Robot gripper structure and force control adjusting device

Abstract

The application provides a robot gripper structure and force control adjusting device, comprising a base, a plurality of chucks are arranged on the base, the chuck comprises a fixed plate, a middle arm, a forearm and a clamping end, one end of the fixed plate is fixed on the base, the other end exceeds the edge of the base and is rotationally connected with the inner side surface of the middle arm, the lower end of the middle arm is rotationally connected with the forearm, and the lower end of the forearm is rotationally connected with the clamping end. The robot gripper structure and force control adjusting device are characterized in that two separate micro servo cylinders are arranged for each chuck, the sensor arranged at the lower end of the chuck is used for finely controlling the force of the gripper, the minimum force control reaches the accurate force control of 0.1N level, the stroke of each chuck is adjusted according to the real-time feedback of the sensor, different chucks are controlled independently, the buffer property and the structural support property of the gripping are considered, and the chucks are suitable for gripping different materials.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a robot gripper structure and force control adjustment device. Background Technology

[0002] Robotic grippers, also known as robotic hands, are a type of robotic end effector primarily used for grasping, transporting, or manipulating objects. Their applications span various fields, replacing traditional manual handling methods and providing convenience to people's lives.

[0003] With advancements in industrial automation and robotics, traditional rigid robotic grippers are no longer sufficient for precise grasping and handling. Most existing robotic grippers employ simple mechanical actuations, using fixed opening and closing strokes to grasp single materials. When grasping different materials, this can easily lead to instability or damage, making them ill-suited for diverse grasping scenarios. The lack of adaptive adjustment for different materials limits their application in complex environments, restricting the device's flexibility and versatility. This case arose in order to resolve the aforementioned issues. Summary of the Invention

[0004] The purpose of this invention is to provide a robot gripper structure and force control adjustment device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a robot gripper structure and force control adjustment device, comprising a base, wherein a plurality of grippers are provided on the base, each gripper comprising a fixed plate, a middle arm, a forearm, and a gripping end, one end of the fixed plate being fixed to the base, the other end extending beyond the edge of the base and rotatably connected to the inner side of the middle arm, the lower end of the middle arm being rotatably connected to the forearm, and the lower end of the forearm being rotatably connected to the gripping end; a micro servo cylinder one is provided on the fixed plate, the output end of the micro servo cylinder one being rotatably connected to the inner side of the upper end of the middle arm, a micro servo cylinder two is provided on the outer side of the middle section of the middle arm, the output end of the micro servo cylinder two being connected to a connecting arm, the tail end of the connecting arm being rotatably connected to the output end of the micro servo cylinder two, and the head end being provided with a support protrusion and fixedly connected to the outer side of the forearm.

[0006] Preferably, the clamping end includes a rigid plate portion and a flexible plate portion. The upper end of the rigid plate portion is provided with connecting ears on both sides. The upper inner side of the connecting ears is rotatably connected to the lower outer side of the forearm. The flexible plate portion is provided with a pressure sensor.

[0007] Preferably, the forearm has fixed posts on both sides, and a safety spring is connected to the fixed post. One end of the safety spring is connected to the fixed post, and the other end is connected to the upper surface of the flexible plate.

[0008] Preferably, the safety spring is parallel to both sides of the forearm, the safety spring is in a stretched state, and a tension sensor is provided inside the fixing column.

[0009] Preferably, a connecting seat is fixed on the fixed plate, and the first micro servo electric cylinder is rotatably connected through the connecting seat. Similarly, the middle arm and the second micro servo electric cylinder are also connected through the connecting seat.

[0010] Preferably, the chucks are evenly distributed circumferentially around the central axis of the base, and the base is provided with connecting posts, which are disposed between the chucks, and the outer side of the connecting posts is flush with the outer side of the base.

[0011] Preferably, the base has a wire harness tube at its center, and the wire harness tube contains a wire harness connected to the clamps. The height of the connecting post is the same as the height of the wire harness tube.

[0012] Preferably, a sealing plate is connected to the upper end of the connecting post and the wire harness tube.

[0013] After adopting the above technical solution, the present invention has the following advantages compared with the prior art: The present invention provides a robot gripper structure and force control adjustment device, which sets two separate micro servo electric cylinders for each gripper. Through the sensor set at the lower end of the gripper, the gripping force of the gripper is precisely controlled, and the minimum force control reaches the precision of 0.1N. The stroke of each gripper is adjusted according to the real-time feedback of the sensor. Different grippers are controlled separately, taking into account both gripping buffer and structural support, and adapting to gripping different materials. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the present invention; Figure 2 This is a schematic diagram of the chuck; Figure 3 for Figure 1 A diagram showing the result after removing one of the clamps; In the diagram: 1. Base, 2. Fixing plate, 3. Middle arm, 4. Forearm, 5. Clamping end, 51. Rigid plate part, 52. Flexible plate part, 53. Connecting ear, 6. Miniature servo cylinder one, 7. Miniature servo cylinder two, 8. Connecting arm, 81. Support protrusion, 9. Fixing column, 10. Safety spring, 11. Connecting seat, 12. Connecting column, 13. Wiring harness tube, 14. Sealing plate. Detailed Implementation

[0015] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0016] This invention provides a robot gripper structure and force control adjustment device, such as... Figure 1-3As shown, it includes a base 1, on which a number of grippers are provided. Each gripper includes a fixing plate 2, a middle arm 3, a forearm 4, and a gripping end 5. One end of the fixing plate 2 is fixed to the base 1, and the other end extends beyond the edge of the base 1 and is rotatably connected to the inner side of the middle arm 3. The lower end of the middle arm 3 is rotatably connected to the forearm 4, and the lower end of the forearm 4 is rotatably connected to the gripping end 5. Each gripper is divided into three sections, mimicking the structure of a finger, making each gripper more flexible, allowing for a wider adjustable gripping position, and providing more stable gripping. Reference Appendix Figure 2 Appendix Figure 3 A miniature servo cylinder 6 is mounted on the fixed plate 2. The output end of the miniature servo cylinder 6 is rotatably connected to the inner side of the upper end of the middle arm 3. The miniature servo cylinder 6 drives the middle arm 3 and its connected components to rotate relative to the fixed plate 2. A miniature servo cylinder 7 is mounted on the outer side of the middle section of the middle arm 3. The output end of the miniature servo cylinder 7 is connected to a connecting arm 8. The tail end of the connecting arm 8 is rotatably connected to the output end of the miniature servo cylinder 7, and the head end is provided with a support protrusion 81, which is fixedly connected to the outer side of the forearm 4. The miniature servo cylinder 7 drives the forearm 4 and its connected components to rotate relative to the middle arm 4. Flexible stroke control of each chuck is achieved through the individual rotation control of the middle arm 3 and the forearm 4.

[0017] Reference Appendix Figure 3 The clamping end 5 includes a rigid plate portion 51 and a flexible plate portion 52. Connecting ears 53 are provided on both sides of the upper end of the rigid plate portion 51. The inner side of the upper end of the connecting ears 53 is rotatably connected to the outer side of the lower end of the forearm 4. A pressure sensor is provided inside the flexible plate portion 52. Traditional grippers have a single type of fingertip hardness, resulting in either insufficient support (all-soft) leading to unstable gripping, or poor cushioning (all-hard) making them unsuitable for flexible / fragile objects and unable to meet the gripping needs of various types of objects. By using both the rigid and flexible plate portions, both gripping cushioning and structural support are balanced, adapting to various types of objects, including fragile, flexible, and rigid objects. Furthermore, the pressure sensor inside the flexible plate portion adjusts the gripper opening and closing stroke in real time based on feedback.

[0018] Reference Appendix Figure 1-3 The forearm 4 has fixed posts 9 on both sides, and safety springs 10 are connected to the fixed posts 9. One end of the safety spring 10 is connected to the fixed post 9, and the other end is connected to the upper surface of the flexible plate part 52. The safety spring 10 is parallel to the two sides of the forearm 4 and is in a stretched state. A tension sensor is installed inside the fixed post 9. When gripping materials, the safety spring 10 is further stretched. The stretching force of the safety spring 10 is monitored in real time by the tension sensor. This, along with the pressure sensor stroke double protection, achieves precise control of the opening and closing stroke of the gripper. In the event of an accidental gripping: if the gripping force is too large, the gripping end 5 is pushed outward excessively, the connection between the safety spring 10 and the fixed post 9 is disengaged, thereby releasing the material and protecting the miniature servo cylinder and the gripper.

[0019] It should be noted that a connecting seat 11 is fixed on the fixed plate 2, and the micro servo electric cylinder 6 is rotatably connected through the connecting seat 11. Similarly, the middle arm 3 and the micro servo electric cylinder 7 are also connected through the connecting seat.

[0020] Reference Appendix Figure 2 The chucks are evenly spaced circumferentially distributed around the central axis of the base 1. A connecting post 12 is provided on the base 1, positioned between the chucks, with its outer side flush with the outer side of the base 1. A wire harness tube 13 is located at the center of the base 1, containing a wire harness connected to the chucks. The height of the connecting post 12 is the same as the height of the wire harness tube 13. A sealing plate 14 is connected to the upper ends of the connecting post 12 and the wire harness tube 13, protecting the wire harness. The wire harness controlling the micro servo electric cylinder is housed inside the fixed plate and the middle arm, extending through the connecting seat, preventing a large amount of the wire harness from being exposed outside the chucks.

[0021] This invention discloses a robot gripper structure and force control adjustment device. Each gripper is equipped with two separate micro servo cylinders. Through sensors located at the lower end of the gripper, the gripping force of the gripper is precisely controlled, with the minimum force control reaching a precision level of 0.1N. The stroke of each gripper is adjusted based on real-time feedback from the sensors. Different grippers are controlled independently, taking into account both gripping buffer and structural support, and adapting to gripping different materials.

[0022] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robot gripper structure and force control adjustment device, characterized in that: Includes a base (1), on which a plurality of clamps are provided. Each clamp includes a fixing plate (2), a middle arm (3), a forearm (4) and a clamping end (5). One end of the fixing plate (2) is fixed to the base (1), and the other end extends beyond the edge of the base (1) and is rotatably connected to the inner side of the middle arm (3). The lower end of the middle arm (3) is rotatably connected to the forearm (4), and the lower end of the forearm (4) is rotatably connected to the clamping end (5). The fixed plate (2) is provided with a micro servo electric cylinder one (6), the output end of the micro servo electric cylinder one (6) is rotatably connected to the inner side of the upper end of the middle arm (3), the outer side of the middle section of the middle arm (3) is provided with a micro servo electric cylinder two (7), the output end of the micro servo electric cylinder two (7) is connected to a connecting arm (8), the tail end of the connecting arm (8) is rotatably connected to the output end of the micro servo electric cylinder two (7), and the head end is provided with a support protrusion (81) and fixedly connected to the outer side of the forearm (4).

2. The robot gripper structure and force control adjustment device according to claim 1, characterized in that: The clamp (5) includes a rigid plate part (51) and a flexible plate part (52). The upper end of the rigid plate part (51) is provided with connecting ears (53) on both sides. The upper inner side of the connecting ears (53) is rotatably connected to the lower outer side of the forearm (4). The flexible plate part (52) is provided with a pressure sensor.

3. The robot gripper structure and force control adjustment device according to claim 2, characterized in that: The forearm (4) is provided with fixing posts (9) on both sides. A safety spring (10) is connected to the fixing post (9). One end of the safety spring (10) is connected to the fixing post (9), and the other end is connected to the upper surface of the soft plate part (52).

4. The robot gripper structure and force control adjustment device according to claim 3, characterized in that: The safety spring (10) is parallel to both sides of the forearm (4), the safety spring (10) is in a stretched state, and a tension sensor is provided inside the fixed column (9).

5. The robot gripper structure and force control adjustment device according to claim 1, characterized in that: A connecting seat (11) is fixed on the fixed plate (2). The micro servo electric cylinder one (6) is rotatably connected through the connecting seat (11). Similarly, the middle arm (3) and the micro servo electric cylinder two (7) are also connected through the connecting seat.

6. The robot gripper structure and force control adjustment device according to claim 1, characterized in that: The clamps are evenly distributed around the central axis of the base (1) on the base (1). The base (1) is provided with connecting posts (12). The connecting posts (12) are arranged between the clamps, and the outer side of the connecting posts (12) is flush with the outer side of the base (1).

7. The robot gripper structure and force control adjustment device according to claim 6, characterized in that: The base (1) has a wire harness tube (13) at its center, and the wire harness tube (13) contains a wire harness connected to the clamps. The height of the connecting post (12) is the same as the height of the wire harness tube (13).

8. The robot gripper structure and force control adjustment device according to claim 6, characterized in that: The upper ends of the connecting post (12) and the wire harness tube (13) are connected to a sealing plate (14).

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