A robot gripper device with adaptive clamping function

Abstract

The utility model discloses a robot gripper device with self -adaptation clamping function, it includes base, drive mechanism, clamping subassembly and flexible response module. Drive mechanism promotes clamping subassembly action through screw -nut structure, and the inside of clamping jaw is equipped with flexible response module, and is composed of pressure response layer, elastic buffer layer and conducting layer, can real -time feedback pressure signal. The arc contact surface is designed to the clamping jaw end, and the clamping adhesion and the protection are improved in combination with elastic buffer layer. Flexible response module supports quick dismounting replacement, and enhances the versatility. The application realizes self -adaptation clamping through intelligent feedback and accurate control, solves the problem that traditional gripper adaptability is insufficient, improves the robot operation efficiency and stability, is suitable for industrial automation application.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a robotic gripper device with adaptive gripping function. Background Technology

[0002] Currently, robotic grippers are widely used in industrial automation for material handling, assembly, and processing. However, due to variations in the shape, size, and material of the objects being gripped, traditional grippers typically require customized designs for different targets, resulting in insufficient adaptability. Especially when dealing with irregular or fragile objects, fixed-structure grippers are prone to unstable gripping or damage to the object's surface. Furthermore, in practice, frequently changing grippers to grip different objects significantly reduces production efficiency and increases equipment maintenance costs. Therefore, developing a gripper that can automatically adjust its gripping method based on the object's characteristics is crucial for improving the flexibility and efficiency of robotic operations. Utility Model Content

[0003] The purpose of this utility model is to provide a robot gripper device with adaptive clamping function, which solves the problems mentioned in the background art.

[0004] This invention is achieved by providing a robotic gripper device with adaptive clamping function.

[0005] The device mainly consists of a base, a drive mechanism mounted on the base, a clamping assembly connected to the drive mechanism, and a flexible sensing module mounted on the clamping assembly. The drive mechanism is movably connected to the base via a slide rail. The slide rail has ball grooves with rolling elements embedded within them. These rolling elements generate rolling friction with the inner wall of the slide rail, enabling the drive mechanism to move horizontally along the slide rail. The clamping assembly includes two opposing grippers connected to the drive mechanism via a hinge shaft. A torsion spring is mounted on the hinge shaft, with one end fixed to the gripper and the other end fixed to the drive mechanism, ensuring the grippers remain initially open when no external force is applied. The flexible sensing module is mounted on the inner surface of the grippers. The flexible sensing module is constructed of multiple layers of composite material, including a pressure-sensing layer, an elastic buffer layer, and a conductive layer. The pressure-sensing layer senses the pressure distribution of the clamped object, the elastic buffer layer absorbs impact forces during clamping, and the conductive layer transmits the pressure signal to the control system.

[0006] The drive mechanism includes a motor, a lead screw connected to the motor's output shaft, and a nut fitted onto the lead screw. The nut is fixedly connected to the clamping assembly. The motor rotates the lead screw, causing the nut to move axially along the lead screw, thereby driving the clamping assembly to perform a clamping action. Both ends of the lead screw are fixedly connected to the base via bearing seats. The bearing seats contain deep groove ball bearings; the inner ring of the deep groove ball bearing has an interference fit with the lead screw, while the outer ring has a transition fit with the bearing seat, reducing frictional resistance during lead screw rotation and improving transmission accuracy. The motor housing is fixedly connected to the base via bolts. The bolt heads are equipped with anti-loosening washers, and the inner side of the anti-loosening washers has a serrated structure that meshes with the bottom surface of the bolt head to prevent the bolt from loosening under vibration.

[0007] The inner surface of the gripper has multiple grooves, each containing a flexible sensing module. These modules are secured to the grooves via clips, one end of which has an elastic arm. The end of the elastic arm has a protrusion that engages with a slot in the inner wall of the groove, allowing for quick disassembly and replacement of the flexible sensing module. The outer surface of the gripper has reinforcing ribs extending along its length to enhance rigidity and resistance to deformation. The ends of the grippers have arc-shaped contact surfaces with a radius of curvature designed based on the dimensions of common objects to improve gripping fit and stability.

[0008] The pressure-sensing layer of the flexible sensing module is made of piezoelectric ceramic material. When subjected to external force, the piezoelectric ceramic material generates an electrical charge signal, which is transmitted to the control system through the conductive layer. The control system adjusts the clamping force based on the intensity and distribution of the charge signal. The elastic buffer layer is made of silicone material, which has good elasticity and wear resistance, effectively absorbing impact force and protecting the surface of the object being gripped during clamping. The conductive layer is made of copper foil, with an anti-oxidation coating made of epoxy resin to prevent oxidation and failure of the copper foil during long-term use.

[0009] This invention, through precise control of the drive mechanism and real-time feedback from the flexible sensing module, can automatically adjust the gripping force and method according to the shape, size, and material of the object being gripped. The combination of the arc-shaped contact surface of the gripper and the elastic buffer layer of the flexible sensing module provides better fit and protection when gripping irregular or fragile objects. Furthermore, the quick-disassembly and replacement design of the flexible sensing module allows the device to adapt to the needs of different application scenarios, significantly improving the versatility and flexibility of the gripper device.

[0010] This invention features a compact structure, clearly defined connections between components, a simple manufacturing process, and low cost, making it suitable for mass production. Through the coordinated operation of the drive mechanism and gripping components, combined with the intelligent feedback function of the flexible sensing module, it solves the problem of insufficient adaptability of traditional grippers, improves the efficiency and stability of robot operations, and provides reliable technical support for the field of industrial automation. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of the present invention, showing the connection relationship between the base, drive mechanism and gripping components of the robot gripper device, as well as the installation position of the flexible sensing module on the gripper.

[0012] Figure 2 The enlarged view of the clamping assembly highlights the structural design of the jaws' hinge shaft, torsion spring, and arc-shaped contact surface. It also shows how the flexible sensing module is fixed in the groove on the inner surface of the jaws.

[0013] Figure 3 This is a schematic diagram of the layered structure of the flexible sensing module, which shows in detail the composition of the pressure sensing layer, the elastic buffer layer, and the conductive layer, as well as the interconnections between them.

[0014] The reference numerals in the attached diagram are as follows: 1. Base; 2. Drive mechanism; 3. Clamping assembly; 4. Flexible sensing module; 5. Slide rail; 6. Ball groove; 7. Rolling element; 8. Gripper; 9. Hinge shaft; 10. Torsion spring; 11. Motor; 12. Lead screw; 13. Nut; 14. Bearing housing; 15. Deep groove ball bearing; 16. Anti-loosening washer; 17. Groove; 18. Snap-fit; 1420. Arc-shaped contact surface; 21. Pressure sensing layer; 22. Elastic buffer layer; 23. Conductive layer. Detailed Implementation

[0015] This utility model relates to a robot gripper device with adaptive gripping function, combined with an attached... Figure 1 To be continued Figure 3 The specific embodiments of this utility model will be described in detail below. The device mainly includes a base 1, a drive mechanism 2, a clamping assembly 3, and a flexible sensing module 4. The connection and positional relationships between the components will be described in detail below.

[0016] like Figure 1As shown, the base 1 serves as the support structure for the entire device. A slide rail 5 is mounted on its top, and a ball groove 6 is formed on the inner side of the slide rail 5, into which rolling elements 7 are embedded. The rolling elements 7 generate rolling friction with the inner wall of the slide rail 5. The drive mechanism 2 is movably connected to the base 1 via the slide rail 5 and can move horizontally along the direction of the slide rail 5. The drive mechanism 2 includes a motor 11, a lead screw 12 connected to the output shaft of the motor 11, and a nut 13 sleeved on the lead screw 12. The nut 13 is fixedly connected to the clamping assembly 3. When the motor 11 rotates, the lead screw 12 drives the nut 13 to move axially along the lead screw 12, thereby pushing the clamping assembly 3 to perform a clamping action. Both ends of the lead screw 12 are fixedly connected to the base 1 via bearing seats 14. Deep groove ball bearings 15 are installed inside the bearing seats 14. The inner ring of the deep groove ball bearing 15 is interference-fitted with the lead screw 12, and the outer ring is transition-fitted with the bearing seat 14. This design reduces the frictional resistance when the lead screw 12 rotates and improves transmission accuracy. The housing of the motor 11 is fixedly connected to the base 1 by bolts. The head of the bolt is provided with an anti-loosening washer 16. The inner side of the anti-loosening washer 16 is provided with a serrated structure. The serrated structure engages with the bottom surface of the bolt head to prevent the bolt from loosening under vibration.

[0017] The clamping assembly 3 consists of two opposing grippers 8, each gripper 8 connected to the drive mechanism 2 via a hinge shaft 9. A torsion spring 10 is mounted on the hinge shaft 9, with one end fixed to the gripper 8 and the other end fixed to the drive mechanism 2. When the gripper 8 is not subjected to external force, the elasticity of the torsion spring 10 keeps the gripper 8 in its initial open state. Multiple grooves 17 are provided on the inner surface of the gripper 8, and flexible sensing modules 4 are embedded in these grooves. The flexible sensing modules 4 are fixedly connected to the grooves 17 via snap fasteners 18. One end of the snap fastener 18 has an elastic arm, and the end of the elastic arm has a protrusion that engages with a slot on the inner wall of the groove 17, thereby enabling quick disassembly and replacement of the flexible sensing modules 4. Reinforcing ribs 19 are provided on the outer surface of the gripper 8, extending along the length of the gripper 8 to enhance its rigidity and resistance to deformation. The end of the gripper 8 is provided with an arc-shaped contact surface 20. The radius of curvature of the arc-shaped contact surface 20 is designed according to the shape and size of common objects to be gripped, so as to improve the fit and stability during gripping.

[0018] The layered structure of the flexible sensing module 4 is as follows: Figure 3As shown, it consists of a pressure-sensing layer 21, an elastic buffer layer 22, and a conductive layer 23. The pressure-sensing layer 21, located on the innermost side, is in direct contact with the object being gripped. It is made of piezoelectric ceramic material, which generates an electrical charge signal when subjected to external force. The elastic buffer layer 22, located on the outer side of the pressure-sensing layer 21, is made of silicone and absorbs impact forces during gripping, protecting the surface of the object being gripped. The conductive layer 23, located on the outermost side, is made of copper foil coated with an anti-oxidation coating made of epoxy resin to prevent oxidation and failure of the copper foil during long-term use. The function of the conductive layer 23 is to transmit the electrical charge signal generated by the pressure-sensing layer 21 to the control system.

[0019] In actual operation, motor 11 is first started. The output shaft of motor 11 drives lead screw 12 to rotate. The rotational motion of lead screw 12 is converted into linear motion of nut 13. Nut 13 moves along the axial direction of lead screw 12, thereby pushing clamping assembly 3 closer to the target object. When gripper 8 contacts the object being gripped, pressure sensing layer 21 of flexible sensing module 4 senses the pressure distribution of the gripped object and transmits the charge signal to control system through conductive layer 23. Control system adjusts the speed and direction of motor 11 according to the intensity and distribution of the received charge signal, thereby controlling the gripping force and method of gripper 8. The arc-shaped contact surface 20 of gripper 8 fits against the surface of the object being gripped, and elastic buffer layer 22 of flexible sensing module 4 absorbs the impact force during the gripping process, avoiding damage to the object being gripped.

[0020] When the flexible sensing module 4 needs to be replaced, the operator simply presses down on the elastic arm of the latch 18, causing the protrusion at the end of the elastic arm to disengage from the slot on the inner wall of the groove 17, thus removing the flexible sensing module 4 from the gripper 8. To install a new flexible sensing module 4, it is inserted into the groove 17, and the protrusion of the latch 18 is realigned with the slot on the inner wall of the groove 17 to complete the installation. This design makes the replacement of the flexible sensing module 4 more convenient and can meet the needs of different application scenarios.

[0021] This invention achieves automatic adaptation to the shape, size, and material of the object being grasped through the coordinated operation of the aforementioned components. The base 1 provides stable support, the slide rail 5 and rolling elements 7 ensure smooth movement of the drive mechanism 2, the lead screw 12 and nut 13 constitute a precise transmission system, and the arc-shaped contact surface 20 of the gripper 8 and the elastic buffer layer 22 of the flexible sensing module 4 together enhance the gripping fit and protection. The quick-release and replacement design of the flexible sensing module 4 further enhances the versatility and flexibility of the device, making it suitable for various industrial automation scenarios.

[0022] To enable those skilled in the art to fully understand and implement this utility model, the following supplementary explanation of the specific implementation principle of this utility model is provided in conjunction with a specific application scenario.

[0023] In industrial automated production lines, robotic grippers are used to handle objects of various shapes and materials, such as metal parts, plastic products, and fragile glassware. Taking the handling of a group of smooth-surfaced, irregularly shaped glass bottles as an example, the gripper is first installed at the end of the robotic arm, and initial parameters are set through the control system. Then, motor 11 is started, and its output shaft drives the lead screw 12 to rotate. The lead screw 12, through nut 13, pushes the gripping assembly 3 to move horizontally along the slide rail 5 until the gripper 8 approaches the target object.

[0024] When the gripper 8 contacts the glass bottle, the pressure sensing layer 21 of the flexible sensing module 4 senses the pressure distribution on the contact surface. Since the pressure sensing layer 21 is made of piezoelectric ceramic material, it generates an electrical charge signal when subjected to external force. This signal is transmitted to the control system through the conductive layer 23. Based on the received charge signal strength and distribution, the control system adjusts the speed and direction of the motor 11 in real time, thereby precisely controlling the clamping force of the gripper 8. During this process, the elastic buffer layer 22 absorbs the impact force generated by the clamping action, preventing damage to the glass bottle surface due to excessive clamping force. Simultaneously, the arc-shaped contact surface 20 at the end of the gripper 8 fits snugly against the glass bottle surface, further improving clamping stability.

[0025] If the production line needs to change the type of object being gripped, such as switching from glass bottles to metal parts, the flexible sensing module 4 can be quickly disassembled to adapt to the new requirements. The operator presses the elastic arm of the latch 18, disengaging the protrusion from the slot on the inner wall of the recess 17, thus removing the original flexible sensing module 4. Subsequently, a new flexible sensing module 4 suitable for the characteristics of the metal parts is selected and inserted into the recess 17, ensuring that the latch 18 re-engages with the slot to complete the installation. This design not only simplifies the replacement process but also significantly improves the versatility of the gripper device.

[0026] Furthermore, the slide rail 5 and rolling elements 7 on the base 1 together form the basis for the smooth movement of the drive mechanism 2. The rolling elements 7 and the inner wall of the slide rail 5 form rolling friction, which effectively reduces the resistance of the drive mechanism 2 during horizontal movement. At the same time, the application of the deep groove ball bearing 15 further improves the transmission accuracy of the lead screw 12. The serrated structure of the anti-loosening washer 16 ensures the reliability of the fixed connection of the motor 11, and prevents the bolts from loosening even in high-frequency vibration environments.

[0027] In summary, this invention achieves adaptive clamping of objects of different shapes, sizes, and materials through the coordinated operation of the drive mechanism 2, the clamping component 3, and the flexible sensing module 4. Its core lies in utilizing the flexible sensing module 4 to provide real-time pressure feedback, combined with a control system to dynamically adjust the clamping force, thus solving the problem of traditional grippers struggling to handle complex working conditions. The reinforcing rib 19 enhances the rigidity of the gripper 8, while the anti-oxidation coating extends the service life of the conductive layer 23, giving the entire device high durability and stability, meeting the needs of various industrial automation scenarios.

[0028] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robot gripper device with adaptive clamping function, characterized in that, The device mainly consists of a base (1), a drive mechanism (2) set on the base (1), a clamping assembly (3) connected to the drive mechanism (2), and a flexible sensing module (4) installed on the clamping assembly (3). The drive mechanism (2) is movably connected to the base (1) through a slide rail (5). The slide rail (5) is provided with a ball groove (6), and a rolling element (7) is embedded in the ball groove (6). The rolling element (7) forms rolling friction with the inner wall of the slide rail (5). The clamping assembly (3) includes two opposing jaws (8). The jaws (8) are connected to the drive mechanism (2) through a hinge shaft (9). A torsion spring (10) is provided on the hinge shaft (9). One end of the torsion spring (10) is fixed on the jaw (8), and the other end is fixed on the drive mechanism (2). The flexible sensing module (4) is installed on the inner surface of the jaw (8).

2. The robot gripper device with adaptive clamping function according to claim 1, characterized in that: The drive mechanism (2) includes a motor (11), a lead screw (12) connected to the output shaft of the motor (11), and a nut (13) sleeved on the lead screw (12). The nut (13) is fixedly connected to the clamping assembly (3). The two ends of the lead screw (12) are fixedly connected to the base (1) through bearing seats (14). A deep groove ball bearing (15) is provided in the bearing seat (14).

3. A robot gripper device with adaptive clamping function according to claim 2, characterized in that: The outer casing of the motor (11) is fixedly connected to the base (1) by bolts. The head of the bolt is provided with an anti-loosening washer (16). The inner side of the anti-loosening washer (16) is provided with a serrated structure, which meshes with the bottom surface of the bolt head.

4. A robot gripper device with adaptive clamping function according to claim 1, characterized in that: The inner surface of the gripper (8) is provided with a plurality of grooves (17), and a flexible sensing module (4) is embedded in the groove (17). The flexible sensing module (4) is fixedly connected to the groove (17) by a buckle (18). One end of the buckle (18) is provided with an elastic arm, and the end of the elastic arm is provided with a protrusion. The protrusion cooperates with the slot of the inner wall of the groove (17).

5. A robot gripper device with adaptive clamping function according to claim 1, characterized in that: The outer surface of the gripper (8) is provided with reinforcing ribs (19), which extend along the length of the gripper (8), and the end of the gripper (8) is provided with an arc-shaped contact surface (20).

6. A robot gripper device with adaptive clamping function according to claim 1, characterized in that: The flexible sensing module (4) is composed of multiple composite materials, including a pressure sensing layer (21), an elastic buffer layer (22) and a conductive layer (23). The pressure sensing layer (21) is made of piezoelectric ceramic material, the elastic buffer layer (22) is made of silicone material, and the conductive layer (23) is made of copper foil. The surface of the copper foil is coated with an anti-oxidation coating made of epoxy resin material.

7. A robot gripper device with adaptive clamping function according to claim 1, characterized in that: The hinge shaft (9) is provided with a torsion spring (10). One end of the torsion spring (10) is fixed on the gripper (8), and the other end is fixed on the drive mechanism (2). The gripper (8) remains in its initial open state when there is no external force.

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