Self-adaptive grabbing executing mechanism of robot

Abstract

The utility model belongs to the technical field of robot engineering, particularly relates to a self-adaptive grabbing executing mechanism of a robot, and aims to solve the problems of self-adaptive grabbing of irregular objects and grabbing protection, the following scheme is provided: the self-adaptive grabbing executing mechanism comprises a grabbing plate, a hydraulic push rod assembly, a multi-point clamping assembly and a grabbing force control assembly, by means of the multiple clamping rods capable of independently stretching out and drawing back, the mechanism can be actively attached to the surface profile of an irregular object, real self-adaptive grabbing is achieved, and the grabbing success rate and stability are greatly improved. The grabbing force control assembly achieves setting of clamping force by mechanically presetting the position of an adjusting outer rod, the same mechanism can flexibly deal with grabbing tasks with different force sensitivities from fragile products to heavy-load workpieces and the like, a hydraulic oil way can be automatically cut off through linkage of an adjusting piston, an adjusting inner rod and a valve element at the moment that the clamping force reaches a preset value, and therefore the clamping force of the fragile products is adjusted. Mechanical hydraulic force closed-loop control is formed, and damage caused by over-grabbing is effectively prevented.

Description

Technical Field

[0001] This utility model relates to a grasping execution mechanism, specifically a robot adaptive grasping execution mechanism, belonging to the field of robot engineering technology. Background Technology

[0002] Robot end effectors are key components of automated production lines and robotic systems, and their grasping performance directly determines the flexibility, reliability, and safety of operations. In scenarios such as industrial handling, logistics sorting, and special operations, the objects to be grasped are often irregular in shape, have uneven surfaces, or are made of fragile materials. This places dual demands on the grasping mechanism for adaptive envelope and precise force control.

[0003] In existing technologies, such as the electromagnetically driven discrete rod cluster adaptive manipulator disclosed in CN216464649U, multiple independently sliding electromagnetic push rods are used to form a rod cluster. The push rods adaptively wrap around the object through relative sliding, achieving multi-point contact. However, this solution relies on electromagnetic drive, which has limited output force and is difficult to meet heavy-duty gripping requirements. It also lacks a closed-loop control and limit protection mechanism for the overall gripping force, posing a risk of damage to fragile objects due to uncontrolled force. Another example is the underwater hydraulic manipulator adaptive gripping mechanism disclosed in CN113119147A, which uses hydraulic drive and a linkage-torsion spring structure to achieve adaptive gripping, offering the advantage of high output force. However, its adaptive function is mainly achieved through passive mechanical structures (such as double torsion springs), resulting in limited fit to the gripping contour. Furthermore, it lacks integrated real-time monitoring and preset functions for gripping force, making it impossible to accurately set and lock the safe gripping force according to the workpiece characteristics. In addition, after force protection is achieved, this type of hydraulic drive mechanism often results in slow release action or even failure due to oil circuit lock-up, affecting the work cycle.

[0004] In summary, current adaptive gripping technologies generally suffer from the following drawbacks: first, the gripping force is uncontrollable, easily causing damage to objects or unstable gripping; second, it is difficult to simultaneously achieve adaptive fitting capability and stable output force for complex curved surfaces; and third, after force protection is implemented, the mechanism's reset and release are difficult. Therefore, there is an urgent need for a new type of gripping actuator that can simultaneously achieve a highly adaptive envelope, precisely adjustable gripping force, and reliable reset. Utility Model Content

[0005] This invention provides a robot adaptive grasping actuator to solve the problem of how to adaptively grasp irregular objects and achieve grasping protection.

[0006] The present invention achieves the above objectives through the following technical solution: a robot adaptive grasping execution mechanism, comprising two grasping plates, with hydraulic push rod assemblies connected to the bottom ends of the two grasping plates respectively, and multi-point clamping assemblies connected to the plates of the two grasping plates respectively, and a grasping force control assembly is provided between the hydraulic push rod assembly connected to the same grasping plate and the multi-point clamping assembly.

[0007] The multi-point clamping assembly includes a connecting back plate and several clamping base plates connected thereto. The clamping base plates are embedded in the body of the gripping plate, and several independently telescopic clamping rods are provided at one end of the clamping base plate located on the inner side of the gripping plate.

[0008] The gripping force control component includes a liquid reservoir connected to a connecting back plate. An adjusting piston is movably installed inside the liquid reservoir. An adjustable outer rod is fixed to the side of the liquid reservoir away from the connecting back plate. A valve chamber is opened inside the outer rod, and a valve core is installed inside the valve chamber. The valve core is connected to an adjusting inner rod. The body of the adjusting inner rod is movably inserted inside the adjusting outer rod, and the end of the adjusting inner rod located outside the adjusting outer rod is inserted into the liquid reservoir. The valve chamber opened on the adjusting outer rod is connected to an inlet pipe and a hydraulic push rod assembly.

[0009] As a further embodiment of this utility model: a grooved base is provided at the bottom of the gripping plate, and a limiting link is fixedly connected inside the grooved base. The two gripping plates are movably sleeved on the limiting link, and a link spring is sleeved on the rod body of the limiting link located between the two gripping plates.

[0010] As a further embodiment of this utility model: the hydraulic push rod assembly includes a hydraulic outer tube and a hydraulic push rod. The hydraulic push rod is movably sleeved inside the hydraulic outer tube. The tail end of the hydraulic outer tube is fixedly connected to the inner wall of the groove-shaped base. A push rod piston is fixedly connected to one end of the hydraulic push rod located inside the hydraulic outer tube. A push rod spring is also provided inside the hydraulic outer tube. The push rod spring abuts against the end wall of the hydraulic outer tube. Notches are provided at the bottom ends of both gripping plates, and the notches are staggered. The hydraulic push rod assembly connected to one gripping plate passes through the notch of the other gripping plate.

[0011] As a further embodiment of this utility model: the clamping substrates are arranged in an equidistant pattern on the gripping plate, and the clamping substrates have a liquid guiding cavity and multiple movable cavities connected thereto. Each movable cavity is provided with a clamping piston, and one end of the clamping rod is inserted into the movable cavity, and the clamping rod is fixedly connected to the clamping piston.

[0012] As a further embodiment of this utility model: the body of the connecting back plate is fixedly embedded in the outer side of the gripping plate, the connecting back plate has a connecting cavity, the connecting cavity is connected to the liquid guiding cavity opened in each clamping base plate, and the liquid guiding cavity, the connecting cavity and the movable cavity on the side of the clamping piston away from the clamping rod are all filled with hydraulic oil.

[0013] As a further embodiment of this utility model: a docking cylinder is fixedly connected to the end of the liquid storage cylinder away from the connecting back plate on the same axis. The rod body of the adjusting outer rod is inserted into the docking cylinder. The rod body of the adjusting outer rod has multiple equally spaced annular positioning grooves. The cylinder body of the docking cylinder is symmetrically threaded with two positioning bolts, and the movable front ends of the two positioning bolts are both locked in any one of the annular positioning grooves.

[0014] As a further improvement of this utility model: an adjusting spring is provided inside the liquid storage cylinder, and the adjusting spring abuts against the adjusting piston and the end wall of the liquid storage cylinder away from the connecting back plate. In the initial state, the adjusting piston leaves a gap with the adjusting inner rod due to the elastic force of the adjusting spring.

[0015] As a further embodiment of this utility model: the valve cavity opened by the adjusting outer rod is also connected to a liquid outlet hose. The liquid outlet hose and the liquid inlet pipe are symmetrically arranged at the connection position in the valve cavity. The other end of the liquid outlet hose is connected to a liquid guide pipe, and the other end of the liquid guide pipe is connected to the hydraulic outer pipe. The connection position between the liquid guide pipe and the hydraulic outer pipe is located on the side of the push rod piston away from the push rod spring. A valve core spring is also provided in the valve cavity, and the valve core spring abuts against the valve core and the outer end wall of the valve cavity.

[0016] As a further embodiment of this utility model: the inlet pipe is connected to an external hydraulic drive system, and a one-way return pipe is connected between the inlet pipe and the outlet hose. A one-way valve is installed on the body of the one-way return pipe. When the inlet pipe delivers hydraulic oil to the outlet hose to perform a gripping action, the one-way return pipe is in a closed state through the connected one-way valve. When the outlet hose delivers hydraulic oil back to the inlet pipe to perform a releasing action, the one-way return pipe is in a pass state through the connected one-way valve.

[0017] The beneficial effects of this utility model are:

[0018] 1. This utility model is equipped with a gripping plate, a hydraulic push rod assembly, a multi-point clamping assembly, and a gripping force control assembly. The multi-point clamping assembly can achieve multi-point contact and envelopment of the object surface, improving the stability of the gripping and the adaptability to irregular objects. The gripping force control assembly set between the hydraulic push rod assembly and the multi-point clamping assembly can sense and regulate the force transmitted to the clamping point in real time, ensuring that the clamping process is both firm and reliable and will not damage the gripped object or the mechanism itself due to excessive force, realizing closed-loop control and adaptive adjustment of the clamping force.

[0019] 2. The multi-point clamping assembly of this utility model includes a connecting back plate and several clamping base plates connected thereto. The clamping base plates are embedded in the body of the gripping plate. One end of the clamping base plate located on the inner side of the gripping plate is provided with several independently telescopic clamping rods. When clamping irregular objects, each clamping rod can extend or retract independently according to the contour difference of the object surface, so that the ends of all clamping rods contact the object surface as much as possible, forming a multi-point uniform force clamping state. This overcomes the shortcomings of traditional rigid grippers that have strict requirements on the shape of the object, and can effectively grip workpieces with uneven surfaces and irregular shapes. At the same time, through the flow collection effect of the connecting back plate, the pressure of the hydraulic transmission medium in all clamping base plates is ensured to be balanced, ensuring that all clamping rods can cooperate and adapt to the clamping action.

[0020] 3. The gripping force control component of this utility model includes a liquid storage cylinder, which is connected to a connecting back plate. An adjusting piston is movably installed inside the liquid storage cylinder. An adjustable outer rod is fixedly connected to the side of the liquid storage cylinder away from the connecting back plate. A valve chamber is opened inside the outer rod, and a valve core is installed inside the valve chamber. The valve core is connected to an adjusting inner rod, which movably passes through the adjusting outer rod. One end of the adjusting inner rod, located outside the adjusting outer rod, is inserted into the liquid storage cylinder. The valve chamber of the adjusting outer rod is connected to an inlet pipe and a hydraulic push rod assembly. The liquid storage cylinder is connected to the connecting back plate, thereby directly controlling the hydraulic pressure changes within the multi-point clamping component. Feedback is sent to the gripping force control component. The movement of the adjusting piston within the reservoir directly reflects the real-time clamping pressure. By adjusting the position of the adjusting outer rod fixed to the reservoir, the allowable travel of the adjusting piston can be preset, thereby preseting the clamping force threshold. When the clamping force does not reach the preset value, the valve chamber remains unobstructed, and the hydraulic oil can normally drive the hydraulic push rod assembly. Once the clamping force reaches the preset value, the adjusting piston pushes the adjusting inner rod, causing the valve core to close the valve chamber, immediately cutting off the hydraulic oil circuit and stopping the application of greater clamping force. This achieves automatic cutoff of the clamping force, forming a mechanical-hydraulic force feedback linkage protection that effectively prevents overload gripping. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the internal structure of the groove-shaped base of this utility model;

[0023] Figure 3 This is a schematic diagram of the connection structure of the hydraulic push rod assembly, multi-point clamping assembly, and gripping force control assembly of this utility model;

[0024] Figure 4 This is a schematic cross-sectional view of the hydraulic push rod assembly of this utility model;

[0025] Figure 5This is a schematic diagram of the multi-point clamping component structure of this utility model;

[0026] Figure 6 This is a schematic diagram of the horizontal cross-sectional structure of the clamping substrate of this utility model;

[0027] Figure 7 This is a cross-sectional structural diagram of the connection between the clamping substrate and the connecting back plate of this utility model;

[0028] Figure 8 This is a schematic diagram of the connection structure between the connecting back plate and the gripping force control component of this utility model;

[0029] Figure 9 This is a cross-sectional structural diagram of the gripping force control component of this utility model.

[0030] In the diagram: 1. Groove base; 11. Limiting link; 12. Linkage spring; 2. Hydraulic push rod assembly; 21. Hydraulic outer pipe; 22. Hydraulic push rod; 23. Push rod piston; 24. Push rod spring; 3. Gripping plate; 31. Notch; 4. Multi-point clamping assembly; 41. Clamping base plate; 42. Clamping rod; 43. Connecting back plate; 44. Fluid guiding cavity; 45. Movable cavity; 46. Clamping piston; 47. Connecting... 5. Cavity; 51. Gripping force control assembly; 52. Liquid storage cylinder; 53. Connecting cylinder; 54. Adjusting outer rod; 55. Liquid inlet pipe; 56. Liquid outlet hose; 57. One-way return pipe; 58. One-way valve; 59. Liquid guide pipe; 510. Adjusting piston; 511. Adjusting spring; 512. Adjusting inner rod; 513. Valve core; 514. Positioning bolt; 515. Annular positioning groove; 516. Valve cavity; 517. Valve core spring. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Example 1

[0033] like Figures 1 to 9As shown, a robot adaptive grasping actuator includes two grasping plates 3. The bottom ends of the two grasping plates 3 are respectively connected to hydraulic push rod assemblies 2. The plates of the two grasping plates 3 are respectively connected to multi-point clamping assemblies 4. A grasping force control assembly 5 is set between the hydraulic push rod assembly 2 connected to the same grasping plate 3 and the multi-point clamping assembly 4. Through the multi-point clamping assembly 4, multi-point contact and envelopment of the object surface can be achieved adaptively, improving the stability of the gripping and the adaptability to irregular objects. The grasping force control assembly 5 set between the hydraulic push rod assembly 2 and the multi-point clamping assembly 4 can sense and regulate the force transmitted to the clamping point in real time, ensuring that the gripping process is both firm and reliable and will not damage the grasped object or the mechanism itself due to excessive force, realizing closed-loop control and adaptive adjustment of the gripping force.

[0034] The multi-point clamping assembly 4 includes a connecting back plate 43 and several clamping base plates 41 connected thereto. The clamping base plates 41 are embedded in the body of the gripping plate 3. One end of the clamping base plate 41 located on the inner side of the gripping plate 3 is provided with several independently telescopic clamping rods 42. When clamping irregular objects, each clamping rod 42 can extend or retract independently according to the contour difference of the object surface, so that the ends of all clamping rods 42 contact the object surface as much as possible, forming a clamping state with multiple points of uniform force. This overcomes the shortcomings of traditional rigid grippers that have strict requirements on the shape of the object, and can effectively grip workpieces with uneven surfaces and irregular shapes. At the same time, through the flow collection effect of the connecting back plate 43, the pressure of the hydraulic transmission medium in all clamping base plates 41 is ensured to be balanced, and all clamping rods 42 can cooperate and adapt to the clamping action.

[0035] The gripping force control component 5 includes a liquid reservoir 51, which is connected to a connecting back plate 43. An adjusting piston 59 is movably installed inside the liquid reservoir 51. An adjustable outer adjusting rod 53 is fixedly connected to the side of the liquid reservoir 51 away from the connecting back plate 43. A valve chamber 515 is opened inside the outer adjusting rod 53, and a valve core 512 is installed inside the valve chamber 515. The valve core 512 is connected to an inner adjusting rod 511, which movably passes through the outer adjusting rod 53. One end of the inner adjusting rod 511 located outside the outer adjusting rod 53 is inserted into the liquid reservoir 51. The valve chamber 515 of the outer adjusting rod 53 is connected to an inlet pipe 54 and a hydraulic push rod assembly 2. The liquid reservoir 51 is connected to the connecting back plate 43, thereby enabling multi-point gripping. The hydraulic pressure change in component 4 is directly fed back to the gripping force control component 5. The movement of the adjusting piston 59 in the reservoir 51 directly reflects the real-time clamping pressure. By adjusting the position of the adjusting outer rod 53 fixed to the reservoir 51, the allowable movement stroke of the adjusting piston 59 can be preset, thereby presetting the threshold of the clamping force. When the clamping force does not reach the preset value, the valve chamber 515 is unobstructed, and the hydraulic oil can normally drive the hydraulic push rod component 2. Once the clamping force reaches the preset value, the adjusting piston 59 pushes the adjusting inner rod 511, causing the valve core 512 to close the valve chamber 515, immediately cutting off the hydraulic oil circuit and stopping the application of greater clamping force, realizing the automatic cutoff of the clamping force, forming a mechanical hydraulic force feedback linkage protection, effectively preventing overload gripping.

[0036] Example 2

[0037] Improvements based on Example 1:

[0038] like Figure 1 , Figure 3 and Figure 4 As shown, a grooved base 1 is provided at the bottom of the gripping plate 3. A limiting link 11 is fixedly connected inside the grooved base 1. The two gripping plates 3 are movably sleeved on the limiting link 11. A link spring 12 is sleeved on the link 11 between the two gripping plates 3. The limiting link 11 passes through the two gripping plates 3, providing linear guidance for the relative opening and closing movement of the gripping plates 3, effectively preventing the gripping plates 3 from shifting during the push of the hydraulic push rod assembly 2, thereby improving the clamping accuracy. The link spring 12 is sleeved on the limiting link 11 between the two gripping plates 3. In the non-working state or when it is necessary to release the object, the hydraulic thrust is canceled. At this time, the elastic potential energy stored in the link spring 12 is released, which can quickly push the two gripping plates 3 away from each other, realizing the automatic reset and opening of the gripping plates 3.

[0039] Furthermore, the hydraulic push rod assembly 2 includes a hydraulic outer tube 21 and a hydraulic push rod 22. The hydraulic push rod 22 is movably sleeved inside the hydraulic outer tube 21. The tail end of the hydraulic outer tube 21 is fixedly connected to the inner wall of the groove-shaped base 1. A push rod piston 23 is fixedly connected to one end of the hydraulic push rod 22 located inside the hydraulic outer tube 21. A push rod spring 24 is also provided inside the hydraulic outer tube 21. The push rod spring 24 abuts against the end wall of the push rod piston 23 and the hydraulic outer tube 21. Notches 31 are opened at the bottom ends of the two gripping plates 3, and the notches 31 are staggered. The hydraulic push rod 22 is connected to one of the gripping plates 3. The push rod assembly 2 passes through the notch 31 of another gripping plate 3. The hydraulic outer pipe 21 is fixed to the groove base 1 to ensure the stability of the drive source. The push rod piston 23 converts hydraulic energy into linear mechanical motion, which directly drives the gripping plate 3 through the hydraulic push rod 22. The staggered notch 31 at the bottom of the two gripping plates 3 allows the two hydraulic push rod assemblies 2 to be set side by side in opposite directions, reducing the lateral dimension of the entire actuator. This makes it easier to install the actuator at the end of the robot arm and apply it to working environments with narrow spaces or limited installation dimensions.

[0040] like Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 8 As shown, the clamping base plate 41 is arranged in an equidistant pattern on the gripping plate 3. The clamping base plate 41 has a liquid guiding cavity 44 and multiple movable cavities 45 connected to it. Each movable cavity 45 is provided with a clamping piston 46. One end of the clamping rod 42 is inserted into the movable cavity 45 and is fixedly connected to the clamping piston 46. The equidistant distribution of the clamping base plate 41 is conducive to the uniform transmission of clamping force on the gripping surface and avoids local stress concentration. Since each movable cavity 45 and its internal clamping piston 46 are independent hydraulic units, when the clamping rod 42 contacts the surface of the object, the resistance it receives will directly act on the corresponding clamping piston 46 and be converted into local hydraulic pressure in the movable cavity 45. This pressure is balanced by the pressure of the liquid guiding cavity 44 and other movable cavities 45, so that each clamping rod 42 can independently adjust its extension length according to the actual contour of the object at its contact point until all contact points reach a force balance state, thereby realizing adaptive shape-fitting clamping of the object.

[0041] Furthermore, the body of the connecting back plate 43 is fixedly embedded in the outer side of the gripping plate 3. The connecting back plate 43 has a connecting cavity 47, which is connected to the liquid guiding cavity 44 opened in each clamping base plate 41. The liquid guiding cavity 44, the connecting cavity 47, and the movable cavity 45 on the side of the clamping piston 46 away from the clamping rod 42 are all filled with hydraulic oil. The connecting cavity 47 serves as the main flow channel, ensuring that the hydraulic pressure from the gripping force control component 5 or the pressure change generated by the reaction force of the object can be synchronously transmitted to the liquid guiding cavity 44 of each clamping base plate 41, ensuring that all clamping rods 42 can move in coordination. At the same time, the hydraulic oil, as an incompressible fluid medium, can accurately transmit the driving force generated by the movement of the gripping plate 3 and the microscopic reaction force of the object surface.

[0042] like Figure 3 , Figures 5 to 9 As shown, the end of the liquid storage cylinder 51 away from the connecting back plate 43 is coaxially fixedly connected to the docking cylinder 52. The rod of the adjusting outer rod 53 is inserted into the docking cylinder 52. The rod of the adjusting outer rod 53 has multiple equally spaced annular positioning grooves 514. The cylinder body of the docking cylinder 52 is symmetrically threaded with two positioning bolts 513, and the movable front ends of the two positioning bolts 513 are locked in either annular positioning groove 514. The user can loosen the positioning bolts 513 and slide the outer rod 53 axially to change the length of its rod extending into the docking cylinder 52 and the liquid storage cylinder 51. When adjusted to the desired length... After aligning the position with the corresponding annular positioning groove 514, tighten the positioning bolt 513 so that its front end is engaged in the annular positioning groove 514, thus firmly locking the adjusting outer rod 53. By adjusting the installation position of the adjusting outer rod 53, the relative distance between the trigger front end of the adjusting inner rod 511 and the adjusting piston 59 in the initial state can be changed. This distance determines how much hydraulic pressure, i.e. how much clamping force, is required during the clamping process to push the hydraulic oil in the reservoir 51 to move the adjusting piston 59 to the trigger front end of the adjusting inner rod 511, thereby driving the adjusting inner rod 511 and the valve core 512 to close the oil circuit through linkage.

[0043] Furthermore, an adjusting spring 510 is installed inside the liquid storage cylinder 51, and the adjusting spring 510 abuts against the adjusting piston 59 and the end wall of the liquid storage cylinder 51 away from the connecting back plate 43. The adjusting piston 59, due to the elastic force of the adjusting spring 510, maintains a gap with the adjusting inner rod 511 in the initial state. The adjusting spring 510 provides compressible elastic support for the adjusting piston 59, which helps absorb minor impacts during the initial clamping stage. The initial gap ensures that the gripping action begins before the clamping rod 42 contacts the object or... When the initial pressure is low, the hydraulic clamping pressure is insufficient to overcome the preload of the adjusting spring 510 and push the adjusting piston 59 to move. Therefore, the valve core 512 remains open, and the hydraulic oil can flow smoothly to drive the gripping plate 3 to continuously close and clamp. Only when the clamping rod 42 is in close contact with the object and generates a sufficiently large reaction pressure, so that the generated hydraulic pressure rises to the point that it can compress the adjusting spring 510 and push the adjusting piston 59 to complete the initial distance, will the subsequent valve core closing action be triggered to avoid prematurely cutting off the oil circuit and causing the gripping to be weak.

[0044] Furthermore, the valve chamber 515 opened by the adjusting outer rod 53 is also connected to a liquid outlet hose 55. The liquid outlet hose 55 and the liquid inlet pipe 54 are symmetrically arranged at the connection position in the valve chamber 515. The other end of the liquid outlet hose 55 is connected to a guide pipe 58, and the other end of the guide pipe 58 is connected to the hydraulic outer pipe 21. The connection position between the guide pipe 58 and the hydraulic outer pipe 21 is located on the side of the push rod piston 23 away from the push rod spring 24. A valve core spring 516 is also provided in the valve chamber 515. The valve core spring 516 abuts between the valve core 512 and the outer end wall of the valve chamber 515. The valve core spring 516 provides the valve core 512 with the normal opening force to ensure When the set clamping force is not reached, the oil circuit is unobstructed. When the gripping is performed by supplying oil through the inlet pipe 54, the oil enters the drive side of the push rod piston 23 in the hydraulic outer pipe 21 through the valve chamber 515, the outlet hose 55 and the guide pipe 58, pushing the gripping plate 3 to close. At the same time, the pressure is also transmitted to the multi-point clamping assembly 4. When the clamping force reaches the preset value and triggers the valve core 512 to close, the valve chamber 515 is blocked, the oil supply from the inlet pipe 54 is cut off, and the driving pressure of the hydraulic push rod assembly 2 and the multi-point clamping assembly 4 stops increasing, thereby stabilizing the clamping force at the set value. The outlet hose 55 is in the form of a hose, which makes it easy to maintain the connection when the position of the gripping plate 3 changes.

[0045] Furthermore, the inlet pipe 54 is connected to an external hydraulic drive system. A one-way return pipe 56 connects the inlet pipe 54 and the outlet hose 55. A one-way valve 57 is installed on the pipe of the one-way return pipe 56. When the inlet pipe 54 supplies hydraulic oil to the outlet hose 55 to perform the gripping action, the one-way return pipe 56 is closed through the connected one-way valve 57. When the outlet hose 55 supplies hydraulic oil back to the inlet pipe 54 to perform the releasing action, the one-way return pipe 56 is open through the connected one-way valve 57. When the clamping force reaches the target and the valve core 512 closes the valve chamber 515, the main oil circuit is blocked, and the system is in a pressure-locked state. If there is no bypass... If the hydraulic oil cannot flow back, the gripper 3 will not be able to release. The one-way return pipe 56 can realize the return of hydraulic oil. After the pressure is released through the one-way return pipe 56, the hydraulic pressure on the drive side of the hydraulic outer pipe 21 decreases, which in turn causes the hydraulic pressure in the guide chamber 44 and the reservoir 51 to decrease as well. The force acting on the adjusting piston 59 decreases, and the adjusting spring 510 in the reservoir 51 can push the adjusting piston 59 to reset, thereby driving the adjusting inner rod 511 and the valve core 512 fixed thereto to reset together, reopening the closed valve chamber 515, restoring the smooth flow of the main oil circuit, thereby realizing the fully automated operation of the clamping, pressure holding and releasing of the actuator.

[0046] Working principle: In the initial state, the external hydraulic drive system supplies oil through the inlet pipe 54. The hydraulic oil enters the hydraulic outer pipe 21 of the two hydraulic push rod assemblies 2 through the valve chamber 515, the outlet hose 55 and the guide pipe 58, pushing the push rod piston 23 to overcome the resistance of the push rod spring 24, causing the hydraulic push rod 22 to retract, thereby driving the two gripping plates 3 to move towards each other and close along the limit link 11, realizing the initial clamping of the object to be gripped;

[0047] When multiple clamping rods 42 contact the surface of the object, due to the irregular shape of the object, the resistance experienced by each clamping rod 42 is different. This will cause the local pressure in the corresponding active cavity 45 to be different. Under the action of hydraulic connection, the pressure will tend to be balanced, and finally all clamping rods 42 will adaptively adjust the extension length according to the contour of the object to achieve tight multi-point contact clamping. During the entire clamping process, the hydraulic pressure acts synchronously on the adjusting piston 59 in the reservoir 51.

[0048] The clamping force is set by the preset axial position of the outer rod 53. When the actual clamping force does not reach the preset value, the adjusting piston 59 has not yet contacted the inner rod 511. The valve core 512 remains open under the action of the valve core spring 516, the oil passage is unobstructed, and the clamping force can continue to increase. Once the clamping force reaches the preset value, the hydraulic pressure will push the adjusting piston 59 to compress the adjusting spring 510 to contact the inner rod 511, and continue to push the inner rod 511 and the valve core 512 to move until the valve core 512 completely closes the valve chamber 515, cutting off the oil supply to the actuator. The clamping force is then precisely limited to the current value, forming overload protection.

[0049] When it is necessary to release the object, the one-way valve 57 on the one-way return pipe 56 opens under the action of pressure difference, and the oil can be quickly depressurized and returned through the one-way return pipe 56. After the pressure drops, the adjusting spring 510 pushes the adjusting piston 59 to reset, the valve core spring 516 pushes the valve core 512 to reset, the main oil circuit is reopened, the gripping plate 3 opens quickly, and the release action is completed.

[0050] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0051] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A robot adaptive grasping actuator comprising two grasping plates (3), characterized in that: The bottom end of each of the two grabbing plates (3) is connected with a hydraulic push rod assembly (2), the plate body of each of the two grabbing plates (3) is connected with a multi-point clamping assembly (4), and a grabbing force control assembly (5) is arranged between the hydraulic push rod assembly (2) and the multi-point clamping assembly (4) connected with the same grabbing plate (3). The multi-point clamping assembly (4) comprises a communication back plate (43) and a plurality of clamping base plates (41) in communication with the communication back plate (43), the clamping base plates (41) are embedded in the plate body of the grabbing plate (3), and the clamping base plates (41) are provided with a plurality of independent telescopic clamping rods (42) at one end of the inner side of the grabbing plate (3). The grabbing force control assembly (5) comprises a liquid storage cylinder (51), the liquid storage cylinder (51) is in communication with the communication back plate (43), the liquid storage cylinder (51) movably arranged has an adjusting piston (59), the liquid storage cylinder (51) is away from the communication back plate (43) side fixedly connected with the position adjustable adjusting outer rod (53), the valve cavity (515) is arranged in the rod of the adjusting outer rod (53), the valve core (512) is arranged in the valve cavity (515), the valve core (512) is connected with the adjusting inner rod (511), the rod body of the adjusting inner rod (511) is movably arranged in the adjusting outer rod (53), and the adjusting inner rod (511) is movably arranged in the adjusting outer rod (53). The end of the outer side of the adjusting outer rod (53) is inserted into the liquid storage cylinder (51), and the valve cavity (515) of the adjusting outer rod (53) is communicated with the liquid inlet pipe (54) and the hydraulic push rod assembly (2).

2. The robotically adaptive grasp effector of claim 1, wherein: The bottom end of the grabbing plate (3) is provided with a groove-shaped base (1), the groove-shaped base (1) is fixedly connected with a limiting connecting rod (11), the two grabbing plates (3) are movably arranged on the limiting connecting rod (11), and the limiting connecting rod (11) is movably arranged on the rod between the two grabbing plates (3). Spring (12) is arranged.

3. The robotically adaptive grasp effector of claim 2, wherein: The hydraulic push rod assembly (2) comprises a hydraulic outer tube (21) and a hydraulic push rod (22), the hydraulic push rod (22) is movably arranged in the hydraulic outer tube (21), the tail end of the hydraulic outer tube (21) is fixedly connected with the inner wall of the groove-shaped base (1), one end of the hydraulic push rod (22) in the hydraulic outer tube (21) is fixedly connected with a push rod piston (23), the hydraulic outer tube (21) is further provided with a push rod spring (24), the push rod spring (24) is arranged between the push rod piston (23) and the end wall of the hydraulic outer tube (21), and the bottom end of each of the two grabbing plates (3) is provided with a notch (31), and the notch (31) is arranged in a staggered manner. The hydraulic push rod assembly (2) connected with one of the two grabbing plates (3) is arranged below the notch (31) of the other grabbing plate (3).

4. The robotically adaptive grasp effector of claim 1, wherein: The clamping base plate (41) is arranged on the plate of the grabbing plate (3) in equidistant distribution, a liquid guide cavity (44) and a plurality of movable cavities (45) communicated with the liquid guide cavity (44) are arranged in the plate of the clamping base plate (41), a clamping piston (46) is arranged in each movable cavity (45), and one end of the clamping rod (42) is inserted into the movable cavity (45) and fixedly connected with the clamping piston (46).

5. The robotically adaptive grasp effector of claim 4, wherein: The plate body of the communication back plate (43) is fixedly embedded on the outer plate of the grabbing plate (3), the communication back plate (43) is provided with a communication cavity (47), the communication cavity (47) is communicated with the liquid guide cavity (44) of each clamping base plate (41), the liquid guide cavity (44), the communication cavity (47) and the movable cavity (45) on the side away from the clamping rod (42) of the clamping piston (46) are filled with hydraulic oil.

6. The robotically adaptive grasp effector of claim 1, wherein: The one end of the liquid storage cylinder (51) away from the communication back plate (43) is coaxially fixedly connected with a butt cylinder (52), the rod body of the adjusting outer rod (53) is inserted into the butt cylinder (52), the rod body of the adjusting outer rod (53) is provided with a plurality of equidistantly distributed annular positioning grooves (514), the cylinder body of the butt cylinder (52) is symmetrically screw-connected with two positioning bolts (513), and the movable front ends of the two positioning bolts (513) are clamped in any annular positioning groove (514).

7. The robotically adaptive grasp effector of claim 6, wherein: The adjusting spring (510) is arranged in the cylinder of the liquid storage cylinder (51), and the adjusting spring (510) is abutted between the adjusting piston (59) and the one end cylinder wall of the liquid storage cylinder (51) away from the communication back plate (43), and the adjusting piston (59) is spaced apart from the adjusting inner rod (511) in the initial state by the elastic force of the adjusting spring (510).

8. The robotically adaptive grasp effector of claim 3, wherein: The valve cavity (515) of the adjusting outer rod (53) is also communicated with a liquid outlet hose (55), the communication position of the liquid outlet hose (55) and the liquid inlet pipe (54) at the valve cavity (515) is symmetrically arranged, the other end of the liquid outlet hose (55) is communicated with a liquid guide pipe (58), the other end of the liquid guide pipe (58) is communicated with the hydraulic outer pipe (21), the communication position of the liquid guide pipe (58) and the hydraulic outer pipe (21) is located on the side away from the push rod spring (24) of the push rod piston (23), and the valve core spring (516) is arranged in the valve cavity (515) and abutted between the valve core (512) and the outer end cavity wall of the valve cavity (515).

9. The robotically adaptive grasp effector of claim 8, wherein: The liquid inlet pipe (54) is communicated with the external hydraulic drive system, a one-way backflow pipe (56) is communicated between the liquid inlet pipe (54) and the liquid outlet hose (55), a one-way valve (57) is installed on the one-way backflow pipe (56), when the liquid inlet pipe (54) delivers hydraulic oil to the liquid outlet hose (55) to perform the grabbing action, the one-way backflow pipe (56) is in the closed circuit state through the connected one-way valve (57), when the liquid outlet hose (55) returns hydraulic oil to the liquid inlet pipe (54) to perform the loosening action, the one-way backflow pipe (56) is in the open circuit state through the connected one-way valve (57).

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