmission rod 31, the linkage rod 8, the claw finger body 30 and the internal tooth adjustment wheel 10 directly form a connecting rod structure through the first rotating shaft 51, the second rotating shaft 52 and the third rotating shaft. When the transmission rod 31 moves along the direction of the arm axis, the multiple claw finger bodies 30 are driven by the linkage rod 8 to perform a grabbing operation.

[0035] The number of claw fingers 30 can be set as needed. For example, in this embodiment, the number can be set to four. By adjusting the angles between the four claw fingers 30, rapid switching between various modes can be achieved, such as four-claw (four claw fingers 30 evenly spaced), three-claw-like (two claw fingers 30 merged together), and two-claw-like (claw fingers 30 merged together in pairs). This reduces the amount of hardware required, the overall weight of the gripping actuator is light, and it has a high degree of integration and compactness. Those skilled in the art will appreciate that five, six, or other claw fingers 30 can also be provided, and any suitable claw shape can be achieved by adjusting the angles of the claw fingers 30 to accommodate the gripping of objects of different shapes and sizes.

[0036] Preferably, in this embodiment, the transmission rod base 312 includes a circular connecting disk, the center of the connecting disk is connected to the end of the transmission rod 31 and the connecting disk is perpendicular to the transmission rod 31, and an annular connecting groove 313 arranged around the center is opened on the outer wall of the connecting disk; a ball head 821 is provided on the second end 82, and the ball head 821 cooperates with the connecting groove 313 to realize the ball head shaft connection.

[0037] Specifically, to achieve a rotatable connection between the second end 82 of the linkage rod 8 and the transmission rod base, allowing the second end 82 of the linkage rod 8 to rotate relative to the transmission rod base about the third rotation axis and the second end 82 to rotate about the arm axis, the ball head rotational axis structure within the annular connection groove 313 can be used to enable the second end 82 of the linkage rod 8 to rotate relative to the transmission rod base about the third rotation axis and the second end 82 to rotate about the arm axis. Generally, those skilled in the art can design the dimensions and structure of the connecting plate and ball head as needed. The connecting plate can be formed by splicing two circular plates with a thickness half that of the connecting plate, which are connected by bolts. The connecting groove 313 is also divided into two semicircular rings along the thickness direction to facilitate the installation of the ball head 821. Once installed in the connecting groove 313, the ball head 821 will not fall out of the connecting groove 313. The diameter of the ball head 821 is generally larger than the diameter of the second end 82 to achieve a larger rotation angle. The circumferential sliding of the ball head 821 in the connecting groove 313 can realize the rotation of the claw finger body 30 around the arm axis, thereby realizing the adjustment of the angle between the claw finger bodies 30; the rotation of the ball head 821 in the connecting groove 313 around the tangent of the connecting groove 313 realizes the rotation of the third rotating shaft, thereby linking the connecting rod structure to realize the grasping operation of the multiple claw finger bodies 30.

[0038] It can be understood that in other embodiments, a third rotating shaft can also be used to connect the second end 82 and the annular side of the transmission rod base 312, and the third rotating shaft and the annular side of the transmission rod base 312 can be rotatable around the center, for example, an annular groove is opened, and the third rotating shaft is set in the annular groove; the specific structure can be set by technicians in this field as needed, as long as the second end 82 of the linkage rod 8 can rotate around the third rotating shaft relative to the transmission rod base, and the second end 82 rotates around the arm shaft, these two degrees of freedom are sufficient.

[0039] In a specific embodiment, the form transformation module 2 includes a disc-shaped upper cover 13, a disc-shaped lower cover 14, a side fixing strip 15 and a plurality of the internal-tooth adjustment wheels 10; the upper cover 13 and the lower cover 14 are spaced apart and fixed by the side fixing strip 15, and a spacing cavity for accommodating the deformation drive gear set 32 ​​is formed between the upper cover 13 and the lower cover 14; the upper cover 13 and the lower cover 14 are also provided with a center hole for the transmission rod 31 to pass through, and the plurality of internal-tooth adjustment wheels 10 are stacked along the arm axis direction, and the height of the spacing cavity matches the sum of the thicknesses of the plurality of internal-tooth adjustment wheels 10, and the diameters of the upper cover 13, the lower cover 14 and the internal-tooth adjustment wheel 10 are the same.

[0040] In a specific embodiment, multiple internally-toothed adjustment wheels 10 are stacked along the arm axis with upper covers 13 and lower covers 14, respectively, to secure the multiple internally-toothed adjustment wheels 10 along the arm axis. The upper covers 13 and lower covers 14 are spaced apart and secured by side fixing strips 15. A spacer cavity is formed between the upper covers 13 and lower covers 14 for accommodating the deformable drive gear set 32. The multiple internally-toothed adjustment wheels 10 are stacked along the arm axis within the spacer cavity. The upper covers 13 and lower covers 14 also have a central hole through which the transmission rod 31 passes. Preferably, the upper covers 13, lower covers 14, and internally-toothed adjustment wheels 10 have the same diameter; the upper covers 13, internally-toothed adjustment wheels 10, and lower covers 14 are stacked together to form a cylindrical shape.

[0041] In a preferred embodiment, there are two side fixing bars 15, which are arranged opposite each other along the diameter of the upper cover 13. The upper ends of the side fixing bars 15 are fixedly connected to the side of the upper cover 13, and the lower ends of the side fixing bars 15 are detachably connected to the bottom surface of the lower cover 14 via threads. The provision of two side fixing bars 15 can achieve both convenient installation and stable fixing.

[0042] Preferably, a connecting plate 110 is provided deep inside the outer side of the inner-toothed adjusting wheel 10, and the end of the connecting plate 110 is rotatably connected to the top of the claw finger body 30 via the first rotating shaft 51. When the inner-toothed adjusting wheel 10 rotates, the connecting plate 110 drives the claw finger body 30 to rotate.

[0043] In one embodiment, the number of the internally-toothed adjustment wheels 10 and the claw fingers 30 is four. The internally-toothed adjustment wheel 10 includes a first internally-toothed adjustment wheel 111, a second internally-toothed adjustment wheel 112, a third internally-toothed adjustment wheel 113, and a fourth internally-toothed adjustment wheel 114 stacked sequentially from the upper cover 13 toward the lower cover 14. The deformable driving gear set 32 ​​includes a first adjusting spur gear 321 meshing with the first internally-toothed adjustment wheel 111, a second adjusting spur gear 322 meshing with the second internally-toothed adjustment wheel 112, a third adjusting spur gear 323 meshing with the third internally-toothed adjustment wheel 113, and a fourth adjusting spur gear 324 meshing with the fourth internally-toothed adjustment wheel 114. The deformable driving servo assembly 42 drives the corresponding adjusting spur gears of the deformable driving gear set 32 ​​to rotate, thereby driving the internally-toothed adjustment wheel 10 to rotate about the arm shaft.

[0044] The deformable drive gear assembly 32 further includes a first transmission spur gear 331 meshing with the first adjustment spur gear 321, a second transmission spur gear 332 meshing with the second adjustment spur gear 322, a third transmission spur gear 333 meshing with the third adjustment spur gear 323, and a fourth transmission spur gear 334 meshing with the fourth adjustment spur gear 324. The deformable drive servo assembly 42 drives the transmission spur gears to drive the corresponding adjustment spur gears, thereby achieving variable speed adjustment.

[0045] The claw finger 30 includes a first claw finger 301 connected to the first internal tooth adjustment wheel 111, a second claw finger 302 connected to the second internal tooth adjustment wheel 112, a third claw finger 303 connected to the third internal tooth adjustment wheel 113, and a fourth claw finger 304 connected to the fourth internal tooth adjustment wheel 114.

[0046] In a more preferred embodiment, in order to simplify the number of servos, in the initial state, the first claw finger 301 and the third claw finger 303 are arranged opposite to each other along the diameter direction of the upper cover 13, and the second claw finger 302 and the fourth claw finger 304 are arranged opposite to each other along the diameter direction of the upper cover 13.

[0047] The deformation driving servo assembly 42 includes a first deformation driving servo 421 and a second deformation driving servo 422 .

[0048] The first transmission spur gear 331 is meshed with the third transmission spur gear 333; the second transmission spur gear 332 is meshed with the fourth transmission spur gear 334; the output shaft of the first deformation driving servo 421 drives any one of the first transmission spur gear 331, the third transmission spur gear 333, the first adjustment spur gear 321 or the third adjustment spur gear 323, so that the rotation directions of the first adjustment spur gear 321 and the third adjustment spur gear 323 are opposite; the output shaft of the second deformation driving servo 422 drives any one of the second transmission spur gear 332, the fourth transmission spur gear 334, the second adjustment spur gear 322 or the fourth adjustment spur gear 324, and the rotation directions of the second adjustment spur gear 322 and the fourth adjustment spur gear 324 are opposite.

[0049] The first transmission spur gear 331 and the third transmission spur gear 333 are engaged, so when the output shaft of the first deformation driving servo 421 is driven, the first adjustment spur gear 321 and the third adjustment spur gear 323 rotate in opposite directions, and the first claw finger 301 and the third claw finger 303 approach each other.

[0050] The second transmission spur gear 332 is meshed with the fourth transmission spur gear 334, so that when the output shaft of the second deformation driving servo 422 is driven, the second adjustment spur gear (322) and the fourth adjustment spur gear (324) rotate in opposite directions, and the second claw finger body 302 and the fourth claw finger body 304 approach each other.

[0051] By adjusting the included angle between the first claw finger 301 and the third claw finger 303 and the included angle between the second claw finger 302 and the fourth claw finger 304 as needed, different shapes can be produced, such as four claws, three claws, two claws, etc.

[0052] For example, Figure 6 Just for Figure 1 Schematic diagram of the three-dimensional structure of the universal end-grasping actuator with variable claw form after it changes from a four-claw form to a two-claw form.

[0053] Preferably, the first deformation driving servo 421 and the second deformation driving servo 422 can be installed above the upper cover 13, and the upper cover 13 is provided with a through hole for the output shafts of the first deformation driving servo 421 and the second deformation driving servo 422 to pass through.

[0054] Specifically, a mounting plate 220 is provided above the upper cover 13. The mounting plate 220 is installed at a certain distance from the upper cover 13. The mounting plate 220 and the upper cover are connected by a support rod 221. The first deformable drive servo 421 and the second deformable drive servo 422 are installed above the mounting plate 220. The mounting plate 220 is provided with a through hole for the output shafts of the first deformable drive servo 421 and the second deformable drive servo 422 to pass through.

[0055] Preferably, the top end of the transmission rod 31 is provided with a bar rack 311 arranged along the axial direction of the transmission rod 31, and the output end of the grabbing drive servo 41 is provided with a spur gear meshing with the bar rack 311; the grabbing drive servo 41 is installed on the top surface of the upper cover 13.

[0056] Specifically, the grabbing drive servo 41 is installed in the space formed between the mounting plate 220 and the upper cover 13 . The mounting plate 220 is further provided with a central hole for the top end of the transmission rod 31 to pass through.

[0057] Preferably, in this embodiment, a top cover 22 is further provided above the mounting plate 220, and the top cover 22 and the mounting plate 220 are connected by a support rod, and the space between the top cover 22 and the mounting plate 220 is used to accommodate the first deformation drive servo 421, the second deformation drive servo 422 and the top end of the transmission rod 31.

[0058] The universal end-gripping actuator with a variable claw configuration provided by the present invention has at least the following advantages: (1) The present invention uses a servo drive module to achieve rapid switching between four-claw, three-claw, and two-claw modes, using at least two deformation-driven servos for shape transformation and one grasping-driven servo for gripper opening and closing, as well as meshing internal gear adjustment wheels and adjustment spur gears. This reduces the amount of hardware, reduces the overall weight of the grasping actuator, and provides a high degree of integration and compactness. (2) The deformable drive servo of the present invention can complete mode switching in a short time. The switching process is driven by two single control signals, which can quickly switch the claw shape to meet the real-time grasping requirements of targets in complex environments. (3) The present invention adopts a quick-detachable claw design, which allows users to quickly replace soft claws and hard claws according to the grasping object, and can additionally install a vision module to realize intelligent grasping strategies, adapting to various complex scenarios such as agricultural picking, industrial assembly, logistics sorting, and grasping objects in narrow gaps; (4) The present invention has a high degree of modularity. All key components (servo, gear, claw) can be quickly replaced or maintained through quick-release connections. The replacement time of a single component is short, which greatly reduces downtime for maintenance. In addition, the overall unit manufacturing and assembly costs are low, achieving significant economic benefits, reducing maintenance costs and improving the continuous availability of the system.

[0059] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0060] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0061] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0062] In the description of this specification, the terms "one embodiment", "some embodiments", "embodiments", "examples", "specific examples" or "some examples" refer to the specific features, structures, materials or characteristics described in conjunction with the embodiment or example and included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and features of different embodiments or examples, unless they are mutually inconsistent.

[0063] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A universal end-grasping actuator with a variable claw shape, characterized in that: It includes an end grasping module (1), a morphological transformation module (2) and a steering gear driving module; wherein, The morphology transformation module (2) comprises a plurality of internal tooth adjustment wheels (10) stacked and arranged along the arm axis direction of the grasping actuator, and an annular rack (11) is provided on the inner wall of each internal tooth adjustment wheel (10); The end gripping module (1) comprises claw finger bodies (30) distributed around the arm axis and a corresponding plurality of linkage rods (8); the top of each claw finger body (30) is rotatably connected to the internal tooth adjustment wheel (10) via a first rotating shaft (51), and the middle of each claw finger body (30) is connected to the first end (81) of the linkage rod (8) via a second rotating shaft (52); the first rotating shaft (51) is parallel to the second rotating shaft (52), and the first rotating shaft (51) is perpendicular to the arm axis; The servo drive module comprises a grabbing drive servo (41) and a transmission rod (31), a deformation drive servo assembly (42) and a deformation drive gear assembly (32); The deformable driving gear set (32) includes a plurality of adjusting spur gears that correspond one-to-one to and mesh with the internal-tooth adjusting wheel (10), and the deformable driving steering gear set (42) drives the adjusting spur gears of the deformable driving gear set (32) to rotate, thereby driving the internal-tooth adjusting wheel (10) to rotate around the arm shaft; The transmission rod (31) passes through the plurality of stacked internal-tooth adjustment wheels (10) along the direction of the arm axis, and the transmission rod (31) coincides with the central axis of the internal-tooth adjustment wheel (10); the grabbing drive servo (41) drives the top end of the transmission rod (31) to drive the transmission rod (31) to move along the direction of the arm axis; a transmission rod base (312) is provided at the end of the transmission rod (31); the second end (82) of the linkage rod (8) is rotatably connected to the transmission rod base (312), so that the second end (82) of the linkage rod (8) can rotate relative to the transmission rod base (312) around a third rotation axis, and the second end (82) can rotate around the arm axis; the third rotation axis is parallel to the first rotation axis (51); The multiple claw finger bodies (30) adjust the angles between the multiple claw finger bodies (30) under the rotation of the internal tooth adjustment wheel (10), and the multiple claw finger bodies (30) are driven by the linkage rod (8) to perform a grasping operation when the transmission rod (31) moves along the direction of the arm axis.

2. The universal end-grasping actuator with a variable claw configuration according to claim 1, characterized in that: The transmission rod base (312) includes a circular connecting disk, the center of which is connected to the end of the transmission rod (31) and the connecting disk is perpendicular to the transmission rod (31), and an annular connecting groove (313) arranged around the center is formed on the outer wall of the connecting disk; a ball head is provided on the second end (82), and the ball head cooperates with the connecting groove (313) to realize the connection of the ball head shaft.

3. The universal end-grasping actuator with a variable claw configuration according to claim 1, characterized in that: The morphology transformation module (2) comprises a disc-shaped upper cover (13), a disc-shaped lower cover (14), a side fixing strip (15), and a plurality of the inner-tooth adjustment wheels (10); the upper cover (13) and the lower cover (14) are spaced apart and fixed by the side fixing strip (15); a spaced cavity for accommodating the deformation drive gear set (32) is formed between the upper cover (13) and the lower cover (14); a central hole () for the transmission rod (31) to pass through is further provided on the upper cover (13) and the lower cover (14); the plurality of inner-tooth adjustment wheels (10) are stacked in the spaced cavity along the arm axis direction; the height of the spaced cavity matches the sum of the thicknesses of the plurality of inner-tooth adjustment wheels (10); the diameters of the upper cover (13), the lower cover (14), and the inner-tooth adjustment wheels (10) are the same.

4. The universal end-grasping actuator with a variable claw configuration as claimed in claim 3, characterized in that: There are two side fixing strips (15), and the two side fixing strips (15) are arranged opposite to each other along the diameter direction of the upper cover (13); the upper end of the side fixing strip (15) is fixedly connected to the side of the upper cover (13), and the lower end of the side fixing strip (15) is detachably connected to the bottom surface of the lower cover (14) through a thread.

5. The universal end-gripping actuator with a variable claw configuration according to any one of claims 1 to 4, characterized in that: A connecting plate (110) is provided deep inside the outer side of the inner-toothed regulating wheel (10), and the end of the connecting plate (110) is rotatably connected to the top of the claw finger body (30) via a first rotating shaft (51).

6. The universal end-grasping actuator with a variable claw configuration as claimed in claim 3, characterized in that: The number of the internal-tooth adjustment wheel (10) and the claw finger body (30) is four. The internal-tooth adjustment wheel (10) includes a first internal-tooth adjustment wheel (111), a second internal-tooth adjustment wheel (112), a third internal-tooth adjustment wheel (113), and a fourth internal-tooth adjustment wheel (114) stacked in sequence from the upper cover (13) toward the lower cover (14); the claw finger body (30) includes a first claw finger body (301) connected to the first internal-tooth adjustment wheel (111), a second claw finger body (302) connected to the second internal-tooth adjustment wheel (112), and a fourth claw finger body (303) connected to the fourth internal-tooth adjustment wheel (114). a third claw finger (303) connected to the third internal-tooth adjustment wheel (113) and a fourth claw finger (304) connected to the fourth internal-tooth adjustment wheel (114); the deformation drive gear set (32) comprises a first adjustment spur gear (321) meshed with the first internal-tooth adjustment wheel (111), a second adjustment spur gear (322) meshed with the second internal-tooth adjustment wheel (112), a third adjustment spur gear (323) meshed with the third internal-tooth adjustment wheel (113), and a fourth adjustment spur gear (324) meshed with the fourth internal-tooth adjustment wheel (114).

7. The universal end-grasping actuator with a variable claw configuration according to claim 6, wherein: The deformation drive gear set (32) further includes a first transmission spur gear (331) meshed with the first adjustment spur gear (321), a second transmission spur gear (332) meshed with the second adjustment spur gear (322), a third transmission spur gear (333) meshed with the third adjustment spur gear (323), and a fourth transmission spur gear (334) meshed with the fourth adjustment spur gear (324).

8. The universal end-grasping actuator with a variable claw configuration according to claim 7, characterized in that: The first claw finger (301) and the third claw finger (303) are arranged opposite to each other along the diameter direction of the upper cover (13), and the second claw finger (302) and the fourth claw finger (304) are arranged opposite to each other along the diameter direction of the upper cover (13); the deformation drive servo group (42) includes a first deformation drive servo (421) and a second deformation drive servo (422); the first transmission spur gear (331) and the third transmission spur gear (333) are meshed; the second transmission spur gear (332) and the fourth transmission spur gear (334) are meshed; the output of the first deformation drive servo (421) The shaft drives any one of the first transmission spur gear (331), the third transmission spur gear (333), the first adjustment spur gear (321) or the third adjustment spur gear (323), so that the rotation directions of the first adjustment spur gear (321) and the third adjustment spur gear (323) are opposite; the output shaft of the second deformation driving servo (422) drives any one of the second transmission spur gear (332), the fourth transmission spur gear (334), the second adjustment spur gear (322) or the fourth adjustment spur gear (324), so that the rotation directions of the second adjustment spur gear (322) and the fourth adjustment spur gear (324) are opposite.

9. The universal end-grasping actuator with a variable claw configuration as claimed in claim 3, characterized in that: The first deformable driving servo (421) and the second deformable driving servo (422) are mounted above the upper cover (13), and the upper cover (13) is provided with through holes for the output shafts of the first deformable driving servo (421) and the second deformable driving servo (422) to pass through.

10. The universal end-grasping actuator with a variable claw configuration as claimed in claim 3, characterized in that: The top end of the transmission rod (31) is provided with a bar-shaped rack (311) arranged along the axial direction of the transmission rod (31), and the output end of the grabbing drive servo (41) is provided with a spur gear meshing with the bar-shaped rack (311); the grabbing drive servo (41) is mounted on the top surface of the upper cover (13).

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