Rigid-soft coupling type gripping device

Abstract

The utility model discloses a rigid-soft coupling type gripping device, and belongs to the technical field of tail end grippers. The grabbing device comprises a rigid mechanical arm, a soft gripper and an inflation and deflation system, the soft gripper comprises a gripper base and a plurality of soft fingers, each soft finger is of a cavity structure made of soft materials, a plurality of slots are formed in one side face of each soft finger, the soft fingers are circumferentially fixed to the bottom face of the gripper base in a surrounding mode, and the inflation and deflation system is connected with the soft fingers. The side faces, provided with the gaps, of the soft fingers face outwards, the top face of the gripper base is connected with the front end of the rigid mechanical arm, and the inflation and deflation system communicates with all the soft fingers. The soft gripper is designed at the front end of the rigid mechanical arm so as to realize spatial movement of the soft gripper, and the gripping action of the soft gripper is controlled through the inflation and deflation system, so that not only can objects with the characteristics of softness, fragility and the like be gripped without damage, but also the mechanical arm has stronger universality and interchangeability, a control scheme is easy to realize, and the equipment cost is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to end gripper technical field especially relates to a rigid and soft coupling type grabbing device. BACKGROUND

[0002] With the rapid development of industrial automation technology, the application of automatic production line is increasingly widespread. Among them, the end gripper as an important part in the production line, its clamping performance is closely related to the production efficiency and product quality.

[0003] The traditional rigid mechanical gripper increases the friction by applying pressure to the contact point to realize the grabbing function. Due to the material characteristics of the rigid mechanical gripper itself, there is a certain limitation when grabbing objects, and the adaptability to irregular shaped objects is poor, and the surface profile of the target object is also easily damaged. Moreover, the traditional rigid mechanical gripper is generally designed only for specific grabbing tasks, and can only complete single object gripping operation, with poor universality and interchangeability, and when the production task is changed, it is difficult to adapt to new production needs.

[0004] In addition, in order to realize flexible and high-precision control, expensive sensors and precise control systems are usually required, increasing the cost and complexity of the control of the equipment. SUMMARY

[0005] The utility model discloses in view of the prior art, provide a rigid and soft coupling type grabbing device, not only can lossless grab the object of soft, fragile and other characteristics, and have strong universality and interchangeability, and the control scheme is easy to realize, reduces the equipment cost.

[0006] In order to achieve the above object, the utility model adopts the following technical scheme:

[0007] A rigid and soft coupling type grabbing device, comprising a rigid body mechanical arm, a soft gripper and a charging and discharging system;

[0008] The soft gripper comprises a gripper base and a plurality of soft fingers, the soft finger is a cavity structure made of soft material, and a plurality of gap grooves are arranged on one side surface thereof, the soft finger is fixed on the bottom surface of the gripper base in a circumferential direction, and the side surface of the soft finger provided with the gap groove faces outward, and the top surface of the gripper base is connected with the front end of the rigid body mechanical arm;

[0009] The charging and discharging system is communicated with each soft finger.

[0010] Further, the gripper base is provided with a through hole corresponding to each soft finger, and the soft finger is provided with a charging and discharging hole, and the charging and discharging hole is communicated with the corresponding through hole on the gripper base, and the charging and discharging system is communicated with each through hole on the gripper base.

[0011] Further, the bottom surface of the gripper base is provided with a mounting groove corresponding to each soft finger, and the soft finger is located in the mounting groove and fixedly connected with the mounting groove.

[0012] Further, the soft finger is made of silica gel.

[0013] Further, the rigid mechanical arm comprises a mechanical arm base, a rotating body, and a first mechanical arm, a second mechanical arm and a third mechanical arm.

[0014] The first driving mechanism is arranged in the mechanical arm base.

[0015] The rotating body is rotationally arranged on the mechanical arm base, and the rotating axis thereof is in a vertical state. The second driving mechanism is arranged in the rotating body. The first driving mechanism arranged in the mechanical arm base is connected with the rotating body, and is used to drive the rotating body to rotate.

[0016] The first mechanical arm is rotationally arranged on the rotating body, and the rotating axis thereof is in a horizontal state. The third driving mechanism is arranged in the first mechanical arm. The second driving mechanism arranged in the rotating body is connected with the first mechanical arm, and is used to drive the first mechanical arm to rotate.

[0017] The second mechanical arm is rotationally arranged on the first mechanical arm, and the rotating axis thereof is in a horizontal state. The fourth driving mechanism is arranged in the second mechanical arm. The third driving mechanism arranged in the first mechanical arm is connected with the second mechanical arm, and is used to drive the second mechanical arm to rotate.

[0018] The third mechanical arm is rotationally arranged on the second mechanical arm, and the rotating axis thereof is in a horizontal state. The third driving mechanism arranged in the second mechanical arm is connected with the third mechanical arm, and is used to drive the third mechanical arm to rotate. The fifth driving mechanism is arranged in the third mechanical arm, and is connected with the gripper base, and is used to drive the soft gripper to rotate.

[0019] Further, the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism and the fifth driving mechanism all comprise a first driving motor. The output end of the first driving motor in the first driving mechanism, the third driving mechanism and the fourth driving mechanism is connected with the rotating body, the second mechanical arm and the third mechanical arm through a transmission belt respectively. The output end of the first driving motor in the second driving mechanism and the fifth driving mechanism is directly connected with the first mechanical arm and the gripper base respectively.

[0020] Further, the motion mechanism is further provided.

[0021] Further, the motion mechanism comprises a chassis and a driving assembly fixed on the chassis. The driving assembly comprises a second driving motor and a Mecanum wheel. The second driving motor is fixed on the chassis through a motor fixing member. The Mecanum wheel is connected with the output shaft of the second driving motor.

[0022] Further, the visual module is fixedly arranged on the motion mechanism.

[0023] Further, the visual module comprises a camera and a fixing seat, and the camera is fixed on the motion mechanism through the fixing seat.

[0024] The utility model discloses a beneficial effect is:

[0025] The utility model provides a rigid and soft coupling type grabbing device, designs the soft body gripper at the front end of rigid mechanical arm to realize the space movement of soft body gripper, and through the inflation and deflation system control soft body gripper's grabbing action, not only can losslessly grab the object of soft, fragile etc. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a structure schematic diagram of the utility model kind rigid and soft coupling type grabbing device;

[0027] Figure 2 It is a structure schematic diagram of the soft body gripper in the utility model kind rigid and soft coupling type grabbing device;

[0028] Figure 3 It is a structure schematic diagram of the soft body finger in the utility model kind rigid and soft coupling type grabbing device;

[0029] Figure 4 It is a structure schematic diagram (mechanical arm base is to the section) of the utility model kind rigid and soft coupling type grabbing device;

[0030] Figure 5 It is a structure schematic diagram (rotary body is to the section) of the utility model kind rigid and soft coupling type grabbing device;

[0031] Figure 6 It is a structure schematic diagram of the motion mechanism in the utility model kind rigid and soft coupling type grabbing device;

[0032] Figure 7 It is a structure schematic diagram of the visual module in the utility model kind rigid and soft coupling type grabbing device.

[0033] Labeling instruction: 1, soft body gripper, 2, motion mechanism, 3, visual module, 4, mechanical arm base, 5, rotary body, 6, first mechanical arm, 7, second mechanical arm, 8, third mechanical arm, 9, first drive motor, 10, gripper base, 1001, through -hole, 11, soft body finger, 1101, inflation and deflation hole, 1102, gap slot, 12, installation slot, 13, bottom disc, 14, second drive motor, 15, Mecanum wheel, 16, motor fixing piece, 17, fixing seat, 18, camera. DETAILED DESCRIPTION

[0034] The utility model will be further described below in combination with the drawings.

[0035] Please refer to Figures 1-5 As shown in the figure, a rigid-soft coupling type grabbing device, including rigid body mechanical arm, soft gripper 1 and filling and discharging system, soft gripper 1 includes gripper base 10 and a plurality of soft fingers 11, soft finger 11 is the cavity structure made of soft material, and its one side is provided with a plurality of gap grooves 1102, and the bottom surface of the soft finger 11 is circumferentially fixed on the gripper base 10 (generally using glue joint), and the side of the soft finger 11 provided with gap groove 1102 faces outward, the top surface of the gripper base 10 is connected with the front end of the rigid body mechanical arm, and the filling and discharging system is communicated with each soft finger 11.

[0036] Specifically, for soft gripper 1, the corresponding place of each soft finger 11 on the gripper base 10 is provided with through hole 1001, and the soft finger 11 is provided with filling and discharging hole 1101, and the filling and discharging hole 1101 is communicated with the corresponding through hole 1001 on the gripper base 10, and the filling and discharging system is communicated with each through hole 1001 on the gripper base 10.

[0037] The above technical scheme is preferably that the bottom surface of the gripper base 10 is provided with mounting groove 12 at the corresponding place of each soft finger 11, and the soft finger 11 is located in the mounting groove 12 and is fixedly connected with the mounting groove 12 (generally using glue joint), so as to improve the reliability of the soft finger 11 fixed on the gripper base 10.

[0038] In the embodiment, exemplarily, the bottom surface of the gripper base 10 circumferentially surrounds three soft fingers 11, and the soft finger 11 is made of silica gel (silica gel has the characteristics of environmental protection, low cost, strong durability and corrosion resistance);The filling and discharging system includes an air pump, and the air pump is communicated with each through hole 1001 on the gripper base 10 through an air pipe.

[0039] Specifically, for the rigid body mechanical arm, it includes mechanical arm base 4, rotating body 5 and first mechanical arm 6, second mechanical arm 7 and third mechanical arm 8, wherein:

[0040] The first driving mechanism is arranged in the mechanical arm base 4;

[0041] The rotating body 5 is rotationally arranged on the mechanical arm base 4, and the rotation axis thereof is in a vertical state, the second driving mechanism is arranged in the rotating body 5, and the first driving mechanism arranged in the mechanical arm base 4 is connected with the rotating body 5, for driving the rotating body 5 to rotate;

[0042] The first mechanical arm 6 is rotationally arranged on the rotating body 5, and the rotation axis thereof is in a horizontal state. The first mechanical arm 6 is provided with a third driving mechanism. The second driving mechanism arranged in the rotating body 5 is connected with the first mechanical arm 6, and is used for driving the first mechanical arm 6 to rotate.

[0043] The second mechanical arm 7 is rotationally arranged on the first mechanical arm 6, and the rotation axis thereof is in a horizontal state. The second mechanical arm 7 is provided with a fourth driving mechanism. The third driving mechanism arranged in the first mechanical arm 6 is connected with the second mechanical arm 7, and is used for driving the second mechanical arm 7 to rotate.

[0044] The third mechanical arm 8 is rotationally arranged on the second mechanical arm 7, and the rotation axis thereof is in a horizontal state. The third driving mechanism arranged in the second mechanical arm 7 is connected with the third mechanical arm 8, and is used for driving the third mechanical arm 8 to rotate. The third mechanical arm 8 is provided with a fifth driving mechanism. The fifth driving mechanism is connected with the soft gripper base 10, and is used for driving the soft gripper 1 to rotate.

[0045] More specifically, the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism and the fifth driving mechanism all include a first driving motor 9. The output end of the first driving motor 9 in the first driving mechanism, the third driving mechanism and the fourth driving mechanism is connected with the rotating body 5, the second mechanical arm 7 and the third mechanical arm 8 respectively through a transmission belt. The output end of the first driving motor 9 in the second driving mechanism and the fifth driving mechanism is directly connected with the first mechanical arm 6 and the soft gripper base 10 respectively.

[0046] In this embodiment, the rotation angles of the rotating body 5, the first mechanical arm 6, the second mechanical arm 7, the third mechanical arm 8 and the soft gripper 1 are 270°, 220°, 220°, 220° and 360° respectively.

[0047] According to the above design, the soft gripper 1 is designed at the front end of the rigid mechanical arm to realize the spatial movement of the soft gripper 1. The grabbing action of the soft gripper 1 is controlled through the inflation and deflation system. The soft gripper 1 can not only grab objects with soft and fragile characteristics without damage, but also has strong versatility and interchangeability. Moreover, the control scheme is easy to implement, and the equipment cost is reduced.

[0048] The process of controlling the grabbing action of the soft gripper 1 through the inflation and deflation system is as follows:

[0049] When deflating, the air pressure in the chamber inside the soft finger 11 decreases, the volume of the chamber decreases, the soft finger 11 deforms outward, and the soft gripper 1 achieves the effect of opening, that is, the target object can be released;

[0050] When inflating, the air pressure in the chamber inside the soft finger 11 increases, the volume of the chamber increases, the soft finger 11 bends and deforms inward, and the soft gripper 1 achieves the effect of closing, that is, the target object can be grabbed.

[0051] As shown in Figure 1 , 6 As another embodiment, the motion mechanism 2 is further provided, and the end of the rigid mechanical arm is fixedly arranged on the motion mechanism 2. The motion mechanism 2 is used for driving the movement of the grabbing device, and endows the grabbing device with the ability of flexible movement on various complex terrains.

[0052] Specifically, the motion mechanism 2 comprises a chassis 13 and a driving assembly fixed on the chassis 13. The driving assembly comprises a second driving motor 14 and a Mecanum wheel 15. The second driving motor 14 is fixed on the chassis 13 through a motor fixing piece 16, and the Mecanum wheel 15 is connected with the output shaft of the second driving motor 14.

[0053] In the embodiment, the driving assembly is exemplarily four groups, and the second driving motor 14 in the four groups of driving assemblies is fixed on the four corners of the chassis 13.

[0054] As shown in Figure 1 , 7 As another embodiment, the vision module 3 is further provided, and the vision module 3 is fixedly arranged on the motion mechanism 2. The vision module 3 is used for actively identifying the surrounding environment and the object to be grabbed, and then completes the target tasks such as autonomous navigation and accurate identification.

[0055] Specifically, the vision module 3 comprises a camera 18 and a fixing seat 17. The camera 18 is fixed on the motion mechanism 2 through the fixing seat 17.

[0056] In general, the grabbing device has the dual advantages of controllable movement position of the rigid mechanical arm, high repeat positioning accuracy and the soft gripper 1 capable of grabbing soft and fragile target objects, and is then applied to grab objects with different softness in various environments. In addition, the grabbing device can not only autonomously identify objects for grabbing, but also can travel according to a predetermined path and soft contact grabbing, that is, has multiple functions such as autonomous identification, controllable movement and soft contact grabbing.

[0057] Of course, the above is only the preferred embodiment of the present application, and is not limited to the use range of the present application. Therefore, any equivalent changes made on the principle of the present application should be included in the protection scope of the present application.

Claims

1. A rigid-flexible coupling type gripping device, characterized by: The rigid mechanical arm, the soft gripper and the inflation and deflation system are comprised; The soft gripper comprises a gripper base and a plurality of soft fingers, the soft finger is a cavity structure made of soft material, and a plurality of gap grooves are arranged on one side surface of the soft finger, the soft finger is circumferentially fixed to the bottom surface of the gripper base, and the side surface of the soft finger provided with the gap grooves faces outward, and the top surface of the gripper base is connected with the front end of the rigid mechanical arm; The inflation and deflation system is in communication with each soft finger.

2. The rigid-soft coupling type grabbing device according to claim 1, characterized in that: A through hole is arranged on the gripper base corresponding to each soft finger, an inflation and deflation hole is arranged on the soft finger, the inflation and deflation hole is in communication with the corresponding through hole on the gripper base, and the inflation and deflation system is in communication with each through hole arranged on the gripper base.

3. The rigid-soft coupling type grabbing device according to claim 2, characterized in that: A mounting groove is arranged on the bottom surface of the gripper base corresponding to each soft finger, and the soft finger is located in the mounting groove and is fixedly connected with the mounting groove.

4. The rigid-soft coupling type grabbing device according to any one of claims 1 to 3, characterized in that: The soft finger is made of silica gel.

5. The rigid-soft coupling type grabbing device according to claim 1, characterized in that: The rigid mechanical arm comprises a mechanical arm base, a rotating body, a first mechanical arm, a second mechanical arm and a third mechanical arm, and a first driving mechanism is arranged in the mechanical arm base; The rotating body is rotationally arranged on the mechanical arm base, and the rotating axis of the rotating body is in a vertical state, a second driving mechanism is arranged in the rotating body, the first driving mechanism arranged in the mechanical arm base is connected with the rotating body, and is used for driving the rotating body to rotate; The first mechanical arm is rotationally arranged on the rotating body, and the rotating axis of the first mechanical arm is in a horizontal state, a third driving mechanism is arranged in the first mechanical arm, the second driving mechanism arranged in the rotating body is connected with the first mechanical arm, and is used for driving the first mechanical arm to rotate; The second mechanical arm is rotationally arranged on the first mechanical arm, and the rotating axis of the second mechanical arm is in a horizontal state, a fourth driving mechanism is arranged in the second mechanical arm, the third driving mechanism arranged in the first mechanical arm is connected with the second mechanical arm, and is used for driving the second mechanical arm to rotate; The third mechanical arm is rotationally arranged on the second mechanical arm, and the rotating axis of the third mechanical arm is in a horizontal state, the third driving mechanism arranged in the second mechanical arm is connected with the third mechanical arm, and is used for driving the third mechanical arm to rotate, and a fifth driving mechanism is arranged in the third mechanical arm, the fifth driving mechanism is connected with the gripper base, and is used for driving the soft gripper to rotate.

6. The rigid-soft coupling type grabbing device according to claim 5, characterized in that: The first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism and the fifth driving mechanism all comprise a first driving motor, the output end of the first driving motor in the first driving mechanism, the third driving mechanism and the fourth driving mechanism is connected with the rotating body, the second mechanical arm and the third mechanical arm through a transmission belt respectively, and the output end of the first driving motor in the second driving mechanism and the fifth driving mechanism is directly connected with the first mechanical arm and the gripper base respectively.

7. The rigid-soft coupling type grabbing device according to claim 1, characterized in that: A motion mechanism is further comprised, and the end of the rigid mechanical arm is fixedly arranged on the motion mechanism.

8. The rigid-soft coupling type grabbing device according to claim 7, characterized in that: The motion mechanism comprises a chassis and a driving assembly fixed on the chassis, the driving assembly comprises a second driving motor and a Mecanum wheel, the second driving motor is fixed on the chassis through a motor fixing piece, and the Mecanum wheel is connected with the output shaft of the second driving motor.

9. The rigid-soft coupling type grabbing device according to claim 7 or 8, characterized in that: A vision module is further comprised, and the vision module is fixedly arranged on the motion mechanism.

10. The rigid-soft coupling type gripping device according to claim 9, characterized by: The vision module comprises a camera and a fixing seat, and the camera is fixed on the motion mechanism through the fixing seat.

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