Robot hand inflation holding and fastening mechanism
By setting inflatable airbags in the robot's palm and combining pressure sensors, the adaptability and stability of existing robotic palms when grasping different objects is solved, and stable grasping of various objects is achieved, especially effective grip of irregular and smooth surfaces.
Patent Information
- Application Number
- CN202422474024.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-14
- Publication Date
- 2025-08-19
- Estimated Expiration
- 2034-10-14
AI Technical Summary
When grabbing objects of different shapes, sizes and weights, existing robot palm designs have problems such as poor adaptability, insufficient friction and low stability, especially difficult to effectively hold objects on irregular, soft or smooth surfaces.
An inflatable airbag is set up in the robot's palm, and the contact state with the object is changed through the expansion of the airbag, and the pressure inside the airbag is monitored and adjusted in real time to achieve stable grip.
It improves the stability and adaptability of the robot's palm to various objects, enhances the grip ability to irregular, soft or smooth surfaces, and expands the application range of bionic robots.
Smart Images
Figure CN223236327U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to an inflatable gripping and fastening mechanism for a robot hand. Background Art
[0002] In today's technological landscape, the development of biomimetic robots is gaining increasing attention. These robots are designed to mimic the behaviors and functions of humans or other living things to perform various tasks. Holding objects is a key function in robotic operations.
[0003] Conventional robot hand designs for gripping objects include mechanical claws, magnetic suction, and fixed-shape clamps. However, these three methods have the following shortcomings:
[0004] Mechanical claws typically consist of multiple rigid components, achieving grasping through joint movement. However, this design makes it difficult to achieve uniform pressure distribution on objects with irregular or soft surfaces, which can easily cause localized deformation or damage. Furthermore, the gripper's opening and closing angles and gripping force are often fixed, making them inflexible and incapable of adjustment based on the object's specific conditions. This results in poor adaptability when grasping objects of varying sizes, shapes, and weights.
[0005] Magnetic grips rely on magnetism to attract objects, but this method only works with magnetic objects, making its applicability very limited. They are completely ineffective against non-magnetic objects. Furthermore, the strength of the magnetism is difficult to precisely control, potentially damaging the object due to excessive force or causing it to fall off due to insufficient force.
[0006] While the fixed-shape gripping hand is relatively simple, its gripping ability is limited by its shape. If the shape of an object doesn't match the fixed shape of the hand, it becomes difficult to achieve a stable grip. Furthermore, the contact area of this type of hand is typically small, resulting in insufficient friction and making it difficult to grasp heavy or smooth objects.
[0007] Although some improvement solutions in the existing technology include adopting more complex multi-joint mechanical structures, adding electric drive components, or using advanced sensors to monitor and adjust grip force in real time, these solutions have many shortcomings and defects:
[0008] The complex multi-jointed mechanical structure not only increases the weight and size of the robot's hand, reducing its overall mobility, but also increases manufacturing and maintenance costs. While the introduction of electric drive components can provide some power support, it also brings problems such as increased energy consumption, complex control, and reduced reliability. Advanced sensors, while providing more accurate detection data, also significantly increase system costs, and the stability and accuracy of sensors in harsh environments are difficult to guarantee.
[0009] Based on the above reasons, the utility model designs an inflatable gripping and fastening mechanism for the robot hand, which uses the inflatable characteristics of the airbag to change the contact state between the robot palm and the object, thereby meeting the needs of objects of various shapes, sizes, weights and frictions, and improving the stability of grasping. Summary of the Invention
[0010] The purpose of the utility model is to overcome the shortcomings of the existing technology and provide an inflatable gripping and fastening mechanism for a robot hand, which uses the inflatable characteristics of the airbag to change the contact state between the robot palm and the object, thereby meeting the needs of objects of various shapes, sizes, weights and frictions, and improving the stability of grasping.
[0011] In order to achieve the above-mentioned purpose, the utility model provides an inflatable gripping and fastening mechanism for a robot hand. The cavities in the palm and fingers are provided with airbags according to the shapes of the palm and fingers. The airbags in the palm are connected to the airbags in the fingers through trachea. The bottom of the airbags in the palm is connected to the air pump control module through a connecting line. The air pump control module is connected to the MCU through a serial port. The air pump control module is provided with an air pump, an air storage tank, an electromagnetic air valve and a pressure sensor.
[0012] The air bags in the fingers are connected through trachea and arranged in different joints of the fingers.
[0013] The size and shape of the air sacs in each joint of the finger correspond to each section of the finger.
[0014] The connecting line includes an inflation line and a deflation line.
[0015] The periphery of the airbag is provided with a reinforcement structure for protecting against external impact.
[0016] Compared with the prior art, the present invention has the following beneficial effects:
[0017] The utility model sets an airbag in the palm of the robot. The airbag expands to increase the contact area and pressure between the palm and the object, thereby achieving the effect of gripping the object. At the same time, a pressure sensor is used to control the pressure data in the airbag in real time, and then make real-time pressure adjustments to objects with different sizes, shapes and pressure changes caused by friction, so as to ensure that the grasping is always in a stable state, ensure the normal operation of the robot grasping, and meet the execution of the task.
[0018] For example:
[0019] Traditional robot hands can experience an unstable grip when grasping heavier objects, such as those weighing 10 to 15 kilograms. However, the airbag device of this utility model, by increasing pressure and contact area through inflation, can stably grasp such heavy objects, improving the reliability of the robot when handling heavy objects.
[0020] Secondly, when grasping larger objects, such as long strips of building materials about 80 cm in length, the effective gripping area of traditional palms is relatively small, while the expansion characteristics of the airbag can significantly increase the effective gripping area, ensuring that the object is not easy to slip.
[0021] Furthermore, when grasping objects with smooth surfaces, such as glass products with a surface friction coefficient as low as 0.2, the traditional method is prone to slipping. However, the utility model increases friction by inflating the airbag, effectively reducing the possibility of slipping.
[0022] In addition, for objects with irregular shapes, such as highly complex special-shaped handicrafts, the traditional palm grip is not effective, while the airbag can deform and fit according to the contour of the object, improving the stability and adaptability of the grip.
[0023] In short, the airbag device of the present invention significantly improves the gripping ability and adaptability of the bionic robot's palm, enabling it to accurately and stably complete grasping tasks in various complex working environments, and expanding the application scope and work efficiency of the bionic robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Figure 1 It is a structural diagram of the present utility model.
[0025] Description of reference numerals:
[0026] 1 is the palm, 2 is the airbag, 3 is the air tube, 4 is the connecting line, 5 is the air pump control module, 5-1 is the air pump and air tank, 5-2 is the electromagnetic air valve, 5-3 is the pressure sensor, and 6 is the MCU. DETAILED DESCRIPTION
[0027] The present invention will now be further described with reference to the accompanying drawings.
[0028] See also Figure 1 The utility model provides an inflatable gripping and fastening mechanism for a robot hand. The cavities in the palm 1 and the fingers are provided with airbags 2 according to the shapes of the palm 1 and the fingers. The airbags 2 in the palm 1 are connected to the airbags 2 in the fingers through the trachea 3. The bottom of the airbag in the palm 1 is connected to the air pump control module 5 through the connecting line 4. The air pump control module 5 is connected to the MCU 6 through the serial port. The air pump control module 5 is provided with an air pump and an air tank 5-1, an electromagnetic air valve 5-2 and a pressure sensor 5-3.
[0029] The airbags 2 in the fingers are connected through trachea 3 and are arranged in different joints of the fingers.
[0030] The size and shape of the airbags 2 at each joint in the finger correspond to the joints of the finger.
[0031] The connecting line 4 includes an inflation line and a deflation line.
[0032] The periphery of the airbag 2 is provided with a reinforcement structure for protecting against external impact.
[0033] Working principle:
[0034] The utility model does not require much debugging and preparation work when working, and includes the following steps:
[0035] Initial gripping: When an object needs to be grasped, the robot arm initially reaches the gripping position. The robot's perception field perceives and calculates the characteristics of the target object to obtain relevant information about the object, such as weight, size, shape, and surface friction. Palm 1 makes initial contact with the object, but the gripping force is weak.
[0036] Inflation gripping: After initial gripping is complete, airbag 2 is inflated. The inflation process is precisely controlled by MCU6, which determines the amount and speed of inflation based on pre-set algorithms and data transmitted from the sensing domain. Airbag 2 is made of materials with excellent elasticity and strength, allowing it to expand evenly during inflation. As gas is added, the airbag 2 expands, and the contact area between the palm 1 and fingers and the object gradually increases, and the pressure also gradually increases. The pressure data within the airbag 2 is transmitted in real time via connecting line 4 to the pressure sensor 5-3. After calculation by MCU6, it is transmitted to the air pump, air tank 5-1, and electromagnetic valve 5-2, which controls further inflation and further grips the object until the preset optimal grip is achieved. As the airbag inflates, the internal gas pressure increases, causing the airbag to expand outward. On the one hand, this expansion process increases the contact area between the palm and the object, thereby dispersing the pressure and reducing the damage that may be caused to the object by excessive local pressure; on the other hand, due to the increase in contact area, according to the friction calculation formula (friction = friction coefficient × pressure), when the friction coefficient remains unchanged, the increase in pressure will lead to an increase in friction, thereby enhancing the stability of the grip.
[0037] During the grasping process, if the state of the object changes, such as the weight of the object increases or the surface becomes smoother, the pressure sensor 5-3 will promptly detect the pressure change and feed back the signal to the control system MCU6. The control system MCU6 then adjusts the solenoid valve 5-2 to increase the inflation volume of the airbag 2 to maintain a stable grip and sufficient friction.
[0038] In addition, in order to ensure the stability and reliability of the airbag 2, a reinforcement structure is provided around the airbag 2 to prevent the airbag 2 from rupturing when over-inflated or subjected to external impact.
[0039] The above are only preferred embodiments of the present invention and are intended to help understand the method and core concept of this application. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be pointed out that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.
[0040] The utility model comprehensively solves the shortcomings of the existing technology of robot gripping, such as complex technical structure, high cost, poor adaptability and fitness. By cleverly adding airbags into the palm of the robot, it can grasp objects of different shapes and weights in terms of contact area and pressure, thereby improving the friction between the object and the palm, thereby ensuring the stability of the grip. At the same time, the pressure sensor can be used to monitor the pressure of objects in different states such as changing shapes in real time, thereby further improving its scope of application and the stability of gripping, and has good promotion and application value.
Claims
1. A pneumatic gripping and fastening mechanism for a robot hand, characterized in that: The palm (1) and the cavity in the fingers are provided with air bags (2) according to the shapes of the palm (1) and the fingers. The air bags (2) in the palm (1) are communicated with the air bags (2) in the fingers through the air tube (3). The bottom of the air bag in the palm (1) is connected to the air pump control module (5) through the connecting line (4). The air pump control module (5) is connected to the MCU (6) through the serial port. The air pump control module (5) is provided with an air pump and an air storage tank (5-1), an electromagnetic air valve (5-2) and a pressure sensor (5-3).
2. The pneumatic gripping and fastening mechanism for a robot hand according to claim 1, characterized in that: The airbags (2) in the fingers are respectively connected via the trachea (3) and arranged in different joints of the fingers.
3. The pneumatic gripping and fastening mechanism for a robot hand according to claim 1, characterized in that: The size and shape of the airbags (2) at each joint in the finger are kept in correspondence with each joint of the finger.
4. The robot hand pneumatic gripping and fastening mechanism according to claim 1, characterized in that: The connecting line (4) includes an inflation line and a deflation line.
5. The pneumatic gripping and fastening mechanism for a robot hand according to claim 1, characterized in that: The periphery of the airbag (2) is provided with a reinforcement structure for preventing external impact.