Multi-degree-of-freedom mechanical claw with flexible shell

Abstract

The utility model discloses a multi-degree-of-freedom mechanical claw with flexible shells. The multi-degree-of-freedom mechanical claw comprises a base, an air pump, a plurality of movable claw fingers, a plurality of flexible shells and a pressure sensor, wherein the air pump and the plurality of movable claw fingers are arranged on the base; the plurality of flexible shells are respectively sleeved outside the plurality of movable claw fingers; a hollow layer is arranged in the flexible shell and is communicated with the air pump; the pressure sensor is used for monitoring the pressure in the hollow layer; according to a monitoring result of the pressure sensor, the air pump is used for adjusting the air pressure in the hollow layer to be maintained in a preset range; the multi-degree-of-freedom mechanical gripper is high in reliability and high in universality, and meanwhile has the capacity of self-sealing and adapting to variable environments.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical claws, in particular to a multi-freedom mechanical claw with a flexible shell. Background Art

[0002] A robotic gripper is a mechanical device that mimics the functions of a human hand and is widely used in industrial automation, robotics, medical devices, and other fields. They can perform functions such as grasping, carrying, and releasing objects. The working principle of a robotic gripper is primarily based on the generation of gripping force. Its structure typically consists of a support structure, a clamping structure, and a drive structure. The support structure provides stability and rigidity, the clamping structure closes and opens to grasp and release objects, and the drive structure provides the power to drive the gripping structure.

[0003] There are various types of mechanical grippers currently available. Depending on their structure, they can be divided into clamping type, suction type, and multi-finger structure. However, the mechanical grippers currently on the market still have the following problems:

[0004] 1. The mechanical claw has a simple structure but it is difficult to accurately control the force and can easily cause damage to soft or fragile objects.

[0005] 2. The clamp-type robotic gripper may require different grippers to be designed for different objects, increasing the complexity of design and manufacturing.

[0006] 3. The adsorption force of the adsorption-type mechanical claw is limited. It may not be stable enough for heavier or irregularly shaped objects. The adsorption effect is poor for non-smooth surfaces or porous materials. It also requires auxiliary equipment such as an air source or vacuum pump, which increases the complexity and cost of the system.

[0007] Therefore, a mechanical gripper with high reliability, strong versatility, self-sealing function and adaptability to various environments is needed. Utility Model Content

[0008] The purpose of the utility model is to provide a multi-degree-of-freedom mechanical claw with a flexible shell, so that the multi-degree-of-freedom mechanical claw has high reliability and strong versatility, and at the same time has the ability to self-seal and adapt to changing environments.

[0009] In order to solve the above technical problems, the utility model provides a multi-degree-of-freedom mechanical claw with a flexible shell, including a base, an air pump and multiple movable claw fingers arranged on the base, multiple flexible shells respectively covered on the multiple movable claw fingers, and a pressure sensor; a hollow layer is provided inside the flexible shell, and the hollow layer is connected to the air pump; the pressure sensor is used to monitor the pressure inside the hollow layer; according to the monitoring results of the pressure sensor, the air pump is used to adjust the air pressure in the hollow layer to maintain it within a preset range.

[0010] In one embodiment, the flexible shell is a shape memory polymer shell.

[0011] In one embodiment, a flexible air pipe is connected between the hollow layer and the air pump.

[0012] In one embodiment, the pressure sensor is disposed in the hollow layer.

[0013] In one embodiment, the base is provided with a movable claw finger, and the base is rotatably connected to two movable seats, and each of the two movable seats is provided with a movable claw finger, and the rotation axis of the two movable seats is consistent with the axis of the movable claw finger after it is straightened.

[0014] In one embodiment, the movable claw finger includes a fingertip, a finger web and a finger tail that are rotatably connected to each other in sequence.

[0015] In one embodiment, a coaxially arranged first transmission gear is provided on the rotating shaft that rotationally connects the fingertip and the fingerpad; a second transmission gear and a fingertip drive motor are provided on the fingerpad, the second transmission gear is engaged with the first transmission gear, and the fingertip drive motor is used to drive the second transmission gear and the first transmission gear to rotate synchronously.

[0016] In one embodiment, a finger joint is rotatably connected between the finger pad and the finger tail.

[0017] In one embodiment, a coaxially arranged first winding pulley is provided on the rotating shaft that rotatably connects the finger joint and the fingertip, and a coaxially arranged second winding pulley is provided on the rotating shaft that rotatably connects the finger joint and the fingertip; a finger base motor is provided on the fingertip, and the finger base motor is connected to a third winding pulley. Synchronous belts are tensioned on the first winding pulley, the second winding pulley and the third winding pulley, and the finger base motor is used to drive the first winding pulley, the second winding pulley and the third winding pulley to rotate synchronously.

[0018] The beneficial effects of the utility model are as follows:

[0019] 1. Multi-degree-of-freedom robotic grippers can provide more complex operating capabilities and flexibility, enabling robots to perform more sophisticated tasks.

[0020] 2. The combination of movable claw fingers and flexible shell can avoid damage to fragile or soft objects, better control the gripping ability of the claw, accurately control the clamping force, and solve the problem of stability of traditional adsorption mechanical claws in grasping irregular objects.

[0021] 3. The mechanical claw has higher applicability and a simpler control system, which can adapt to the needs of different scenarios. It is better for search and rescue handling robots to adapt to complex environments and objects of different shapes and materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the implementation. Obviously, the drawings described below are only some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 It is a structural diagram provided by an embodiment of the present utility model;

[0024] Figure 2 yes Figure 1 Schematic diagram of the assembly of the movable claw and the flexible shell.

[0025] The reference numerals are as follows:

[0026] 10. Base; 11. Movable seat;

[0027] 20. Air pump; 21. Flexible air pipe;

[0028] 30. Movable claw finger; 31. Fingertip; 32. Finger web; 33. Finger tail; 341. First transmission gear; 342. Second transmission gear; 343. Fingertip drive motor; 35. Finger joint; 361. First belt pulley; 362. Second belt pulley; 363. Third belt pulley; 364. Finger base motor; 365. Synchronous belt;

[0029] 40. Flexible shell; 41. Hollow layer. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0031] The utility model provides a multi-freedom mechanical claw with a flexible shell 40, which can be implemented as follows: Figure 1 and Figure 2 As shown, it includes a base 10, an air pump 20 and multiple movable claws 30 arranged on the base 10, multiple flexible shells 40 respectively covered on the multiple movable claws 30, and a pressure sensor; a hollow layer 41 is provided inside the flexible shell 40, and the hollow layer 41 is connected to the air pump 20; the pressure sensor is used to monitor the pressure in the hollow layer 41; according to the monitoring result of the pressure sensor, the air pump 20 is used to adjust the air pressure in the hollow layer 41 to maintain it within a preset range.

[0032] During application, the coordinated movement of multiple movable claws 30 can achieve the clamping of objects; and during the clamping process, the air pump 20 will inflate the hollow layer 41, so when clamping the object, as long as the flexible shell 40 contacts the object, the air pressure inside the hollow layer 41 will change. The pressure sensor can monitor the pressure of the hollow layer 41 to know whether the current clamping force of the object is appropriate, thereby facilitating timely control of the air pump 20 to inflate or exhaust the hollow layer 41 to avoid damage to the object.

[0033] Preferably, in this embodiment, the flexible shell 40 is configured as a shape memory polymer shell.

[0034] like Figure 1 and Figure 2 As shown, in this embodiment, a flexible air delivery pipe 21 is connected between the hollow layer 41 and the air pump 20 .

[0035] After adopting this setting method, even if the movable claw finger 30 moves, the flexible gas pipe 21 can also adaptively deform, thereby avoiding the situation where the gas pipeline hinders the movement of the movable claw finger 30, and ensuring that the flexible gas pipe 21 can stably realize the inflation and deflating of the hollow layer 41.

[0036] Preferably, in this embodiment, the pressure sensor is arranged in the hollow layer 41 .

[0037] After adopting this configuration, there is no other barrier between the pressure sensor and the hollow layer 41 , thereby ensuring that the monitoring result of the pressure sensor is more accurate.

[0038] like Figure 1 As shown, this embodiment provides a movable claw finger 30 on the base 10, and two movable seats 11 are rotatably connected to the base 10. A movable claw finger 30 is respectively provided on the two movable seats 11, and the rotation axis of the two movable seats 11 is consistent with the axis of the movable claw finger 30 after it is straightened.

[0039] After adopting this setting method, not only can the movable claw finger 30 itself be movable, but the position of the movable claw finger 30 can also be adjusted, thereby further increasing the ways in which multiple movable claw fingers 30 can cooperate with each other to meet the usage requirements in more different situations.

[0040] like Figure 1 and Figure 2 As shown, in this embodiment, the movable claw finger 30 includes a fingertip 31, a finger web 32 and a finger tail 33 which are rotatably connected to each other in sequence.

[0041] After adopting this setting method, the movable claw finger 30 has a rotational connection between the fingertip 31 and the finger pulp 32, and a rotational connection between the finger pulp 32 and the finger tail 33, ensuring that the movable claw finger 30 can perform at least two different rotational adjustments to meet the usage requirements in different situations.

[0042] like Figure 2 As shown, in this embodiment, a coaxially arranged first transmission gear 341 is provided on a rotating shaft that rotatably connects the fingertip 31 and the finger pulp 32; a second transmission gear 342 and a fingertip drive motor 343 are provided on the finger pulp 32, the second transmission gear 342 is engaged with the first transmission gear 341, and the fingertip drive motor 343 is used to drive the second transmission gear 342 and the first transmission gear 341 to rotate synchronously.

[0043] After adopting this setting, once the fingertip drive motor 343 is started, the second transmission gear 342 can be controlled to rotate, and then the second transmission gear 342 can drive the first transmission gear 341 to rotate, thereby realizing the control of the rotation of the fingertip 31.

[0044] like Figure 2 As shown, in this embodiment, a finger joint 35 is provided between the finger web 32 and the finger tail 33 for rotational connection.

[0045] After adopting this setting, the rotation connection between the fingertip 32 and the finger joint 35, and the rotation connection between the finger joint 35 and the finger tail 33 are added, thereby making the activity control method of the movable claw finger 30 more diversified and meeting the usage requirements in more different situations.

[0046] like Figure 2 As shown, this embodiment provides a coaxially arranged first winding pulley 361 on the rotating shaft that is rotatably connected to the finger joint 35 and the finger pulp 32, and a coaxially arranged second winding pulley 362 is provided on the rotating shaft that is rotatably connected to the finger joint 35 and the finger tail 33; the finger tail 33 is provided with a finger base motor 364, and the finger base motor 364 is connected to the third winding pulley 363, and a synchronous belt 365 is tensioned on the first winding pulley 361, the second winding pulley 362 and the third winding pulley 363, and the finger base motor 364 is used to drive the first winding pulley 361, the second winding pulley 362 and the third winding pulley 363 to rotate synchronously.

[0047] After adopting this setting method, once the finger base motor 364 is started, it can drive the third winding pulley 363 to rotate, and the third winding pulley 363 will drive the second winding pulley 362 to rotate through the synchronous belt 365, and the second winding pulley 362 will drive the first winding pulley 361 to rotate through the synchronous belt 365, thereby realizing the rotation control of the finger tail 33 and the finger joint 35, as well as the rotation control of the finger joint 35 and the fingertip 32.

[0048] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom mechanical gripper with a flexible housing, characterized in that: The device comprises a base, an air pump and a plurality of movable claws arranged on the base, a plurality of flexible shells respectively covering the plurality of movable claws, and a pressure sensor; A hollow layer is provided inside the flexible shell, and the hollow layer is connected to the air pump; The pressure sensor is used to monitor the pressure in the hollow layer; According to the monitoring result of the pressure sensor, the air pump is used to adjust the air pressure in the hollow layer to maintain it within a preset range.

2. The multi-degree-of-freedom mechanical gripper according to claim 1, characterized in that: The flexible shell is a shape memory polymer shell.

3. The multi-degree-of-freedom mechanical gripper according to claim 1, characterized in that: A flexible air delivery pipe is connected between the hollow layer and the air pump.

4. The multi-degree-of-freedom mechanical gripper according to claim 1, characterized in that: The pressure sensor is arranged in the hollow layer.

5. The multi-degree-of-freedom mechanical gripper according to claim 1, characterized in that: The base is provided with a movable claw finger, and the base is rotatably connected to two movable seats. Each of the two movable seats is provided with a movable claw finger, and the rotation axis of the two movable seats is consistent with the axis of the movable claw finger after it is straightened.

6. The multi-degree-of-freedom mechanical gripper according to claim 1, characterized in that: The movable claw finger comprises a fingertip, a finger web and a finger tail which are rotatably connected to each other in sequence.

7. The multi-degree-of-freedom mechanical gripper according to claim 6, characterized in that: A first transmission gear is coaxially arranged on the rotating shaft where the fingertip and the finger pulp are rotatably connected; A second transmission gear and a fingertip drive motor are provided on the fingertip. The second transmission gear is engaged with the first transmission gear. The fingertip drive motor is used to drive the second transmission gear and the first transmission gear to rotate synchronously.

8. The multi-degree-of-freedom mechanical gripper according to claim 6, characterized in that: A finger joint is rotatably connected between the finger pulp and the finger tail.

9. The multi-degree-of-freedom mechanical gripper according to claim 8, characterized in that: A first belt-winding wheel is coaxially arranged on the rotating shaft where the finger joint and the finger pulp are rotatably connected, and a second belt-winding wheel is coaxially arranged on the rotating shaft where the finger joint and the finger tail are rotatably connected; A finger base motor is provided on the finger tail, and the finger base motor is connected to the third winding wheel. A synchronous belt is tensioned on the first winding wheel, the second winding wheel and the third winding wheel. The finger base motor is used to drive the first winding wheel, the second winding wheel and the third winding wheel to rotate synchronously.

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