Sensing picking paw

Abstract

The utility model provides a sensing picking paw. The sensing picking paw comprises a driving rack, a central driving block, a transmission mechanism, an inner connecting rod, a finger unit and a flexible sensor, the central driving block is rotationally arranged on the driving rack; each finger unit comprises a near-end phalanx, a middle-end phalanx and a far-end phalanx, the near-end phalanx and the middle-end phalanx are connected through a transmission mechanism, the middle-end phalanx and the far-end phalanx are connected through a transmission mechanism, the near-end phalanx is connected with the center driving block through an inner connecting rod, and the near-end phalanx is hinged to the driving rack; flexible sensors are embedded in the near-end phalanx, the middle-end phalanx and the far-end phalanx. The near-end phalanx is connected with the rotationally-arranged center driving block through an inner connecting rod, the near-end phalanx and the middle-end phalanx are connected through a transmission mechanism, the middle-end phalanx and the far-end phalanx are connected through a transmission mechanism, control over corresponding joints can be achieved, signals are transmitted through a flexible sensor, dynamic response can be conducted, and the grabbing action is more targeted.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of mechanical structure design, especially relate to a kind of perception picking hand claw. BACKGROUND

[0002] With the development of artificial intelligence technology, automation and intelligentization have become the technical development trend of engineering disciplines and industry. The research and development of new robots cannot be separated from structural design, especially the mechanical hand claw as the hands of robots. The current design concept is anthropomorphism and flexibility. In addition to imitating the dexterity of human hands, it also needs to imitate the tactile perception function of human skin.

[0003] With the development of flexible sensors, a large number of "electronic skin" researches have emerged in the academic community, making self-perception mechanical hand claws possible. For example, the "tomato picking end effector" disclosed in Chinese utility model patent CN221979559U by Bao Lei et al. includes a driving mechanism, a driving shaft, a push rod, a suction cup, a transmission mechanism, a three-jaw mechanism, a rack, and a shell. The suction cup is connected to the driving mechanism through the driving shaft and the push rod. Through the extension and retraction movement of the driving mechanism, the forward extension and rearward retraction movement of the suction cup are driven, realizing the process of the suction cup sucking the tomato out of the fruit cluster and separating it. At the same time, the driving mechanism is connected to the three-jaw mechanism through the driving shaft and the transmission mechanism. When the driving mechanism drives the extension and retraction movement of the suction cup, the three-jaw mechanism is driven to open and close, thereby realizing the clamping of the three-jaw mechanism on the tomato. This technical solution realizes the simultaneous extension and retraction movement of the suction cup and the opening and closing movement of the three-jaw mechanism, with simple mechanism, reasonable design, and reliable structure. However, this technical solution mainly focuses on the design of flexible structure, and the grabbing action is single, with two shortcomings: (1) low flexibility, without multi-joint design optimization research on the structure design of the clamping claw; (2) lack of dynamic response, resulting in single and non-targeted grabbing action. SUMMARY

[0004] To solve at least one of the deficiencies in the prior art, the utility model provides a perception picking hand claw, the proximal phalanx is connected to the centrally rotating driving block through the inner connecting rod, the proximal phalanx and the middle phalanx are connected through the transmission mechanism, and the middle phalanx and the distal phalanx are connected through the transmission mechanism, which can control the corresponding joints. By setting the flexible sensor to transmit signals, dynamic response can be achieved, making the grabbing action more targeted.

[0005] To achieve the purpose of the utility model, the utility model provides a perception picking hand claw, which includes a driving rack, a central driving block, a transmission mechanism, an inner connecting rod, a finger unit and a flexible sensor.

[0006] The central driving block is rotationally arranged on the driving rack.

[0007] The finger unit comprises a proximal phalanx, a middle phalanx and a distal phalanx, and the proximal phalanx and the middle phalanx and the distal phalanx are connected through transmission mechanisms, the proximal phalanx is connected with the center driving block through the inner connecting rod, and the proximal phalanx is hinged with the driving frame;

[0008] The proximal phalanx, the middle phalanx and the distal phalanx are embedded with the flexible sensor.

[0009] Further, the finger unit has three, symmetrically arranged on the center driving block.

[0010] Further, sensor grooves are arranged on the gripping surfaces of the proximal phalanx, the middle phalanx and the distal phalanx, and the flexible sensor is arranged in the sensor groove.

[0011] Further, the surfaces of the proximal phalanx, the middle phalanx and the distal phalanx are coated with a flexible coating layer, which directly contacts the object when grasping the object and transmits the reaction force to the flexible sensor.

[0012] Further, it also includes a step motor, which is arranged on the driving frame, and the output end is connected with the center driving block. When the step motor rotates, the output end drives the center driving block and then drives the inner connecting rod, and then drives the proximal phalanx to move.

[0013] Further, when the step motor on the driving frame rotates, it drives the three finger units to move synchronously.

[0014] Further, each transmission mechanism comprises a driving motor and a transmission shaft driven by the driving motor; on the finger unit, two driving motors are arranged on the proximal phalanx and the middle phalanx respectively, and two transmission shafts are arranged on one end of the proximal phalanx close to the middle phalanx, one end of the middle phalanx close to the distal phalanx, the transmission shaft on the middle phalanx is connected with the proximal phalanx, and the transmission shaft on the middle phalanx is connected with the distal phalanx.

[0015] Further, the driving motor is an encoder motor, which can record the joint angle.

[0016] Further, the proximal phalanx and the middle phalanx are provided with motor grooves, and two driving motors are arranged in the corresponding motor grooves.

[0017] Further, it also includes two motor limit blocks, and each driving motor is arranged in the motor groove through the corresponding motor limit block.

[0018] Further, each of the transmission mechanisms further comprises a first bevel gear, a second bevel gear and a bearing, the first bevel gear is arranged on the transmission shaft, the second bevel gear is connected with the output end of the driving motor, the transmission shaft is connected on the proximal phalanx or the middle phalanx through the bearing, and the second bevel gear is in meshing connection with the first bevel gear.

[0019] Compared with the prior art, the utility model has the following advantages and beneficial effects:

[0020] 1、The utility model discloses a picking object (such as the object of grabbing is fruit, such as tomato), because a flexible electronic skin protection layer is provided, the loss rate of grabbing fruit is greatly reduced.

[0021] 2、The flexible sensor that the flexible hand claw installs between the external protection layer and the phalanx can effectively monitor the state of the object of grabbing, and it is favorable to reduce the damage to the object of grabbing.

[0022] 3、The flexible hand claw provided by the utility model can be rigid skeleton, which helps to enhance the clamping capacity when the finger grabs. DRAWINGS

[0023] In order to more clearly illustrate the technical scheme in the application embodiments or prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained according to these drawings without paying creative labor, wherein:

[0024] Figure 1 It is the whole structure schematic diagram of the sensing picking hand claw provided by the utility model embodiment;

[0025] Figure 2 It is the driving mechanism and the schematic diagram without containing the protection layer in the utility model embodiment;

[0026] Figure 3 It is the rack structure schematic diagram in the utility model embodiment;

[0027] Figure 4 It is the proximal phalanx structure detail schematic diagram in the utility model embodiment;

[0028] Figure 5 It is the middle phalanx structure detail schematic diagram in the utility model embodiment;

[0029] Figure 6 It is the distal phalanx structure detail schematic diagram in the utility model embodiment.

[0030] In the figure, drive frame 1, center drive block 2, inner connecting rod 3, proximal phalanx 4, flexible coating layer 5, flexible sensor 6, middle phalanx 7, bearing 8, drive motor 9, motor limit block 10, first bevel gear 11, transmission shaft 12, distal phalanx 13, second bevel gear 14. DETAILED DESCRIPTION

[0031] The embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary, and are intended to further describe the present application in conjunction with the embodiments and drawings, but the embodiments and the scope of protection of the present application are not limited thereto.

[0032] In the description of the present application, if the orientation terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0033] As shown in Figure 1 and 2 The present application embodiment provides a sensing picking hand claw, which comprises a driving frame 1, a center drive block 2, an inner connecting rod 3, a finger unit, a flexible coating layer 5 and a flexible sensor 6. The finger unit has three, i.e. a three-jaw mechanism, and the center drive block 2 is rotationally arranged on the driving frame 1. Each finger unit is connected to the center drive block 2 through a corresponding inner connecting rod 3.

[0034] Each finger unit comprises a proximal phalanx 4, a middle phalanx 7 and a distal phalanx 13, and the proximal phalanx 4 and the middle phalanx 7, and the middle phalanx 7 and the distal phalanx 13 are respectively connected through a transmission mechanism. The proximal phalanx 4 is connected to the center drive block 2 through the inner connecting rod 3, and the proximal phalanx 4 is hinged to the driving frame 1. The proximal phalanx 4 drives the middle phalanx 7 through the transmission mechanism, and the middle phalanx 7 drives the distal phalanx 13 through the transmission mechanism. The proximal phalanx 4, the middle phalanx 7 and the distal phalanx 13 are all provided with the flexible sensor 6.

[0035] In one of the embodiments of the utility model, one stepping motor is arranged in the driving frame 1, which is 42 stepping motor, the output end of the stepping motor is connected with the center driving block 2, the proximal phalanx 4 in each finger unit is connected with the center driving block 2 through the inner connecting rod 3 respectively, so that the proximal phalanx 4 can be driven by the inner connecting rod 3. When the stepping motor on the driving frame 1 rotates, it drives the three finger units to move synchronously.

[0036] In each finger unit, one end of the middle phalanx 7 is connected with the proximal phalanx 4 through a transmission mechanism, and the other end of the middle phalanx 7 is connected with one end of the distal phalanx 13 through a transmission mechanism. Figure 2 Each transmission mechanism includes a driving motor 9, a transmission shaft 12, a first bevel gear 11, a second bevel gear 14 and a bearing 8, the first bevel gear 11 is arranged on the transmission shaft 12, the second bevel gear 14 is connected with the output end of the driving motor 9, the second bevel gear 14 is meshed with the first bevel gear 11, and the transmission shaft 12 is connected on the proximal phalanx 4 or the middle phalanx 7 through the bearing 8; in one specific embodiment of the utility model, two driving motors 9 in a single finger unit are arranged on the proximal phalanx 4 and the middle phalanx 7 respectively, two transmission shafts 12 are arranged on one end of the proximal phalanx 4 close to the middle phalanx 7, one end of the middle phalanx 7 close to the distal phalanx 13, the transmission shaft 12 on the middle phalanx 7 is connected with the proximal phalanx 4, and the transmission shaft 12 on the middle phalanx 7 is connected with the distal phalanx 13. When the driving motor 9 on the proximal phalanx 4 rotates, the middle phalanx 7 is driven to move by the transmission shaft 12 on the proximal phalanx 4, and when the driving motor 9 on the middle phalanx 7 rotates, the distal phalanx 13 is driven to move by the transmission shaft 12 on the middle phalanx 7.

[0037] In the embodiment of the utility model, the proximal phalanx 4 is driven by the inner connecting rod 3, and the proximal phalanx 4 and the middle phalanx 7 are driven by the driving motor 9, so that the corresponding joints can be controlled, and the opening and closing of the three claws can be realized.

[0038] In one specific embodiment of the utility model, the transmission shaft 12 is a cylindrical pin.

[0039] In one specific embodiment of the utility model, the finger unit has three, and the transmission mechanism has six groups, two groups of transmission mechanisms are arranged on the proximal phalanx 4 and the middle phalanx 7 respectively, and the two groups of transmission mechanisms are used for transmission from the proximal phalanx 4 to the middle phalanx 7 and transmission from the middle phalanx 7 to the distal phalanx 13.

[0040] In one embodiment of the utility model, each finger unit is provided with a circular bearing mounting hole on the end of the proximal phalanx 4 and the middle phalanx 7 away from the driving frame 1, a bearing 8 is arranged in the bearing mounting hole, and a corresponding transmission shaft 12 is arranged on the corresponding bearing 8.

[0041] In one embodiment of the utility model, the first bevel gear 11 and the second bevel gear 14 are respectively fastened to the output end of the driving motor 9 and the transmission shaft 12 through an internal hexagon head set screw.

[0042] In one embodiment of the utility model, please refer to Figure 2 The other side (defined as the back) of the middle phalanx 7 and the proximal phalanx 4 and opposite to the gripping surface is provided with a motor groove, two driving motors 9 are respectively pressed in the motor groove on the middle phalanx 7 and the proximal phalanx 4 through motor limiting blocks 10, and are fastened through bolts.

[0043] In one embodiment of the utility model, please refer to Figure 2 The gripping surface of the proximal phalanx 4, the middle phalanx 7 and the distal phalanx 13 is provided with a sensor groove, a flexible sensor 6 is arranged in the three sensor grooves, and a flexible coating layer 5 is coated on the surface of the proximal phalanx 4, the middle phalanx 7 and the distal phalanx 13. The flexible coating layer 5 is a protective layer outside the proximal phalanx 4, the middle phalanx 7 and the distal phalanx 13, directly contacts the object when the object is gripped, and transmits the reaction force to the flexible sensor 6.

[0044] By placing the flexible sensor 6 in the gripping surface groove of the proximal phalanx 4, the middle phalanx 7 and the distal phalanx 13, and then coating the flexible coating layer 5, in the gripping process, after contacting the gripped object, the flexible sensor 6 can convey a signal to stop the movement of the motor (including the stepping motor and the driving motor 9), so that the gripping stroke of the picking gripper is not single and fixed, and the problem of single gripping action without targeting in the prior art can be solved.

[0045] In one embodiment of the utility model, the driving motor 9 is an encoder motor, which can record the joint angle. The driving motor 9 driving each joint movement has a coding positioning function, which is convenient for realizing intelligent picking.

[0046] In one embodiment of the utility model, the picking gripper can be used to pick fruits such as tomatoes. By coating a flexible layer on the basis of the rigid three-claw skeleton and loading a flexible sensor, the tomato damage rate during picking can be greatly reduced.

[0047] In one embodiment of the utility model, please refer to Figure 4 One end of the proximal phalanx 4 close to the drive frame 1 is provided with two groups of circular mounting holes, one group of mounting holes is used for connecting with the inner connecting rod 3, and the other group of mounting holes is used for connecting with the drive frame 1 through a pin shaft. Preferably, the pin shaft is a cylindrical pin.

[0048] In one embodiment of the utility model, the proximal phalanx 4, the middle phalanx 7 and the distal phalanx 13 are rigid bones, and the material is light curing resin material. The internal bone support structure is made of light curing resin material, which can effectively improve the clamping capacity and provide a certain space for the transmission mechanism.

[0049] In one embodiment of the utility model, the proximal phalanx 4, the middle phalanx 7 and the distal phalanx 13 are prepared by DLP printing, and the corresponding flexible coating layer 5 is formed by pouring PDMS silicone through a mold.

[0050] The sensing picking hand claw provided in the foregoing embodiments of the utility model is designed and optimized for multi-joint structure design of the claw, that is, a stepping motor is arranged on the drive frame 1, the stepping motor is connected with the proximal phalanx 4 through the center driving block 2 and the inner connecting rod 3, the proximal phalanx 4 can be driven to move through the inner connecting rod 3, and the driving motor 9 carried on the proximal phalanx 4 and the middle phalanx 7 can be respectively designed for corresponding joint movement, so that the three claws can be opened and closed.

[0051] The picking hand claw has many advantages, the flexible electronic skin protection layer can reduce the tomato picking loss rate, the flexible sensor 6 can monitor the state of the grasped object, the internal rigid bone can enhance the clamping capacity, and the three-joint and the coding positioning function of each joint motor can lay a foundation for intelligent picking.

[0052] The above is described according to each embodiment, which does not represent that each embodiment contains only one independent technical scheme, and the description manner of the specification is only for clarity.

[0053] The above is only a specific description of the feasible embodiments of the utility model, which does not limit the protection scope of the utility model, and any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the utility model within the disclosed range, which belongs to the protection scope of the utility model.

Claims

1. A sensory picking hand, characterized in that, The device comprises a driving frame (1), a center driving block (2), a transmission mechanism, an inner connecting rod (3), a finger unit and a flexible sensor (6); The center driving block (2) is rotatably arranged on the driving frame (1); The finger unit comprises a proximal phalanx (4), a middle phalanx (7) and a distal phalanx (13), and the proximal phalanx (4) and the middle phalanx (7) and the distal phalanx (13) are connected through the transmission mechanism, the proximal phalanx (4) is connected with the center driving block (2) through the inner connecting rod (3), and the proximal phalanx (4) is hinged with the driving frame (1); The proximal phalanx (4), the middle phalanx (7) and the distal phalanx (13) are embedded with the flexible sensor (6).

2. A sensory picking hand according to claim 1, characterized in that, The finger unit has three, symmetrically arranged on the center driving block (2).

3. A sensory picking hand according to claim 1, characterized in that, Sensor grooves are arranged on the gripping surfaces of the proximal phalanx (4), the middle phalanx (7) and the distal phalanx (13), and the flexible sensor (6) is arranged in the sensor grooves.

4. The sensory picking hand of claim 1, wherein, The surfaces of the proximal phalanx (4), the middle phalanx (7) and the distal phalanx (13) are coated with a flexible coating layer (5), and when an object is grasped, the flexible coating layer (5) directly contacts the object and transmits the reaction force to the flexible sensor (6).

5. The sensory picking hand of claim 1, wherein, It also comprises a stepping motor, which is arranged on the driving frame (1) and connected with the center driving block (2).

6. The sensory picking hand of claim 1, wherein, Each of the transmission mechanisms comprises a driving motor (9) and a transmission shaft (12) driven by the driving motor (9); on the finger unit, two driving motors (9) are arranged on the proximal phalanx (4) and the middle phalanx (7) respectively, and two transmission shafts (12) are arranged on one end of the proximal phalanx (4) close to the middle phalanx (7) and one end of the middle phalanx (7) close to the distal phalanx (13) respectively, the middle phalanx (7) is connected with the transmission shaft (12) on the proximal phalanx (4), and the distal phalanx (13) is connected with the transmission shaft (12) on the middle phalanx (7).

7. A sensory picking hand according to claim 6, characterized in that The driving motor (9) is an encoder motor.

8. A sensory picking hand according to claim 6, characterized in that Motor grooves are arranged on the proximal phalanx (4) and the middle phalanx (7), and the two driving motors (9) are arranged in the corresponding motor grooves.

9. A sensory picking hand according to claim 8, characterized in that It also comprises two motor limiting blocks (10), and each driving motor (9) is arranged in the motor groove by the corresponding motor limiting block (10).

10. The sensory picking hand of claim 6, wherein, Each of the transmission mechanisms further comprises a first bevel gear (11), a second bevel gear and a bearing (8) which are engaged with each other, the first bevel gear (11) is arranged on the transmission shaft (12), the second bevel gear is connected with the output end of the driving motor (9), the transmission shaft (12) is connected on the proximal phalanx (4) or the middle phalanx (7) through the bearing (8), and the second bevel gear is engaged with the first bevel gear (11).

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