Modular gripping finger system, gripping finger, modular gripper system and gripper for robot

Abstract

The invention relates to a modular gripping finger system for a robot, having at least one universal actuator module type and different kinematic element types in order to be assembled into a finger module (104), an actuator module (102) of at least one universal actuator module type can be coupled to a finger module (104) assembled from a plurality of kinematic elements (106, 108, 110, 112) to form a complete driven gripping finger (100). The invention further relates to a gripping finger (100) for a robot, to a modular gripper system for a robot, and to a gripper for a robot.

Description

[0001] This invention relates to a modular gripper system for robots. Furthermore, it relates to a gripper for robots. Additionally, it relates to a modular gripper system for robots. Furthermore, it relates to a gripper for robots.

[0002] Document DE 10 2006 006 322 B3 relates to a robotic hand having a plurality of fingers with at least two finger elements, a palm element connected to the fingers, joints located between the finger elements and between the palm element and the first finger element, and a drive mechanism connected to the finger elements and / or the joints. To reduce the risk of damage from intentional or unintentional collisions, the robotic hand in document DE 10 2006 006 322 B3 has at least one drive mechanism with a stiffness adjustment element for adjusting the passive stiffness of the joints.

[0003] Document DE 10 2017 220 999 A1 relates to a modular end effector having a base with at least one connecting element, wherein the connecting element is interchangeably connected to a manipulator. To enhance versatility, the position of the connecting element and / or the position of the manipulator within the connecting element in document DE 10 2017 220 999 A1 can be changed, thus allowing the robot to be used in different positions relative to the base.

[0004] Document US 9,669,551 B1 relates to a robotic hand. This robotic hand includes one or more fingers detachably attached to a robotic hand frame. The fingers can be pulled closer and spread apart, and can also bend and straighten. The fingers are detachably attached to the frame by magnets, so that the fingers can detach from the frame when subjected to excessive force.

[0005] The technical problem to be solved by the present invention is to improve the structure and / or function of the aforementioned modular gripper finger system for robots. Furthermore, the technical problem to be solved by the present invention also includes improving the structure and / or function of gripper fingers for robots. Furthermore, the technical problem to be solved by the present invention also includes improving the structure and / or function of modular gripper systems for robots. Furthermore, the technical problem to be solved by the present invention also includes improving the structure and / or function of grippers for robots.

[0006] The technical problem is solved by a modular gripper finger system having the features of claim 1. Furthermore, the technical problem is also solved by a gripper finger system having the features of claim 7. Furthermore, the technical problem is also solved by a modular gripper system having the features of claim 9. Furthermore, the technical problem is also solved by a gripper having the features of claim 17. Advantageous embodiments and / or improvements are the technical solutions of the dependent claims.

[0007] Modular gripper finger systems can be designed for assembly into complete, driven gripper fingers for robots, particularly robotic grippers. The gripper finger system has at least one common actuator module type. The gripper finger system has different kinematic element types. Kinematic elements are designed for assembling finger modules. Kinematic elements can be used to assemble finger modules composed of kinematic elements of the same and / or different kinematic element types. An actuator module of at least one common actuator module type can be connected to the finger module to form a complete driven gripper finger. The finger module is composed of kinematic elements. The finger module can be composed of kinematic elements of the same and / or different kinematic element types. The gripper finger system can have different finger module types.

[0008] In this invention, a “modular gripping finger system” specifically refers to a collection of actuator modules of at least one universal actuator module type and kinematic elements of the same and / or different kinematic element types, wherein kinematic elements of the same and / or different kinematic element types can be assembled into a finger module, and actuator modules of at least one universal actuator module type and finger modules composed of kinematic elements can be connected to form a complete driven gripping finger.

[0009] In this invention, "actuator module type" specifically refers to a conceptual group or category of actuator modules having specific consistent structural and / or functional characteristics. Here, "kinematic element type" specifically refers to a conceptual group or category of kinematic elements having specific consistent structural and / or functional characteristics. Kinematic elements of the same and / or different kinematic element types can have compatible interfaces, thereby enabling assembly into finger modules. Here, "assembly" specifically includes selecting and connecting kinematic elements to form a finger module that can be used as intended. Actuator modules of a universal actuator module type can have compatible interfaces with finger modules of the same and / or different finger module types, thereby enabling connection. Here, "connection" specifically refers to selecting and connecting actuator modules and finger modules to form a grasping finger that can be used as specified.

[0010] Here, "complete driven gripper finger" specifically refers to a gripper finger that includes driving, transmission, and driven components. A complete driven gripper finger can include all the driving, transmission, and driven components required for a driven gripper finger. A complete driven gripper finger can form a closed system. A complete driven gripper finger can be designed to perform gripping actions without the need for other drivers and / or actuators.

[0011] Actuator modules of the general-purpose actuator module type may each have a drive unit. The drive unit may have at least one motor, at least one sensor, and / or an electronic control unit. The motor may be designed as an electric motor. At least one sensor may be designed as a force sensor. At least one sensor may be designed to withstand tensile and / or compressive forces. The electronic control unit may include a processor, working memory, data storage, at least one signal input terminal, and / or at least one signal output terminal. At least one sensor may be connected to the electronic control unit via a signal line. The electronic control unit may be designed and / or arranged to control at least one motor in consideration of the signal from at least one sensor. Actuator modules of the general-purpose actuator module type may each have a driver housing. The drive unit may be arranged within the driver housing.

[0012] Actuator modules of the general-purpose actuator module type may each have power and / or signal interfaces. These power and / or signal interfaces may be designed and / or arranged to connect a complete actuator module of a driven gripper finger to a data bus system for signal transmission, to provide power to the actuator module, and / or to connect at least one motor. The power and / or signal interfaces may be designed and / or arranged to signal-connect a complete actuator module of a driven gripper finger to at least one other actuator module of a complete driven gripper finger. The power and / or signal interfaces may be designed as standardized interfaces. The power and / or signal interfaces may be designed and / or arranged for data transmission, particularly using serial communication protocols such as SPI. The power and / or signal interfaces may have at least one plug-in connector. The power and / or signal interfaces may be located on the outside of the driver housing.

[0013] Actuator modules of the general-purpose actuator module type may each have a first interface for supplying a finger module. Actuator modules of the general-purpose actuator module type may each have a second interface for supplying a gripper base module. The first and / or second interfaces may be designed as mechanical and / or electrical interfaces. The first and / or second interfaces may be designed as standardized interfaces.

[0014] Kinematic elements can be designed and / or arranged as phalanges and / or interphalanges. Kinematic elements of different types may differ in their kinematically related characteristics. Kinematic elements of different types can be designed and / or arranged as different phalanges and / or interphalanges. A kinematic element of at least one type can be designed and / or arranged as at least one interphalange designed as a rotational joint. A kinematic element of at least one type can be designed and / or arranged as a phalanx. A kinematic element of at least one type can be designed and / or arranged as a distal phalanx.

[0015] A finger module composed of kinematic elements may have a base, at least one knuckle, at least one phalanx, and / or a distal phalanx. The phalanx may be hinged to the base. The knuckle may function between the base and the phalanx. The phalanx may be hinged to another phalanx. The knuckle may function between another phalanx. The distal phalanx may be hinged to a phalanx. The knuckle may function between the phalanx and the distal phalanx.

[0016] Finger modules of different types, composed of kinematic elements, may differ in kinematics and / or geometry. They may also differ in the number, size, and especially the length and / or design of finger joints. Furthermore, they may vary in the number of finger joints, the direction of the joint axis, and / or the design of the finger joints.

[0017] At least one finger joint may have a first finger joint component, a second finger joint component, and / or a finger joint axis. At least one finger joint may be designed as a rotary joint. The first and second finger joint components may be movable relative to each other on the finger joint axis. The finger joint axis may be a rotational axis. At least one phalanx may be designed as a rod. At least one phalanx may have a first end and a second end. At least one phalanx may have a longitudinal axis. The first end and / or the second end may be designed as a fork.

[0018] At least one type of kinematic element may be designed and / or arranged as at least one wire passage device. At least one type of kinematic element may be designed and / or arranged as at least one wire passage device coaxial with the knuckle axis. At least one type of kinematic element may be designed and / or arranged as at least one wire receiver. At least one type of kinematic element may be designed and / or arranged as at least one wire receiver parallel to the longitudinal axis of the knuckle.

[0019] A finger module composed of kinematic elements may each have at least one knuckle with a wire-passing device. The wire-passing device may be arranged coaxially with the knuckle axis. The wire-passing device may be designed as a channel type or a sleeve type. The wire-passing device may be accessible from the outside. A finger module composed of kinematic elements may each have at least one phalanx with at least one wire receiving member. At least one wire receiving member may be located externally. At least one wire receiving member may be parallel to the longitudinal axis of the phalanx. At least one wire receiving member may extend from the wire-passing device of one knuckle to the wire-passing device of another knuckle. At least one wire receiving member may be designed as a groove. At least one wire receiving member may have at least one wire clamping section. At least one wire receiving member may be accessible from the outside. At least one wire receiving member may have a cover plate.

[0020] At least one type of kinematic element may have a sensor interface for interchangeably accommodating sensors. The kinematic element may have at least one sensor interface for interchangeably accommodating sensors. The gripping finger system may accommodate different types of sensors on at least one sensor interface. The sensor interface may be designed to interchangeably accommodate sensors of the same or different types. For example, the sensor interface may be designed as a standardized I2C interface. The sensor that can be accommodated on at least one sensor interface may be designed as a force sensor or a tactile sensor.

[0021] Each kinematic element may have at least one actuating element. Kinematic elements of different types may differ in terms of their actuating elements. Kinematic elements of different types may also differ in terms of the number of actuating elements, the design of the actuating elements, and / or the arrangement of the actuating elements.

[0022] At least one type of kinematic element can be designed as a distal phalanx with replaceable fingertips. The grasping finger system can have different types of fingertips. The distal phalanx can be designed as a replaceable fingertip of the same or different fingertip types. At least one fingertip type can have an actuating element and / or a sensor. In this invention, an actuating element refers to an element designed and / or arranged to act in conjunction with the grasped object during grasping. Different fingertip types can have different actuating elements and / or sensors. The sensor of the fingertip can be a force sensor or a tactile sensor.

[0023] The gripper fingers are designed for placement and / or use on a robot. The gripper fingers are designed for placement on a gripper base module. The gripper fingers are designed for placement together with at least one other gripper finger, particularly with multiple other gripper fingers. The gripper fingers are designed for working together with at least one other gripper finger, particularly with multiple other gripper fingers. The gripper fingers may be designed to be detachably, positionably, and / or securely mounted on a gripper base module of at least one type of gripper base module, particularly without tools. The gripper fingers may be designed to be securely positioned on a gripper base module of at least one type of gripper base module.

[0024] The grasping finger system comprises actuator modules of a general actuator module type and finger modules of different finger module types coupled to the actuator modules. The grasping finger system can also be referred to as a modular grasping finger system. The actuator modules of the grasping finger system can be selected from the actuator modules of the grasping finger system. The finger modules of the grasping finger system can consist of kinematic elements of the grasping finger system. The grasping finger system may have at least one transmission element for transmitting force and / or motion. At least one transmission element can act between the actuator module, particularly the motor, and the finger module, particularly the knuckle component and / or knuckle. The grasping finger system may be equipped with at least one transmission element for each movable knuckle. At least one transmission element may be designed and / or arranged to transmit tension and / or pressure. At least one transmission element may be designed as a tension element, particularly a rope. The grasping finger system may have at least one elastic element. At least one elastic element can act on at least one transmission element. At least one elastic element can be adjusted. At least one elastic element may be designed and / or arranged to form passive stiffness. The grasping finger system can be counteractively driven.

[0025] The grasping fingers can be assembled according to specific requirements. The finger modules can be assembled according to specific requirements.

[0026] Modular gripper systems are designed for assembling gripper systems for robots. The gripper system includes a gripper finger system and different gripper base module types. Gripper base modules are designed to house at least one gripper finger, and more particularly, multiple gripper fingers. At least one gripper base module type can be designed to accommodate at least one gripper finger, and more particularly, multiple gripper fingers. At least one gripper base module type can be designed to position at least one gripper finger, and more particularly, multiple gripper fingers. At least one gripper base module type can be designed to position multiple gripper fingers relative to the gripper base module and / or relative to each other. At least one gripper base module type can be designed to position at least two gripper fingers side-by-side and / or relative to each other. At least one gripper base module type can be designed as a plate. At least one gripper base module type can have a data bus system. At least one gripper base module type can be designed for connection to a robot. At least one gripper base module type can have an interface for connection to a robot.

[0027] The gripper system may have at least one gripper base module type for variably arranging at least one gripper finger. The gripper base module of at least one type, also referred to as a variable gripper base module, is used for variably arranging at least one gripper finger. The variable gripper base module may be designed to variably arrange, fix, and / or position at least one gripper finger, particularly multiple gripper fingers. Here, "variable" particularly refers to an arrangement that can be changed with little or no effort to test the gripper's performance in different arrangements. The variable gripper base module may be designed to accommodate at least one gripper finger, particularly multiple gripper fingers, and particularly to be detachable, positioned, and / or fixed without tools. The variable gripper base module may be designed to freely position and accommodate at least one gripper finger, particularly multiple gripper fingers. The variable gripper base module may have a receiving surface for accommodating at least one gripper finger, particularly multiple gripper fingers. The receiving surface may be at least approximately flat.

[0028] Magnetic materials, especially ferromagnetic materials, can be applied to the receiving surface. The receiving surface can be made of or have a magnetic material, especially a ferromagnetic material. The magnetic material, especially the ferromagnetic material, can be a metallic material, especially an iron-containing alloy. At least one gripper finger can be detachably, positionably, and / or fixable to a variable gripper base module, especially on the receiving surface, and can be detached, positioned, and / or fixed without tools.

[0029] The gripper system may have at least one type of coupling module. The coupling modules of at least one coupling module type may be designed and / or arranged to variably arrange at least one gripper finger. The coupling modules of at least one coupling module type may be designed to be variably arranged on a variable gripper base module, particularly on a receiving surface. The coupling modules of at least one coupling module type may be designed and / or arranged to be positioned between the gripper finger and the gripper base module.

[0030] At least one type of coupling module may have a first coupling section and a second coupling section. The first coupling section and the second coupling section may be arranged at opposite ends of the coupling module. The first coupling section may be equipped with gripper fingers. The first coupling section may be designed and / or arranged for a fixed connection, particularly a bolted connection. The second coupling section may be equipped with a variable gripper base module. The second coupling section may be designed and / or arranged for a detachable connection.

[0031] At least one finger module of different types may each have at least one coupling segment. At least one coupling segment may be integrated into the finger module. At least one coupling segment may be integrated into the finger root. At least one coupling segment of the finger module may be designed for connection to a coupling module, particularly to a first coupling segment of the coupling module. At least one coupling segment of the finger module may be designed for a fixed connection, particularly a bolted connection, to the coupling module, particularly the first coupling segment of the coupling module.

[0032] At least one type of coupling module may have a coupling housing. The coupling housing may have a first coupling section or at least partially form the first coupling section. The coupling housing may have a second coupling section or at least partially form the second coupling section. The second coupling section may have a coupling surface, or be at least partially composed of the coupling surface. The coupling surface may be at least approximately planar. At least one type of coupling module may have a magnetic device. The magnetic device is switchable. The magnetic device may be arranged within the coupling housing.

[0033] The magnetic device may have at least one permanent magnet. The at least one permanent magnet may have a magnetic north pole and a magnetic south pole on its surface. The at least one permanent magnet may have a cubic shape. The at least one permanent magnet may be a rare-earth magnet. The at least one permanent magnet may be made of a hard magnetic material, particularly a neodymium iron boron alloy or a samarium cobalt alloy, or have a hard magnetic material, particularly a neodymium iron boron alloy or a samarium cobalt alloy.

[0034] The magnetic device may have at least one magnetic coupling element. This at least one magnetic coupling element may be cylindrical. The at least one magnetic coupling element may be made of a magnetic material, particularly a ferromagnetic material, or made of a magnetic material, particularly a ferromagnetic material. This magnetic material, particularly the ferromagnetic material, may be a metallic material, particularly an iron-containing alloy.

[0035] The magnetic device can switch between a first switching position and a second switching position. In the first switching position, the magnetic field of at least one permanent magnet can be deflected outward through the coupling surface. The first switching position can also be referred to as the active position or the on position. In the second switching position, the magnetic flux path of at least one permanent magnet can be closed internally within the coupling. In the second switching position, the magnetic field of at least one permanent magnet is at least almost ineffective externally. The second switching position can also be referred to as the passive position or the off position. In this context, the terms "internal" and "external" specifically refer to the coupling module.

[0036] A magnetic device may have a first magnetic module. The first magnetic module may have at least one permanent magnet. The first magnetic module may have at least one magnetic coupling element. The first magnetic module may have at least one coupling element disposed on the permanent magnet. The first magnetic module may have at least one non-magnetically disposed coupling element. The first magnetic module may have at least one first functional group. At least one first functional group may have two coupling elements disposed spaced apart from each other. The first magnetic module may have at least one second functional group. At least one second functional group may have two coupling elements disposed spaced apart from each other and a permanent magnet disposed between the coupling elements. Each pole of the permanent magnet located between the coupling elements may face one of the coupling elements. The coupling elements of the second functional group may be located on the permanent magnet between the coupling elements. The coupling elements of the first functional group and the coupling elements of the second functional group may be spaced apart from each other by at least approximately equal distances. The first magnetic module may have one first functional group and two second functional groups. One first functional group and two second functional groups may be arranged sequentially. The functional groups of the first magnetic module may be arranged such that the coupling elements form two rows. The permanent magnets of the second functional groups may be arranged with opposite polarities.

[0037] The magnetic device may have a second magnetic module. The second magnetic module may have at least one permanent magnet. The second magnetic module may have at least one magnetic coupling element. The second magnetic module may have at least one coupling element disposed on the permanent magnet. The second magnetic module may have at least one non-magnetically disposed coupling element. The second magnetic module may have at least one second functional group. At least one second functional group may have two coupling elements disposed at a distance from each other and a permanent magnet disposed between the coupling elements. Each pole of the permanent magnet disposed between the coupling elements may face one of the coupling elements. The coupling elements of the second functional group may be disposed on the permanent magnet between the coupling elements. The second magnetic module may have at least one first functional group. At least one first functional group may have two coupling elements disposed at a distance from each other. The coupling elements of the second functional group and the coupling elements of the first functional group may maintain at least approximately equal distances from each other. The second magnetic module may have two second functional groups and one first functional group. The two second functional groups and one first functional group may be arranged sequentially. The functional groups of the second magnetic module may be arranged such that the coupling elements form two rows. The permanent magnets of the second functional groups may be arranged with opposite polarities.

[0038] The permanent magnets of the second functional group of the first magnetic module located between the first functional group and another second functional group, and the permanent magnets of the second functional group of the second magnetic module located between another second functional group and the first functional group, can be arranged with the same polarity.

[0039] The first magnetic module and the second magnetic module can be arranged in a stacked manner. The first magnetic module can be located below the second magnetic module. The second magnetic module can be located above the first magnetic module. The first and second magnetic modules can be arranged such that the coupling element columns of the first magnetic module and the coupling element columns of the second magnetic module are stacked on top of each other. The coupling element columns can be arranged parallel to each other.

[0040] The first and second magnetic modules can move relative to each other. The first and second magnetic modules can move relative to each other along a linear axis. The linear axis can be arranged coaxially or parallel to the coupling element array. The first and second magnetic modules can move relative to each other to switch the magnetic device between a first switching position and a second switching position.

[0041] In the first switch position, the first functional group of the first magnetic module can be located below the second functional group of the second magnetic module, and the second functional group of the first magnetic module can be located below the second functional group of the second magnetic module. The permanent magnets of the stacked second functional group can be arranged with mutually aligned polarities.

[0042] In the second switching position, the first functional group of the first magnetic module and the first functional group of the second magnetic module can be independent of the second functional group. The second functional group of the first magnetic module can be located below the second functional group of the second magnetic module. The permanent magnets of the stacked second functional groups can have opposite polarities.

[0043] At least one coupling module type may each have a switching element. The switching element may be movable relative to the coupling housing. The switching element may be movable along a linear axis. The switching element may be guided within the coupling housing. The switching element may be guided in a drawer-like manner within the coupling housing. The switching element may have a handle section. The handle section may be designed and / or arranged for manual operation of the switching element. A first magnetic module may be arranged on the coupling housing. A second magnetic module may be arranged on the switching element.

[0044] The switching element can be inserted into or withdrawn from the coupling housing. The withdrawal stroke can correspond to the distance between two consecutive functional groups in the direction of linear axis extension. The insertion position of the switching element can correspond to a first switching position, and the withdrawal position of the switching element can correspond to a second switching position.

[0045] At least one type of coupling module may have at least one support segment. The at least one support segment may be designed and / or arranged to support a receiving surface. The at least one support segment may be designed as a protrusion. The at least one support segment may be designed as a hook. The at least one support segment may be arranged on and / or formed by a switching element. At least one type of coupling module may have two support segments.

[0046] The gripper system may have at least one gripper base module type for fixedly arranging at least one gripper finger. The at least one gripper base module for fixedly arranging at least one gripper finger may also be referred to as a fixed gripper base module. The fixed gripper base module may be designed to fixedly arrange and / or position at least one gripper finger, particularly multiple gripper fingers. The fixed gripper base module may be designed to fixedly position at least one gripper finger, particularly multiple gripper fingers. At least one coupling section of the finger module may be designed for arrangement on the fixed gripper base module. At least one coupling section of the finger module may be designed to be fixedly connected to the gripper base module, particularly through a threaded connection.

[0047] The gripper is designed for mounting and / or use with robots. The gripper has a gripper base module (of the type of gripper base module for gripper systems) and at least one gripper finger arranged on the gripper base module. This gripper may also be referred to as a modular gripper. This gripper can be designed for deployment and / or use as an end effector. This gripper can be assembled according to specific requirements.

[0048] In summary, this invention provides a modular robotic hand for powerful and precise grasping. This invention provides a modular system component. Modular, self-contained, and highly adaptable modules can be combined for different application scenarios. Fingertips are interchangeable. Each module can be considered a closed system, allowing for rapid changes in their arrangement. The system may include a universal base module. The base module may contain the CPU and force sensor elements for the entire module. For example, all modules can be connected via a standardized SPI interface. The shape of the modules can be adjusted to accommodate different arrangements of varying numbers of finger modules. The system may include a magnetic coupling mechanism. The magnetic coupling device can be embedded in the finger modules. The robotic hand can have corresponding components. Wires can be laid near the neutral axis via tubing.

[0049] This invention reduces costs, construction, and / or time expenditures. It improves flexibility and / or adaptability. It enables a streamlined and universal manufacturing process for different finger kinematics and sizes. No adjustment of the connecting base is required. Different numbers of modules can be used simultaneously. The layout can be quickly changed. It can be easily adapted to different objects and application scenarios. It reduces or eliminates the need for hardware modifications. Different fingertip sensors can be used.

[0050] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, which are schematic and exemplary in the drawings:

[0051] Figure 1 This diagram illustrates a gripper finger for a robot, consisting of components and modules of a modular gripper finger system. It includes a general-purpose actuator module and finger modules composed of kinematic elements of different types.

[0052] Figure 2 This diagram illustrates a gripper finger for a robot, consisting of components and modules of a modular gripper finger system. It includes a general-purpose actuator module and finger modules composed of kinematic elements of different types.

[0053] Figure 3 This diagram illustrates a gripper for a robot, comprising components and modules of a modular gripper system, having a gripper base module for variably arranging gripper fingers and gripper fingers variably arranged via coupling modules.

[0054] Figure 4 This diagram illustrates a gripper for a robot, comprising modular gripper system components and modules, including a gripper base module for fixedly arranging gripper fingers and fixedly arranged gripper fingers.

[0055] Figure 5This diagram shows a perspective view of a finger module for a robot, composed of kinematic elements of different kinematic element types from a modular grasping finger system, with sensor interfaces for accommodating various sensors.

[0056] Figure 6 This image shows a partial cross-sectional view of a finger module for a robot, composed of kinematic elements of different kinematic element types from a modular grasping finger system, and featuring sensor interfaces for mounting various sensors.

[0057] Figure 7 A partial perspective perspective view of the coupling modules of the modular gripper system is shown.

[0058] Figure 8 The magnetic device of the coupling module of the modular gripper system is shown.

[0059] Figure 9 The magnetic device of the coupling module of the modular gripper system in the first switching position is shown, and

[0060] Figure 10 The magnetic device of the coupling module of the modular gripper system in the second switch position is shown.

[0061] Figure 1 A perspective view of a gripper finger 100 for a robot, consisting of modular gripper finger system components and modules, is shown from a first side. The gripper finger 100 has a universal actuator module 102 and a finger module 104. Figure 2 A three-dimensional view of the grasping fingers 100 as viewed from the second side is shown.

[0062] The finger module 104 is assembled from kinematic elements 106, 108, 110, and 112 of different kinematic element types according to specific requirements. Kinematic element 106 is designed as the finger root 114. Kinematic elements 108 and 110 are designed as finger joints 116 and 118, respectively. Kinematic element 112 is designed as the distal phalanx 120. With the aid of kinematic elements 106 and 108, an effective finger joint 122 is formed between the finger root 114 and the finger joint 116. With the aid of kinematic elements 108 and 110, an effective finger joint 124 is formed between the finger joints 116 and 118. With the aid of kinematic elements 110 and 112, an effective finger joint 126 is formed between the finger joint 118 and the distal phalanx 120. The distal phalanx 120 has a replaceable fingertip 128. The finger joints 116, 118, and distal phalanx 120 each have actuating elements 130, 132, and 134, respectively.

[0063] Actuator module 102 has a driver housing 136, a drive unit, and a power and / or signal interface 138. The drive unit has an electric motor, a force sensor, and electronic control devices, and is arranged within the driver housing 136. The power and / or signal interface 132 is designed and / or arranged to connect actuator module 102 to a data bus system for signal transmission, to provide power to actuator module 102, and to connect the electric motor; this interface is located outside the driver housing 136. Gripper finger 100 has a transmission element for transmitting force and / or motion between the motor and the knuckles 116, 118, and the distal phalanx 120, and an adjustable elastic element acting on the transmission element.

[0064] The gripper finger 100 contains all the components for driving, transmission and being driven, and is a closed system that can perform gripping actions without the need for other drivers and / or actuators.

[0065] Figure 3 A gripper 200 for a robot is shown, comprising components and modules of a modular gripper system, including a gripper base module 202 and gripper fingers 204, 206. Gripper fingers 204, 206 each have actuator modules 208, 210 and finger modules 212, 214. Figure 1 Like the gripper finger 100 shown, gripper fingers 204 and 206 are also composed of modular gripper finger system components and modules. Therefore, for detailed information about gripper fingers 204 and 206, please refer to [link to relevant documentation]. Figure 1 and Figure 2 And related descriptions.

[0066] The gripper base module 202 is designed for variably arranging gripper fingers and has a flat receiving surface 216 made of ferromagnetic material. Gripper fingers 204 and 206 are variably arranged on the receiving surface 208 via coupling modules 218 and 220. Coupling modules 218 and 220 each have a first coupling section corresponding to gripper fingers 204 or 206 and a second coupling section corresponding to gripper base module 202. The first coupling sections of coupling modules 218 and 220 are fixedly connected to actuator modules 208 and 210 through frictional engagement and form engagement, respectively. The second coupling sections of coupling modules 218 and 220 are manually detachably connected to gripper base module 202.

[0067] Figure 4 A gripper 300 for a robot is shown, comprising components and modules of a modular gripper system, including a gripper base module 302 and gripper fingers 304, 306, and 308. Gripper fingers 304, 306, and 308 respectively have actuator modules 310, 312, and 314 and finger modules 316, 318, and 320. Figure 1Similar to the gripper finger 100 shown, gripper fingers 304, 306, and 308 are composed of modular gripper finger system components and modules. Therefore, for detailed information on gripper fingers 304, 306, and 308, please refer to [link to relevant documentation]. Figure 1 and Figure 2 And related descriptions.

[0068] The gripper base module 302 is designed to fix the grippers in a fixed position, and its shape corresponds to the specific arrangement of grippers 304, 306, and 308. The gripper fingers 304, 306, and 308 are positioned relative to each other, and their actuator modules 310, 312, and 314 are fixedly connected to the gripper base module 302 through frictional and conformal engagement. Therefore, this arrangement is guaranteed even under operating loads.

[0069] Figure 5 Show Figure 1 and Figure 2 A three-dimensional view of the finger module 104 that grasps the fingers 100 in the image. Figure 6 A longitudinal sectional view of the finger module 104 is shown in a truncated form. The finger module 104 has a sensor interface on the distal phalanx 120 for replaceably accommodating a sensor 140. For example, the sensor interface is a standardized I2C interface, and the sensor 140 is a force sensor or a tactile sensor. The sensor 140 is part of a replaceable fingertip, which is shown in a transparent form in the figure.

[0070] With the aid of kinematic elements 110 and 112, a sleeve-shaped wire-passing device 142 coaxial with the knuckle axis of the knuckle 126 is shown. Kinematic element 110 has an externally accessible, groove-shaped wire receiver 144 parallel to the longitudinal axis of the knuckle 118. With the aid of kinematic elements 108 and 110, a sleeve-shaped wire-passing device 146 coaxial with the knuckle axis of the knuckle 124 is shown. Kinematic element 108 has an externally accessible, groove-shaped wire receiver 148 parallel to the longitudinal axis of the knuckle 116. Kinematic element 106 has an internal wire-passing device, such as a wire-passing device 150.

[0071] Sensor 140 has sensor wiring 152. Sensor wiring 152 originates from the fingertip 120 and connects to actuator module 102 via wire passing device 142, wire receiving device 144, wire passing device 146, wire receiving device 148, and wire passing device 150, and performs force release. Therefore, when replacing the fingertip, sensor wiring 152 can be removed or re-laid without disassembling the kinematic elements 106, 108, 110, and 112 of finger module 104.

[0072] Figure 7 The coupling module 400 is shown, such as Figure 3The diagram shows a partial perspective perspective view of coupling modules 218 and 220 of the modular gripper system. Coupling module 400 has a first coupling section 402 for fixed connection with gripper fingers and a second coupling section 404 for detachable mounting on a receiving surface of a variable gripper base module. Coupling module 400 has a coupling housing 406, a switchable magnetic device 408, and a switching element 410 for switching the magnetic device 408. The switching element 410 slides in a drawer-like manner within the coupling housing 406 along a linear axis 412, and can be pushed into or pulled out of the coupling housing 406.

[0073] Figure 8 A magnetic device 408 is shown. The magnetic device 408 has a first magnetic module 414 and a second magnetic module 416. The first magnetic module 414 is mounted on a coupling housing 406, and the second magnetic module 416 is mounted on a switching element 410. Therefore, the second magnetic module 416 can move relative to the first magnetic module 414 along a linear axis 412. The first magnetic module 414 is mounted on the coupling surface, and the second magnetic module 416 is mounted above the first magnetic module 412. For ease of understanding, Figure 8 The first magnetic module 414 and the second magnetic module 416 are displayed side by side.

[0074] The first magnetic module 414 has functional groups 418, 424, and 432. Functional group 418 includes two spaced-apart coupling elements 420 and 422. Functional group 424 includes two spaced-apart coupling elements 426 and 428 and a permanent magnet 430 located between the coupling elements. Functional group 432 has two spaced-apart coupling elements 434 and 436 and a permanent magnet 438 located between the coupling elements. The south pole of the permanent magnet 430 is located on the coupling element 426, and the north pole is located on the coupling element 428. The north pole of the permanent magnet 438 is located on the coupling element 434, and the south pole is located on the coupling element 436.

[0075] The second magnetic module 416 has functional groups 440, 448, and 456. Functional group 440 includes two spaced-apart coupling elements 442 and 444 and a permanent magnet 446 located between the coupling elements. Functional group 448 includes two spaced-apart coupling elements 450 and 452 and a permanent magnet 454 located between the coupling elements. Functional group 456 includes two spaced-apart coupling elements 458 and 460. The north pole of the permanent magnet 446 is located on the coupling element 442, and the south pole is located on the coupling element 444. The south pole of the permanent magnet 454 is located on the coupling element 450, and the north pole is located on the coupling element 452.

[0076] Coupling elements 420, 422, 426, 428, 434, 436, 442, 444, 450, 452, 458, and 560 are all cylindrical, made of iron-containing alloy, and secured with adhesive and / or fixing pins. Permanent magnets 430, 438, 446, and 454 are made of neodymium iron boron alloy.

[0077] In the insertion position, the switching element 410 is in the first switching position, and the magnetic device 408 is correspondingly in the first switching position; in the pull-out position, the switching element 410 is in the second switching position, and the magnetic device 408 is correspondingly in the second switching position. Figure 9 The coupling element 400 and magnetic device 408 are shown in the first switching position. Figure 10 The coupling element 400 and magnetic device 408 are shown in the second switching position.

[0078] exist Figure 9 In the first switch position shown, functional groups 418, 440, 424, 448, and 432, 456 are stacked on top of each other. The magnetic field of permanent magnet 446 is guided to the coupling surface and radiates outward through coupling elements 442, 420 and 444, 422. The magnetic field of permanent magnet 430 is guided to the coupling surface and radiates outward through coupling elements 426 and 428. The magnetic field of permanent magnet 454 is guided to the coupling surface and outward through coupling elements 450, 426 and 452, 428. The magnetic field of permanent magnet 438 is guided to the coupling surface and outward through coupling elements 434 and 436. In the first switch position, the magnetic force of permanent magnets 430, 438, 446, and 454 can act on the coupling surface to connect the coupling module 400 and the gripper finger connected thereto, for example... Figure 1 and Figure 2 The grasping hand 100 or Figure 3 The gripper fingers 204 and 206 are connected and / or fixed to, for example, Figure 3 On the receiving surface of the gripper base module 202 shown, the magnetic forces between coupling elements 420, 422 and coupling elements 442, 444, and between coupling elements 434, 436 and coupling elements 458, 460, cancel out the repulsive magnetic forces between coupling elements 426, 428 and coupling elements 450, 452, thereby stabilizing the connection and / or holding force of the magnetic device 408.

[0079] exist Figure 10In the second switch position shown, functional groups 418 and 456 are unaffected by magnetic force, and functional groups 424, 440 and 432, 448 are stacked on top of each other. The magnetic flux paths of permanent magnets 430, 446 and 438, 454 are closed inside the coupling device, so the magnetic force of permanent magnets 430, 438, 446, 454 is ineffective externally, and the coupling module 400 and the gripper fingers connected to it can be freely positioned or removed from the receiving surface of the gripper base module.

[0080] The gripper fingers can be detached, freely positioned, and / or fixed to the gripper base module without tools via the coupling module 400. Therefore, the arrangement of the gripper fingers can be changed with little or no expense to test grippers with different arrangements.

[0081] The word “may” specifically refers to optional features of the invention. Therefore, the invention has other modifications and / or embodiments that additionally or alternatively have corresponding features.

[0082] As needed, certain features may be selected from the combination of features disclosed in the description, and any structural and / or functional relationships that may exist between these features may be eliminated. These features may be used alone or in combination with other features to define the content of the claims.

[0083] List of reference numerals

[0084] 100 grasps of the fingers

[0085] 102 Actuator Module

[0086] 104-finger module

[0087] 106 kinematic elements

[0088] 108 kinematic elements

[0089] 110 kinematic elements

[0090] 112 kinematic elements

[0091] 114 finger roots

[0092] 116 knuckles

[0093] 118 knuckles

[0094] 120 fingertips

[0095] 122 finger joints

[0096] 124 finger joints

[0097] 126 finger joints

[0098] 128 fingertips

[0099] 130 active element

[0100] 132 functional elements

[0101] 134 active elements

[0102] 136 Actuator Housing

[0103] 138 power and / or signal interface

[0104] 140 sensors

[0105] 142 Wire Pass-through Device

[0106] 144 Wire Retainer

[0107] 146 Wire Pull-through Device

[0108] 148 Wire Retainer

[0109] 150 wire penetration device

[0110] 152 sensor wiring

[0111] 200 gripper

[0112] 202 Grappling Base Module

[0113] 204 grasp fingers

[0114] 206 grasping fingers

[0115] 208 Actuator Module

[0116] 210 Actuator Module

[0117] 212 finger module

[0118] 214-finger module

[0119] 216 capacity

[0120] 218 Coupling Module

[0121] 220 Coupler Module

[0122] 300 gripper

[0123] 302 Grappling Grip Base Module

[0124] 304 grips fingers

[0125] 306 grasps the fingers

[0126] 308 grips fingers

[0127] 310 Actuator Module

[0128] 312 Actuator Module

[0129] 314 Actuator Module

[0130] 316 finger module

[0131] 318 finger module

[0132] 320 finger module

[0133] 400 coupling module

[0134] 402 First Coupling Section

[0135] 404 Second Coupling Section

[0136] 406 Coupled Housing

[0137] 408 Magnetic Device

[0138] 410 Switching Components

[0139] 412 linear axis

[0140] 414 First Magnetic Module

[0141] 416 Second Magnetic Module

[0142] 418 Functional Components

[0143] 420 coupling element

[0144] 422 coupling element

[0145] 424 Functional Components

[0146] 426 coupling element

[0147] 428 coupling element

[0148] 430 permanent magnet

[0149] 432 Functional Components

[0150] 434 coupling element

[0151] 436 coupling element

[0152] 438 permanent magnet

[0153] 440 functional components

[0154] 442 coupling element

[0155] 444 coupling element

[0156] 446 permanent magnet

[0157] 448 Functional Components

[0158] 450 coupling element

[0159] 452 coupling element

[0160] 454 permanent magnet

[0161] 456 permanent magnet

[0162] 458 coupling element

[0163] 460 coupling element

Claims

1. A modular grasping finger system for a robot, the grasping finger system having at least one general actuator module type and different kinematic element types for assembly into finger modules (104, 212, 214, 316, 318, 320), wherein, The actuator module (102, 208, 210, 310, 312, 314) of at least one general actuator module type can be coupled with a finger module (104, 212, 214, 316, 318, 320) assembled from multiple kinematic elements (106, 108, 110, 112) to form a complete driven grasping finger (100, 204, 206, 304, 306, 308).

2. The gripping finger system according to claim 1, characterized in that, The actuator modules (102, 208, 210, 310, 312, 314) of the at least one type of general actuator module each have a drive device with at least one motor, at least one sensor, an electronic control device for controlling the at least one motor according to the signal of the at least one sensor, and a power and / or signal interface (138).

3. The gripping finger system according to at least one of the preceding claims, characterized in that, These kinematic elements (106, 108, 110, 112) of different kinematic element types are distinguished from each other in terms of motion-related characteristics.

4. The gripping finger system according to at least one of the preceding claims, characterized in that, At least one type of kinematic element is designed for and / or is capable of arranging wire-through devices (142, 146) for displaying a coaxial arrangement with the knuckle axis.

5. The gripping finger system according to at least one of the preceding claims, characterized in that, At least one type of kinematic element (106, 108, 110, 112) has a sensor interface for interchangeably accommodating a sensor (140).

6. The gripping finger system according to at least one of the preceding claims, characterized in that, At least one type of kinematic element (106, 108, 110, 112) is designed to have a fingertip distal phalanx (120) with replaceable fingertips.

7. A gripper finger (100, 204, 206, 304, 306, 308) for a robot, characterized in that, The grasping fingers (100, 204, 206, 304, 306, 308) have actuator modules (102, 208, 210, 310, 312, 314) and finger modules (104, 212, 214, 316, 318, 320) of at least one general actuator module type of the grasping finger system according to at least one of claims 1 to 6, wherein the finger modules are assembled from a plurality of kinematic elements (106, 108, 110, 112) of different kinematic element types of the grasping finger system according to at least one of claims 1 to 6.

8. The gripping fingers (100, 204, 206, 304, 306, 308) according to claim 7, characterized in that, The gripper fingers (100, 204, 206, 304, 306, 308) are assembled with specific requirements in mind.

9. A modular gripper system for robots, characterized in that, The gripper system has a gripper finger system according to at least one of claims 1 to 6 and different gripper base module types for arranging at least one gripper finger (100, 204, 206, 304, 306, 308).

10. The gripper system according to claim 9, characterized in that, The gripper system has at least one gripper base module type for variably arranging at least one gripper finger (100, 204, 206, 304, 306, 308).

11. The gripper system according to at least one of claims 9 to 10, characterized in that, The gripper system has at least one coupling module type for variably arranging at least one gripper finger (100, 204, 206, 304, 306, 308).

12. The gripper system according to claim 11, characterized in that, At least one coupling module type (218, 220, 400) has a first coupling section (402), a second coupling section (404) and a switchable magnetic device (408) respectively associated with a gripping finger.

13. The gripper system according to claim 12, characterized in that, The magnetic device (408) has at least one permanent magnet (430, 438, 446, 454) and is switchable between a first switching position and a second switching position. In the first switching position, the magnetic field of the at least one permanent magnet (430, 438, 446, 454) is deflected outward on the coupling surface. In the second switching position, the magnetic flux path of the at least one permanent magnet (430, 438, 446, 454) is closed inside the coupling device.

14. The gripper system according to at least one of claims 12 to 13, characterized in that, The magnetic device (408) has a first magnetic module (414) having at least one permanent magnet (430, 438) and a second magnetic module (416) having at least one permanent magnet (446, 454), wherein the first magnetic module (414) and the second magnetic module (416) are movable relative to each other.

15. The gripper system according to claim 14, characterized in that, At least one coupling module type (218, 220, 400) has a coupling housing (406) and a switching element (410) movable relative to the coupling housing (406), wherein a first magnetic module (414) is arranged on the coupling housing (406) and a second magnetic module (416) is arranged on the switching element (410).

16. The gripper system according to at least one of claims 9 to 15, characterized in that, The gripper system has at least one gripper base module type for fixedly arranging at least one gripper finger (100, 204, 206, 304, 306, 308).

17. A gripper (200, 300) for a robot, characterized in that, The gripper (200, 300) has a gripper base module (202, 302) of at least one type of gripper base module according to at least one of the gripper systems according to claims 9 to 16 and gripper fingers (100, 204, 206, 304, 306, 308) arranged on the gripper base module (202, 302) according to at least one of claims 7 to 8.

18. The gripper (200) according to claim 17, characterized in that, The gripper (200) has a coupling module (218, 220, 400) of at least one coupling module type of the gripper system according to at least one of claims 11 to 15.

19. The gripper (200, 300) according to at least one of claims 17 to 18, characterized in that, The grippers (200, 300) are assembled with specific requirements in mind.

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