Three-finger telescopic manipulator with pressure feedback and posture detection function

Abstract

The application discloses a three-finger telescopic manipulator with pressure feedback and posture detection functions, comprising a rotating base plate, a base, a manipulator support beam, a large arm control motor, an elbow control motor, an elbow transmission gear, a posture sensor, a wire tube, a detachable counterweight and a three-finger clamping mechanism. The three-finger clamping mechanism comprises a finger movement control motor, a finger adapter, a finger power rod, a finger pull rod, a pressure sensor and a flexible non-slip pad. The large arm control motor drives the movement of the manipulator support beam, and the elbow control motor adjusts the end posture through the transmission gear; the finger movement control motor drives the three fingers to open and close synchronously. The pressure sensor detects the clamping pressure, the posture sensor detects the end posture, the flexible non-slip pad improves the clamping stability, the wire tube protects the sensor cable, and the counterweight is used for preventing overturning. The application can improve the clamping stability of the manipulator, the posture control reliability and the use safety.

Description

Technical Field

[0001] This invention belongs to the technical field of end effectors and telescopic manipulators for industrial robots. Specifically, it relates to a three-finger telescopic manipulator with pressure feedback and posture detection functions, which can be used for stable clamping, posture adjustment and handling operations in automatic conveyor lines, material handling, workpiece loading and unloading, teaching and experimental platforms and light-load industrial gripping scenarios. Background Technology

[0002] A robotic arm is an automated manipulator capable of mimicking some of the movements of a human hand or arm. It is typically used for grasping, handling, loading / unloading materials, or performing repetitive tasks. With the development of industrial automation and flexible manufacturing, robotic arms are widely used in mechanical manufacturing, electronic assembly, logistics sorting, and automated conveyor lines. Three-finger robotic arms, compared to ordinary two-finger grippers, have better enveloping and centering capabilities, enabling more stable multi-point gripping of cylindrical, block-shaped, or partially irregularly shaped workpieces.

[0003] Existing three-finger robotic arms mostly use motors, cylinders, lead screws, rack and pinion gears, or linkage mechanisms to drive the opening and closing of the fingers. Their structure is relatively simple and can complete basic clamping and releasing actions. However, in actual use, ordinary robotic arms still have the following shortcomings: First, the clamping action mainly relies on preset stroke or motor rotation time control, and cannot directly determine whether the workpiece is reliably clamped. This can easily lead to insufficient clamping force causing the workpiece to slip, or excessive clamping force causing damage to the workpiece surface. Second, when the robotic arm extends a long distance, the end effector load will generate a large forward tilting torque, which reduces the stability of the base and affects the safety of the robotic arm's handling actions. Third, when the robotic arm's upper arm, elbow, and end effector gripper move in coordination, it lacks real-time perception of the posture state, which can easily affect the gripping angle and repeatability accuracy. Fourth, the end effector sensors and drive components of the gripper require power lines, signal lines, and control lines. If there is no cable guiding and protection structure, the cables are prone to tangling, wear, or breakage during the robotic arm's movement. Therefore, it is necessary to further incorporate clamping pressure detection, flexible anti-slip contact, posture detection, wire protection, and anti-tipping counterweight structure on the basis of the existing three-finger telescopic manipulator structure. This will allow the manipulator to maintain its advantages of simple structure and easy processing and assembly, while also improving clamping reliability, operational safety, and applicability. Summary of the Invention

[0004] 1. This invention provides a three-finger telescopic manipulator with pressure feedback and posture detection functions to solve problems such as imperceptible clamping force, easy slippage or damage of workpieces, insufficient stability when the long arm is extended, difficulty in detecting posture status, and lack of cable protection in existing manipulators during clamping and handling. This improves the clamping stability, operational safety, and engineering applicability of the three-finger manipulator.

[0005] 2. The three-finger telescopic manipulator of the present invention includes a rotating chassis (1), an upper arm control motor (2), a detachable counterweight (3), a base (4), a manipulator support beam (5), fastening bolts (6), an elbow control motor (21), an elbow transmission gear (22), an attitude sensor (23), a support beam (24), a conduit (25), a finger motion control motor (31), a finger adapter (32), a finger power rod (33), a finger pull rod (34), a pressure sensor (35), and a flexible anti-slip pad (36). The various structures cooperate with each other to realize the manipulator's support, rotation, attitude adjustment, three-finger gripping, pressure detection, and cable protection.

[0006] 3. The base (4) is used to support the overall structure of the robot arm. The rotating chassis (1) is set on the base (4) to provide the mounting foundation and slewing bearing for the robot arm support beam (5). The boom control motor (2) is connected to the robot arm support beam (5) or the rotating chassis (1) for driving the robot arm support beam (5) to complete rotation, swing or angle adjustment actions.

[0007] 4. The detachable counterweight (3) is mounted on the base (4) and fixed by fastening bolts (6). The detachable counterweight (3) can be installed, replaced or adjusted in number according to the length, extension state and end load of the robot support beam (5) to balance the forward tilting moment generated when the front gripper and support beam extend, thereby improving the anti-overturning ability of the base (4).

[0008] 5. The robotic arm support beam (5) is connected to the rotating chassis (1) and is used to support the elbow control motor (21), the elbow transmission gear (22), the support beam (24), and the end three-finger gripping mechanism. The robotic arm support beam (5) can be a metal beam, profile beam, plate beam, or combined beam structure to ensure the rigidity of the robotic arm during extension or swinging.

[0009] 6. The elbow control motor (21) is connected to the elbow transmission gear (22). The output torque of the elbow control motor (21) is transmitted to the support beam (24) via the elbow transmission gear (22), enabling the support beam (24) to rotate or adjust its posture relative to the robot arm support beam (5). This structure can improve the gripping angle of the robot arm end-effector, allowing the robot arm to adapt to workpieces in different positions and postures.

[0010] 7. The attitude sensor (23) is used to detect the attitude state of the robot support beam (5), support beam (24), or end gripping mechanism. The attitude sensor (23) can be an angle sensor, tilt sensor, Hall sensor, encoder, inertial measurement unit, or other detection element that can reflect the attitude of the robot. By setting the attitude sensor (23), the controller can obtain the current attitude of the robot, thereby improving the reliability of motion control.

[0011] 8. The conduit (25) is arranged along the support beam (5) or support beam (24) of the robot arm to accommodate the cables of the pressure sensor (35), attitude sensor (23) and related drive motors. The conduit (25) can guide, store and protect the cables to prevent them from getting tangled, excessively bent, worn or broken during the rotation or extension of the robot arm.

[0012] 9. The three-finger gripping mechanism is located at the end of the support beam (24) and includes a finger motion control motor (31), a finger adapter (32), a finger power rod (33), a finger pull rod (34), a pressure sensor (35), and a flexible anti-slip pad (36). After the finger motion control motor (31) outputs power, it is transmitted to the finger power rod (33) and the finger pull rod (34) through the finger adapter (32), thereby driving the three fingers to open or close synchronously, so as to realize the gripping and release of the workpiece.

[0013] 10. The pressure sensor (35) is located in the clamping contact area of ​​the three-finger clamping mechanism and is used to detect the contact pressure between the fingers and the workpiece during the clamping process. The controller can determine whether the workpiece is clamped, whether the clamping force reaches the set range, and whether there is a slippage tendency during the handling process based on the pressure signal fed back by the pressure sensor (35).

[0014] 11. The flexible anti-slip pad (36) is disposed on the finger gripping surface. The flexible anti-slip pad (36) may be made of rubber, silicone, polyurethane or other flexible materials to increase the friction between the finger and the workpiece and reduce the risk of scratches and pressure damage to the workpiece surface through flexible contact. The flexible anti-slip pad (36) may have a detachable structure for easy replacement according to the workpiece material and wear condition.

[0015] 12. Through the above structure, the present invention can achieve three-finger gripping force detection, flexible anti-slip gripping, posture state perception, cable protection, and base anti-tipping without significantly increasing mechanical complexity. Compared with traditional three-finger manipulators that rely solely on stroke control, the present invention has the advantages of feedback on gripping status, detection of end-effector posture, more stable workpiece gripping, safer cable arrangement, and better stability of long-arm operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the three-finger telescopic manipulator of the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the base, rotating chassis, boom control motor and detachable counterweight of the present invention.

[0018] Figure 3This is a schematic diagram of the structure of the support beam, elbow control motor, elbow transmission gear and attitude sensor of the present invention.

[0019] Figure 4 This is a schematic diagram of the power structure of the three-finger gripping mechanism of the present invention.

[0020] Figure 5 This is a schematic diagram of the three-finger gripping mechanism of the present invention.

[0021] Explanation of reference numerals in the attached drawings: (1) Rotating chassis; (2) Arm control motor; (3) Removable counterweight; (4) Base; (5) Robot support beam; (6) Fastening bolt; (21) Elbow control motor; (22) Elbow transmission gear; (23) Posture sensor; (24) Support beam; (25) Conduit; (31) Finger motion control motor; (32) Finger adapter; (33) Finger power rod; (34) Finger pull rod; (35) Pressure sensor; (36) Flexible anti-slip mat. Detailed Implementation

[0022] 1. Design and Composition of the Overall Structure of the Robotic Hand. This embodiment provides a three-finger telescopic robotic hand with pressure feedback and posture detection functions. The robotic hand is mainly composed of a base support part, an upper arm support part, an elbow posture adjustment part, a three-finger gripping part, a sensing and detection part, and a cable protection part. As shown in the attached figure, the robotic hand includes a rotating chassis (1), an upper arm control motor (2), a detachable counterweight (3), a base (4), a robotic hand support beam (5), fastening bolts (6), an elbow control motor (21), an elbow transmission gear (22), a posture sensor (23), a support beam (24), a conduit (25), a finger motion control motor (31), a finger adapter (32), a finger power rod (33), a finger pull rod (34), a pressure sensor (35), and a flexible anti-slip pad (36). Among them, the base (4) provides a supporting foundation, the rotating chassis (1) is used to install and drive the robot arm support beam (5) to move, the upper arm control motor (2) provides power for the upper arm movement, the elbow control motor (21) and the elbow transmission gear (22) are used to adjust the posture of the support beam (24) and the end clamping mechanism, the three-finger clamping mechanism is used to grasp and release the workpiece, the pressure sensor (35) and the posture sensor (23) are used to obtain the clamping status and robot arm posture information, and the conduit (25) is used to protect the sensor and motor cables.

[0023] 2. Installation method of base and rotating chassis. The base (4) can be made of metal plate, aluminum alloy plate, steel plate or other materials with sufficient strength and rigidity. The shape of the base (4) can be set as rectangular, rounded rectangle or other suitable shape according to the installation space. The rotating chassis (1) is installed on the upper surface of the base (4). The rotating chassis (1) can be connected to the base (4) through bearings, turntable, connecting flange or slewing bearing, so that the robot support beam (5) can complete the rotation or angle adjustment under the action of the arm control motor (2). Multiple mounting holes can be provided on the rotating chassis (1) for fixing the robot support beam (5), motor mounting base and corresponding connecting parts.

[0024] 3. Coordination between the boom control motor and the robot support beam. The boom control motor (2) is installed near the rotating chassis (1) or base (4), and its output end can be connected to the robot support beam (5) through gears, synchronous belts, couplings, lead screws, worm gears, or linkage mechanisms. The robot support beam (5) is a long strip-shaped load-bearing component that can support the elbow control motor (21), the support beam (24), and the end three-finger gripping mechanism. In order to ensure the rigidity of the boom in the extended state, the robot support beam (5) can adopt a hollow profile, double-sided plate beam, channel beam, or composite beam structure. The connection position between the robot support beam (5) and the rotating chassis (1) can be equipped with a reinforcing plate, connecting ear plate, or fastening bolt (6) to reduce the shaking of the robot during movement.

[0025] 4. The installation of the detachable counterweight and its anti-tipping function. The detachable counterweight (3) is installed on the base (4) and preferably on the side opposite to the extension direction of the robot arm support beam (5). The detachable counterweight (3) can be fixed to the base (4) by fastening bolts (6), or installed by positioning holes, slots, or pressure plate structures. During use, when the robot arm support beam (5) extends a long distance or the end clamping mechanism clamps a heavy workpiece, a large forward tilting moment will be generated at the front end of the robot arm. By setting the detachable counterweight (3), the stability of the base (4) can be improved, and the risk of tipping during the operation of the robot arm can be reduced. Depending on different working conditions, the counterweight of different weights can be replaced, or the installation position of the counterweight can be changed to adapt to different load conditions.

[0026] 5. Connection between the elbow control motor, elbow transmission gear, and support beam. The elbow control motor (21) is located at the front end or middle of the robot support beam (5), and the output shaft of the elbow control motor (21) is connected to the elbow transmission gear (22). The elbow transmission gear (22) is connected to the support beam (24) to transmit the output torque of the elbow control motor (21) to the support beam (24), enabling the support beam (24) to rotate or adjust its angle relative to the robot support beam (5). The elbow transmission gear (22) can be a spur gear, sector gear, synchronous pulley, or other transmission components. Through this elbow transmission structure, the end posture of the three-finger gripping mechanism can be adjusted, allowing the robot to adapt to workpieces of different heights, angles, or placement postures.

[0027] 6. Arrangement and detection method of attitude sensor. The attitude sensor (23) can be set on the support beam (24), near the elbow transmission gear (22), near the elbow control motor (21), or near the mounting base of the three-finger gripping mechanism. The attitude sensor (23) can be a tilt sensor, angle encoder, Hall angle sensor, inertial measurement unit, or limit detection sensor, used to detect the angle of the support beam (24) relative to the robot support beam (5), the tilt state of the robot end or the position of the elbow. Based on the attitude signal fed back by the attitude sensor (23), the controller can determine whether the robot has reached the preset position, or correct the end attitude before grasping, thereby improving the grasping accuracy.

[0028] 7. Cable protection structure of the conduit. The conduit (25) is set along the length of the robot arm support beam (5) or support beam (24) to arrange the power lines, signal lines and control lines of the pressure sensor (35), attitude sensor (23), elbow control motor (21) and finger motion control motor (31). The conduit (25) can be a round tube, square tube, semi-enclosed cable tray, flexible conduit or drag chain type protection structure. By setting the conduit (25), the cables can be arranged along a preset path to avoid the cables from being scattered, tangled, worn or pinched when the robot arm rotates, extends or adjusts its attitude, thereby improving the long-term reliability and maintenance convenience of the equipment.

[0029] 8. Transmission Components of the Three-Finger Gripper. The three-finger gripper is installed at the end of the support beam (24) and is used to grip and release the workpiece. The three-finger gripper includes a finger motion control motor (31), a finger adapter (32), a finger power rod (33), and a finger pull rod (34). The finger motion control motor (31) outputs rotational or linear driving force, which is transmitted to the finger power rod (33) via the finger adapter (32), and then drives the three fingers to open or close synchronously via the finger pull rod (34). This transmission method enables the three-finger gripper to achieve synchronous movement under the action of a single driving source. It has a simple structure and is easy to control and assemble.

[0030] 9. Setting of pressure sensor and clamping force feedback. The pressure sensor (35) is set at the clamping contact surface of the three-finger clamping mechanism. It can be set on the inside of each finger, or on one or more key clamping fingers. The pressure sensor (35) can be a thin-film pressure sensor, a flexible piezoresistive sensor, a strain gauge pressure sensor, or a miniature force sensor. During clamping, when the three-finger clamping mechanism contacts the workpiece and gradually clamps it, the workpiece generates a reaction force on the fingers. This reaction force is transmitted to the pressure sensor (35) through the flexible anti-slip pad (36), and the pressure sensor (35) outputs a corresponding pressure signal. The controller determines whether the clamping force has reached the set threshold based on the pressure signal, and can control the finger movement control motor (31) to stop or fine-tune, thereby avoiding insufficient or excessive clamping force.

[0031] 10. Structure and Materials of the Flexible Anti-slip Pad. The flexible anti-slip pad (36) is located on the outer side of the finger gripping surface, at or around the front end of the pressure sensor (35). The flexible anti-slip pad (36) can be made of rubber, silicone, polyurethane, thermoplastic elastomer, or other materials with certain elasticity and friction properties. The surface of the flexible anti-slip pad (36) can be provided with fine lines, bumps, arc grooves, or V-grooves to further improve the gripping friction and contact stability. For workpieces that are easily scratched or have a soft surface, the flexible anti-slip pad (36) can provide cushioning protection; for workpieces with a smooth surface, the flexible anti-slip pad (36) can reduce the risk of slippage. The flexible anti-slip pad (36) is preferably designed as a replaceable structure, which can be replaced individually after wear.

[0032] 11. Control and Working Process. In use, the controller first drives the arm control motor (2) to rotate or move the robotic arm support beam (5) to the vicinity of the target area; then, the controller drives the elbow control motor (21) to adjust the posture of the support beam (24) and the three-finger gripping mechanism through the elbow transmission gear (22). The posture sensor (23) detects the posture status of the support beam (24) or the end gripping mechanism in real time. When the robotic arm reaches the preset grasping posture, the finger motion control motor (31) starts, which drives the three-finger gripping mechanism to close through the finger adapter (32), finger power rod (33) and finger pull rod (34). During the gripping process, the pressure sensor (35) detects the gripping pressure. When the pressure value reaches the set range, the controller stops the finger motion control motor (31) or maintains the current gripping position. During the handling process, if the pressure sensor (35) detects a significant drop in pressure, the controller can determine that there is a risk of slippage of the workpiece and issue an alarm or re-clamp.

[0033] 12. Assembly and Maintenance Method. During assembly, the rotating chassis (1) can be installed on the base (4) first, and then the arm control motor (2) and the robot support beam (5) can be fixed to the corresponding positions on the rotating chassis (1). Then, the elbow control motor (21), elbow transmission gear (22) and support beam (24) can be installed, and the attitude sensor (23) can be fixed and calibrated. After that, the three-finger gripping mechanism can be installed at the end of the support beam (24), and the pressure sensor (35) and flexible anti-slip pad (36) can be installed on the inside of the gripping fingers. Finally, the cables of each sensor and motor can be threaded into the conduit (25), and the detachable counterweight (3) can be fixed by the fastening bolt (6). During maintenance, the flexible anti-slip pad (36) can be replaced according to the wear degree, the detachable counterweight (3) can be replaced or adjusted according to the robot load, and the cables in the conduit (25) can be checked for looseness or wear.

Claims

1. A three-finger retractable robotic hand with pressure feedback and posture detection functions, characterized in that: Includes a base (4), a rotating chassis (1) mounted on the base (4), a robotic arm support beam (5) connected to the rotating chassis (1), a large arm control motor (2) for driving the movement of the robotic arm support beam (5), a detachable counterweight (3) mounted on the base (4), fastening bolts (6) for fixing the connecting components, an elbow control motor (21) located at the front or middle of the robotic arm support beam (5), an elbow transmission gear (22) connected to the elbow control motor (21), an attitude sensor (23) for detecting the attitude state of the robotic arm, a support beam (24) connected to the elbow transmission gear (22), a conduit (25) for arranging and protecting cables, and a support beam (24) for mounting the robotic arm support beam (5). The three-finger gripping mechanism at the end of the beam (24) includes a finger motion control motor (31), a finger adapter (32), a finger power rod (33), a finger pull rod (34), a pressure sensor (35), and a flexible anti-slip pad (36). The finger motion control motor (31) drives the finger power rod (33) and the finger pull rod (34) to move through the finger adapter (32), so that the three-finger gripping mechanism can complete the opening or closing action. The pressure sensor (35) is set in the gripping contact area of ​​the three-finger gripping mechanism to detect the contact pressure during the gripping process. The flexible anti-slip pad (36) is set on the gripping contact surface to increase the gripping friction and reduce the damage to the workpiece surface.

2. The three-finger retractable manipulator with pressure feedback and posture detection functions according to claim 1, characterized in that: The pressure sensor (35) is located on the back, inside or adjacent to the flexible anti-slip pad (36), so that the clamping force generated when the workpiece contacts the flexible anti-slip pad (36) can be transmitted to the pressure sensor (35), thereby realizing the detection of clamping force.

3. A three-finger retractable manipulator with pressure feedback and posture detection functions according to claim 1, characterized in that: The flexible anti-slip pad (36) is a replaceable structure that can be installed on the inside of the fingers of the three-finger gripping mechanism by means of bonding, snapping, slotting or screw fixing, so as to adapt to the gripping needs of workpieces with different materials, different surface hardness or different shapes.

4. A three-finger retractable manipulator with pressure feedback and posture detection functions according to claim 1, characterized in that: The finger adapter (32), finger power rod (33) and finger pull rod (34) constitute a synchronous opening and closing transmission mechanism, which can convert the output motion of the finger motion control motor (31) into the motion of three fingers clamping or releasing synchronously.

5. A three-finger retractable manipulator with pressure feedback and posture detection functions according to claim 1, characterized in that: The attitude sensor (23) is located near the support beam (24), the elbow transmission gear (22) or the end gripping mechanism, and is used to collect information on the angle, tilt or motion attitude of the robot support beam (5), the support beam (24) or the three-finger gripping mechanism.

6. A three-finger retractable manipulator with pressure feedback and posture detection functions according to claim 1, characterized in that: The conduit (25) is arranged along the length of the robotic arm support beam (5) or support beam (24) to accommodate the wires of the pressure sensor (35), posture sensor (23), elbow control motor (21) or finger movement control motor (31) to reduce the tangling, pulling or wear of the wires during the movement of the robotic arm.

7. A three-finger retractable manipulator with pressure feedback and posture detection functions according to claim 1, characterized in that: The detachable counterweight (3) is installed on the base (4) by fastening bolts (6). The installation position, quantity or weight of the detachable counterweight (3) can be adjusted according to the extension length and end load of the robot support beam (5) to reduce the risk of overturning during the operation of the robot.

8. A three-finger retractable manipulator with pressure feedback and posture detection functions according to claim 1, characterized in that: The upper arm control motor (2), elbow control motor (21) and finger movement control motor (31) are all electrically connected to the controller. The controller can control the clamping action of the three-finger clamping mechanism, the posture adjustment action of the support beam (24) or the movement state of the robot arm support beam (5) based on the clamping pressure signal fed back by the pressure sensor (35) and the posture signal fed back by the posture sensor (23).

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