End effector suction cup hand device for humanoid robot

Abstract

The utility model discloses a kind of end picker suction cup hand devices for humanoid robot, including mechanical arm end, the palm end is installed in the one end of mechanical arm end by first rotary pair, the palm end is installed by second rotary pair with multiple finger root sections, every the finger root section one end is installed with connecting finger section by third rotary pair, the connecting finger section one end is installed with finger tip section by fourth rotary pair, the central part of the palm end of finger tip section is all set with through hole, and suction cup structure is installed on the through hole;The utility model relates to the technical field of manipulator, set through hole on finger tip section and palm end, the function that can be gripped material, can also be extracted flat material by the suction cup structure set in through hole, expand the use range of dexterous hand, improve equipment utilization, save equipment cost.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to an end effector suction cup hand device for humanoid robots. Background Technology

[0002] The rapid development of humanoid robot technology has placed higher demands on the functionality and adaptability of its end effectors. Existing dexterous hands, such as the bionic dexterous hand disclosed in CN115805599B, ​​disclose a palm component, a main finger, and multiple auxiliary fingers. The palm component includes a hand base and a power unit. Through a multi-joint, multi-degree-of-freedom design, it achieves complex grasping movements similar to a human hand, greatly improving the robot's ability to manipulate irregularly shaped objects. However, it only achieves the function of grasping. When it is necessary to pick up horizontally placed thin sheet-like objects, such as flat glass, metal plates, paper, PCB boards, etc., it is difficult to pick up and move them by relying solely on the gripping force of the fingers. When suction is required, the robot end effector with a suction cup structure also needs to be replaced. Therefore, it is necessary to maintain two sets of robot equipment, resulting in high equipment costs.

[0003] While existing technologies may already offer solutions to the aforementioned problems, this case aims to provide an alternative or replacement technical solution. Utility Model Content

[0004] To address the problems mentioned in the background art, this utility model provides the following technical solution: a suction cup hand device for an end effector of a humanoid robot, comprising a robotic arm end, a palm end mounted on one end of the robotic arm end via a first rotating joint, a plurality of finger root segments mounted on the palm end via a second rotating joint, a connecting finger segment mounted on one end of each finger root segment via a third rotating joint, a fingertip segment mounted on one end of the connecting finger segment via a fourth rotating joint, and a through hole provided at the center of both the fingertip segment and the palm end, with a suction cup structure mounted on the through hole;

[0005] The suction cup structure includes a first lead screw module, which is mounted on the inner wall of the through hole along the axial direction of the through hole. A tension sensor is mounted on the upper wall of the moving end of the first lead screw module. A first connecting frame is mounted on one end of the tension sensor, and a vacuum suction cup is mounted on one end of the first connecting frame. A guide component is installed between the vacuum suction cup and the through hole.

[0006] Preferably, the guide assembly includes a second lead screw module, which is installed parallel to the first lead screw module on the inner wall of the through hole. A first guide rod is movably inserted into the upper wall of the moving end of the second lead screw module. A second connecting frame is installed at one end of the first guide rod, and the second connecting frame is installed on the vacuum suction cup.

[0007] Preferably, a second guide rod is installed on the lower wall of the first connecting frame, and the second guide rod is movably inserted into the upper wall of the moving end of the first lead screw module.

[0008] Preferably, a countersunk groove is provided at the lower end of the through hole on the fingertip segment.

[0009] Preferably, a recess is formed in the center of the lower wall of the palm.

[0010] Beneficial effects

[0011] This utility model provides a suction cup hand device for an end effector for a humanoid robot. Compared with the prior art, it has the following advantages: through holes are provided on the fingertips and palm ends, and the suction cup structure set in the through holes can realize the function of both grasping materials and sucking up flat materials, thereby expanding the application range of the dexterous hand, improving equipment utilization, and saving equipment costs. Attached Figure Description

[0012] Figure 1 This is a top-view three-dimensional structural diagram of the end effector suction cup hand device for a humanoid robot according to this utility model.

[0013] Figure 2 This is a three-dimensional structural diagram of the end effector suction cup hand device for a humanoid robot, viewed from below.

[0014] Figure 3 This is a partial front view sectional view of the suction cup hand device for an end effector of a humanoid robot according to the present invention.

[0015] Figure 4 This is a partial three-dimensional structural schematic diagram of an end effector suction cup hand device for a humanoid robot according to the present invention.

[0016] In the diagram: 1. End of robotic arm; 2. First revolute joint; 3. Palm end; 4. Second revolute joint; 5. Finger root segment; 6. Third revolute joint; 7. Connecting finger segment; 8. Fourth revolute joint; 9. Finger tip segment; 10. Through hole; 11. First lead screw module; 12. Tension sensor; 13. First connecting frame; 14. Vacuum suction cup; 15. Second lead screw module; 16. First guide rod; 17. Second connecting frame; 18. Second guide rod; 19. Countersunk groove; 20. Recess. Detailed Implementation

[0017] Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0018] Example: Please refer to Figure 1-4To address the issue that some dexterous hands currently only achieve grasping functions, making it difficult to pick up and move horizontally placed thin, sheet-like objects such as flat glass, metal plates, paper, and PCB boards using only finger gripping force, and requiring suction actions, the robot end effector with a suction cup structure needs to be replaced, thus necessitating the maintenance of two sets of robot equipment and resulting in high equipment costs, this technical solution is designed. The detailed technical solution is as follows:

[0019] A suction cup hand device for an end effector for a humanoid robot includes a robotic arm end 1. A palm end 3 is mounted on one end of the robotic arm end 1 via a first rotating joint 2. Multiple finger root segments 5 are mounted on the palm end 3 via a second rotating joint 4. A connecting finger segment 7 is mounted on one end of each finger root segment 5 via a third rotating joint 6. A fingertip segment 9 is mounted on one end of the connecting finger segment 7 via a fourth rotating joint 8. A through hole 10 is provided at the center of both the fingertip segment 9 and the palm end 3. A suction cup structure is mounted on the through hole 10.

[0020] It should be noted that the palm end 3 is installed on the end of the robotic arm 1 of the humanoid robot via the first rotating joint 2. The palm end 3 can rotate on the end of the robotic arm 1 via the first rotating joint 2. Multiple finger root segments 5 can rotate on the palm end 3 via the second rotating joint 4. The connecting finger segment 7 rotates at one end of the finger root segment 5 via the third rotating joint 6. The fingertip segment 9 rotates at one end of the connecting finger segment 7 via the fourth rotating joint 8. The specific structure and working principle of the end of the robotic arm 1, the first rotating joint 2, the second rotating joint 4, the finger root segment 5, the third rotating joint 6, the connecting finger segment 7, the fourth rotating joint 8, and the fingertip segment 9 can be referred to a bionic dexterous hand with publication number CN115805599B. Since it is not the content to be protected by this technical solution, it will not be described in detail here. The content to be protected by this technical solution is that through holes 10 are provided on the fingertip segment 9 and the palm end 3. The suction cup structure provided in the through holes 10 enables the device to pick up materials, thereby expanding the application range of the dexterous hand.

[0021] Specifically, the suction cup structure includes a first lead screw module 11, which is installed on the inner wall of the through hole 10 along the axial direction of the through hole 10. A tension sensor 12 is installed on the upper wall of the moving end of the first lead screw module 11. A first connecting frame 13 is installed on one end of the tension sensor 12. A vacuum suction cup 14 is installed on one end of the first connecting frame 13. A guide assembly is installed between the vacuum suction cup 14 and the through hole 10.

[0022] It should be noted that the suction end of the vacuum suction cup 14 is connected to the vacuum system. Since the connection between the vacuum suction cup 14 and the vacuum system is existing technology, the vacuum system is not shown in the accompanying drawings of this technical solution. The vacuum system can be installed on the back of the hand at the palm end 3, as long as it meets the requirements for normal operation. When the suction cup structure is not needed and the device only needs to grasp the product, the first lead screw module 11 is at its extreme position at one end. At this time, the suction end of the vacuum suction cup 14 on the fingertip segment 9 is retracted inside the fingertip segment 9, and the suction end of the vacuum suction cup 14 on the palm end 3 is also retracted inside the palm end 3. This ensures that when the device grasps the material, the suction end of the vacuum suction cup 14 does not contact the product, ensuring smooth product handling. When it is necessary to use the device to pick up products that are not easy to grasp, such as plate-shaped products, the first lead screw module 11 works. The moving end of the first lead screw module 11 drives the tension sensor 12 and the first connecting frame 13 to move along the axis of the through hole 10, so that the suction end of the vacuum suction cup 14 extends out of the device until it adheres to the product. At this time, the tension sensor 12 detects the tension value, and the first lead screw module 11 continues to work. When the tension value detected by the tension sensor 12 reaches the set value, the first lead screw module 11 stops working, and the vacuum system connected to the vacuum suction cup 14 works to pick up the product. This can realize both the gripping of items and the picking up of plate-shaped items, improving the utilization rate of the equipment and saving equipment costs.

[0023] Specifically, the guide assembly includes a second lead screw module 15, which is installed parallel to the first lead screw module 11 on the inner wall of the through hole 10. A first guide rod 16 is movably inserted into the upper wall of the moving end of the second lead screw module 15. A second connecting frame 17 is installed at one end of the first guide rod 16 and is mounted on the vacuum suction cup 14.

[0024] It should be noted that the first lead screw module 11 and the second lead screw module 15 work synchronously. The principle of synchronization between the first lead screw module 11 and the second lead screw module 15 is that both the first lead screw module 11 and the second lead screw module 15 are connected to the driver. The two drivers use a central controller to send the same motion command to the two drivers, which can realize the synchronous operation of the first lead screw module 11 and the second lead screw module 15. When the moving end of the second lead screw module 15 moves, the vacuum suction cup 14 drives the first guide rod 16 to move through the connection of the second connecting frame 17. Through the cooperation between the first guide rod 16 and the moving end of the second lead screw module 15, the vacuum suction cup 14 is prevented from tilting, thus protecting the safety of the tension sensor 12.

[0025] As a preferred and further option, a second guide rod 18 is installed on the lower wall of the first connecting frame 13, and the second guide rod 18 is movably inserted into the upper wall of the moving end of the first lead screw module 11.

[0026] It should be noted that, since the tension sensor 12 produces a slight change in height during operation, the second guide rod 18 is movably inserted into the upper wall of the moving end of the first lead screw module 11, and the first guide rod 16 is movably inserted into the upper wall of the moving end of the second lead screw module 15. The second guide rod 18 provides double protection for the safety of the tension sensor 12.

[0027] As a preferred and further option, a countersunk groove 19 is provided at the lower end of the through hole 10 on the fingertip segment 9 to accommodate the adsorption end of the vacuum suction cup 14.

[0028] As a preferred and further option, a recess 20 is provided in the center of the lower wall of the palm end 3 to accommodate the adsorption end of the vacuum suction cup 14.

[0029] It should be noted that the control system of the device can share the same control system as the humanoid robot. Since the control principle of the humanoid robot's control system is existing technology, it will not be elaborated here.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A suction cup hand device for an end effector of a humanoid robot, comprising a robotic arm end (1), wherein a palm end (3) is mounted on one end of the robotic arm end (1) via a first revolute joint (2), a plurality of finger root segments (5) are mounted on the palm end (3) via a second revolute joint (4), a connecting finger segment (7) is mounted on one end of each finger root segment (5) via a third revolute joint (6), and a fingertip segment (9) is mounted on one end of each connecting finger segment (7) via a fourth revolute joint (8), characterized in that, Both the fingertip segment (9) and the palm end (3) have through holes (10) at their center, and a suction cup structure is installed on the through holes (10); The suction cup structure includes a first lead screw module (11), which is mounted on the inner wall of the through hole (10) along the axial direction of the through hole (10). A tension sensor (12) is mounted on the upper wall of the moving end of the first lead screw module (11). A first connecting frame (13) is mounted on one end of the tension sensor (12), and a vacuum suction cup (14) is mounted on one end of the first connecting frame (13). A guide component is installed between the vacuum suction cup (14) and the through hole (10).

2. The end effector suction cup hand device for a humanoid robot according to claim 1, characterized in that, The guiding assembly includes a second lead screw module (15), which is installed parallel to the first lead screw module (11) on the inner wall of the through hole (10). A first guide rod (16) is movably inserted into the upper wall of the moving end of the second lead screw module (15). A second connecting frame (17) is installed at one end of the first guide rod (16), and the second connecting frame (17) is installed on the vacuum suction cup (14).

3. The end effector suction cup hand device for a humanoid robot according to claim 1, characterized in that, A second guide rod (18) is installed on the lower wall of the first connecting frame (13), and the second guide rod (18) is movably inserted into the upper wall of the moving end of the first lead screw module (11).

4. The end effector suction cup hand device for a humanoid robot according to claim 1, characterized in that, A countersunk groove (19) is provided at the lower end of the through hole (10) on the fingertip segment (9).

5. The end effector suction cup hand device for a humanoid robot according to claim 1, characterized in that, A recess (20) is provided in the center of the lower wall of the palm end (3).

Images