Flexible three-finger paw

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a flexible three-finger paw which comprises three finger modules, the three finger modules are distributed and installed on the upper plane of a paw base according to the 120-degree circumference, and each finger module comprises a finger base, a first finger joint, a second finger joint, a three-joint connecting crank and a third finger joint. And the finger base is mounted on the upper plane of the paw base. Each finger in the device is composed of a plurality of independent flexible modules, the modules are connected with one another through connecting mechanisms, and the angles of the fingers can be changed, so that the device adapts to objects of different shapes and sizes.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a flexible three-finger gripper. Background Art

[0002] As an important robot end effector, grippers have been widely used in industrial automation, medical rehabilitation, service robots and other fields in recent years. Traditional rigid grippers are prone to damage the surface of objects when grasping them, especially when handling fragile or fragile objects. The rigid structure and high contact pressure of rigid grippers often cause damage to objects. Therefore, in order to solve this problem, it is necessary to design more flexible soft grippers. Although the existing flexible grippers have made significant progress in flexible grasping, such as a Chinese patent discloses a pneumatic flexible three-finger gripper, application number: 200610155562.9, which includes a handle (1), a turntable (5), three pneumatic flexible claw fingers (8) are evenly installed at 120 degrees on one side of the turntable (5) of the torsion joint, the pipe joint (6) of the pneumatic flexible claw finger (8) is located on the turntable (5), the pneumatic flexible claw finger (8) is embedded in the side of the constraint wire facing the rotation axis of the torsion joint, the other side of the turntable (5) is connected to the rotation shaft (2) through a bearing, the rotation shaft (2) is connected to the handle (1), and two pneumatic flexible drivers (7) are circularly bent and symmetrically lying on the turntable (5), one end of which is fixed on the fixed plate (3), and the other end of the pipe interface (4) is fixed on the turntable (5). The above structure still has some shortcomings and technical bottlenecks:

[0003] Poor grasping stability: Existing flexible grippers often have difficulty providing sufficient grasping force when grasping heavier or harder objects, resulting in insufficient grasping stability.

[0004] Difficulty in precision control: Existing flexible grippers usually rely on pneumatic or hydraulic pressure, which has certain limitations in terms of control accuracy and response speed. Especially in scenarios that require high-precision grasping, such as assembly of tiny parts or medical operations, existing grippers are difficult to meet the requirements.

[0005] Limited adaptability: Although flexible grippers can adapt to a certain range of object shapes and sizes, existing grippers are still not adaptable enough for objects with large size variations or complex shapes. Utility Model Content

[0006] The utility model aims to provide a flexible three-finger gripper to solve the problems existing in the prior art.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a flexible three-finger gripper, comprising three finger modules, wherein the three finger modules are installed on the upper plane of the gripper base in a 120-degree circumference distribution, the finger module comprises a finger base and a first finger joint, a second finger joint, a three-joint connecting crank and a third finger joint, the finger base is installed on the upper plane of the gripper base, the lower end of the first finger joint is hinged to the finger base through a pin, the middle part of the second finger joint is hinged to the upper end of the first finger joint through a pin, the middle part of the third finger joint is connected to the upper end of the second finger joint through an axle pin, the third finger joint is connected to the first finger joint through a three-joint connecting crank, the lower end of the second finger joint is hinged to the second joint driving crank through the upper ball pin of the second joint driving crank, the lower end of the second joint driving crank is connected to the driving motor through the lower ball pin of the second joint driving crank, and the driving motor is embedded in the gripper base.

[0008] Preferably, a first rubber pad is embedded inside the third joint of the finger.

[0009] Preferably, a second rubber pad is embedded in the inner side of the second joint of the finger.

[0010] Preferably, the bottom of the finger base is driven by a motor.

[0011] Preferably, a flexible gripper mounting base is installed at the bottom of the gripper base.

[0012] The beneficial effects of the utility model are as follows: each finger in the device is composed of a plurality of independent flexible modules, which are interconnected by a connecting mechanism, and the angle of the finger can be changed to adapt to objects of different shapes and sizes. The connection structure between the modules not only improves the grasping stability of the gripper, but also enhances the flexibility of the fingers, and can better disperse the grasping force to avoid damage to the object. The finger module adopts a polymer composite material, which has high flexibility and high wear resistance, and can provide a large grasping force. The independent drive of each finger module is realized by combining a micromotor drive and a flexible transmission mechanism, which can accurately control the movement angle and strength of the finger. Compared with traditional pneumatic or hydraulic drives, the micromotor drive system has significant advantages in response speed and control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional diagram of the utility model. DETAILED DESCRIPTION

[0014] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0015] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0016] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fixed connection" and "fixed connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0017] The specific implementation of the utility model is described in detail below with reference to the accompanying drawings and preferred embodiments.

[0018] like Figure 1 As shown, a flexible three-finger gripper consists of a flexible gripper base 1, a finger base 2, a first finger joint 3, a second finger joint 4, a three-joint connecting crank 5, a third finger joint 6, a first rubber pad 7, a second rubber pad 8, an upper ball pin 9 of the second joint driving crank, a second joint driving crank 10, a driving motor 11, a lower ball pin 12 of the second joint driving crank, and a flexible gripper mounting base 13.

[0019] The finger base 2 is installed on the upper plane of the gripper base 1, and the bottom is driven by a motor and can rotate. The first finger joint 3 and the finger base 2, the second finger joint 4 and the first finger joint 3, and the third finger joint 6 and the second finger joint 4 are connected by an axle pin, and each joint can rotate around the axle pin. The third finger joint 6 and the first finger joint 3 are connected by a three-joint connecting crank 5. The first rubber pad 7 is embedded in the third finger joint 6 in an embedded manner, and the second rubber pad 8 is embedded in the second finger joint 4 in an embedded manner. The first rubber pad 7 and the second rubber pad 8 are made of polymer composite materials and have high flexibility and high wear resistance. The upper end of the second joint driving crank 10 is connected to the second finger joint 4 through the second joint driving crank upper ball pin 9, and the lower end of the second joint driving crank 10 is connected to the driving motor 11 through the second joint driving crank lower ball pin 12. The driving motor 11 is embedded in the gripper base 1.

[0020] The finger base 2, the first finger joint 3, the second finger joint 4, a three-joint connecting crank 5, the third finger joint 6, the first rubber pad 7, and the second rubber pad 8 together constitute a finger module. Each three-finger flexible gripper is designed with three finger modules, which are installed on the upper plane of the gripper base 1 in a 120-degree circle.

[0021] Each three-finger flexible gripper is designed with three drive motors 11 embedded in the three sides of the gripper base 1, which are connected through the lower ball pin 12 of the second joint drive crank, the second joint drive crank 10, the upper ball pin 9 of the second joint drive crank and the second joint 4 of the finger. By precisely controlling the rotation angle of the drive motor 11, the movement of the second joint 4 of the finger is driven by the second joint drive crank 10 to realize the deformation function of the finger module.

[0022] The gripper base 1 is fixed to the flexible gripper mounting base 13 by screws, and the flexible gripper mounting base 13 can be fixed to the end of the actuator, such as the end of a robotic arm, by screws or the like.

[0023] Instructions for use:

[0024] The three-finger flexible gripper is fixed to the end of the robot arm (the robot arm is only an example and is not limited to being installed at the end of the robot arm) through the flexible gripper mounting base 13, and the three-finger flexible gripper controller harness is connected to the system controller. When performing a task, the system controller issues a control instruction according to the shape and size of the grasped object. First, the drive motor at the bottom of the finger base 2 is controlled to drive the rotation of the finger module, and the grasping angle of the three fingers is adjusted to be optimal. Next, the three-finger flexible gripper is moved to the vicinity of the object to be grasped by the robot arm to ensure that the gripper can grasp the object. Finally, by accurately controlling the rotation angle of the drive motor 11, the movement of the second joint 4 of the finger is driven by the second joint drive crank 10, and the deformation of the finger module is driven to achieve effective grasping of the object. After the object is moved, the rotation angle of the drive motor 11 is controlled by the root demand, and the movement of the second joint 4 of the finger is driven by the second joint drive crank 10, and the deformation of the finger module is driven to achieve the release of the object.

[0025] It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the utility model, and these improvements and modifications should also be regarded as the protection scope of the utility model.

Claims

1. A flexible three-finger gripper, characterized in that: The invention comprises three finger modules, which are installed on the upper plane of the gripper base in a 120-degree circumference distribution. The finger module comprises a finger base and a first finger joint, a second finger joint, a three-joint connecting crank and a third finger joint. The finger base is installed on the upper plane of the gripper base. The lower end of the first finger joint is hinged to the finger base through a pin, the middle part of the second finger joint is hinged to the upper end of the first finger joint through a pin, the middle part of the third finger joint is connected to the upper end of the second finger joint through an axle pin, the third finger joint is connected to the first finger joint through a three-joint connecting crank, the lower end of the second finger joint is hinged to the second joint driving crank through the upper ball pin of the second joint driving crank, the lower end of the second joint driving crank is connected to the driving motor through the lower ball pin of the second joint driving crank, and the driving motor is embedded in the gripper base.

2. The flexible three-finger gripper according to claim 1, characterized in that: A first rubber pad is embedded in the inner side of the third joint of the finger.

3. The flexible three-finger gripper according to claim 1, characterized in that: A second rubber pad is embedded in the inner side of the second joint of the finger.

4. The flexible three-finger gripper according to claim 1, characterized in that: The bottom of the finger base is driven by a motor.

5. The flexible three-finger gripper according to claim 1, characterized in that: A flexible gripper mounting base is installed at the bottom of the gripper base.

Images