gripper structure and robot

Abstract

This utility model provides a gripper structure and a robot, including: a driving component; a movable finger slide mounted on the driving component; a fixed finger connector connected to the driving component; of the two gripping fingers, one is a movable gripping finger and the other is a fixed gripping finger; the fixed gripping finger is connected to the bottom of the fixed finger connector, and the movable gripping finger is connected to the bottom of the movable finger slide; the driving component can drive the movable gripping finger to move away from or towards the fixed gripping finger via the movable finger slide; the gripping finger has a gripping finger body side, a gripping finger mounting side, a pressing template surface, and a fabric piece gripping surface. The gripper structure can operate on flexible fabric pieces and rigid fabric templates, can control the gripping force, and has a simple structure.

Description

Technical Field

[0001] This utility model relates to the field of robot structure technology, and in particular to gripper structures and robots. Background Technology

[0002] Currently, traditional robot end effectors on the market can be broadly categorized into electric and pneumatic types. Electric end effectors use servo control, allowing for precise control of the gripping force, thus enabling them to grasp fragile objects. Pneumatic end effectors use negative pressure control, enabling them to grip flexible and lightweight objects. During the entire operation of a robotic template machine, the robot's end effector needs to handle both soft fabrics and garment templates with a certain degree of rigidity and toughness. To save operating space and consider the load-bearing capacity of the robot's end effector, complex, switchable end effectors cannot be designed. Therefore, designing a simple gripper capable of handling both fabrics and garment templates is a problem that needs to be solved by those skilled in the art. Utility Model Content

[0003] In view of the shortcomings of the prior art described above, the technical problem to be solved by this utility model is to provide a gripper structure and robot with a simple structure that can operate on fabric and garment templates.

[0004] To solve the above-mentioned technical problems, this utility model provides a gripper structure, including:

[0005] Drive components;

[0006] A movable sliding table is mounted on the drive component;

[0007] The fixed connector is attached to the driving component;

[0008] Two mirror-mounted finger clamps; of the two finger clamps, one is a movable finger clamp and the other is a fixed finger clamp; the fixed finger clamp is connected to the bottom of the fixed finger connector, and the movable finger clamp is connected to the bottom of the movable finger slide; the driving member can drive the movable finger clamp to move away from the fixed finger clamp or towards the fixed finger clamp via the movable finger slide;

[0009] The finger clamp has a finger clamping main body side, a finger clamping mounting side, a pressure template surface, and a cut piece clamping surface; the finger clamping main body side and the finger clamping mounting side are arranged opposite to each other; the finger clamping main body sides of the two finger clamps are on the same plane, the lower part of the finger clamping main body side is connected to the pressure template surface, the pressure template surface is inclined relative to the finger clamping main body side, and the lower part of the pressure template surface extends towards the finger clamping mounting side; the cut piece clamping surface is connected to the pressure template surface, and the cut piece clamping surfaces of the two finger clamps are arranged opposite to each other; the lower end of the finger clamp has a pointed structure.

[0010] Preferably, the finger clamp is provided with a groove, and the grooves of the two finger clamps are arranged opposite to each other.

[0011] Preferably, the finger clamp is made of an elastic material.

[0012] Preferably, the movable finger slide is connected to the upper part of the movable finger clamp via the movable part connector.

[0013] This utility model also relates to a robot, comprising: a robot body, a robot right arm, and a robot left arm, wherein the robot right arm and the robot left arm are both connected to the robot body; the gripper structure is installed on both the robot right arm and the robot left arm, and the drive components of the robot right arm, the robot left arm, and the gripper structure are all connected to a controller.

[0014] As described above, the gripper structure and robot of this invention have the following beneficial effects:

[0015] In the gripper structure, the driving component drives the moving gripper fingers to move horizontally, enabling the gripper structure to open and close horizontally. The driving component controls the gripping force of the gripper structure. The fixed gripper fingers are used for auxiliary positioning and clamping with external objects. The pressure plate surface is inclined relative to the side of the gripper finger body. The pressure plate surface increases the pressing area between the end of the gripper finger and the garment template, thereby increasing the pressing friction and facilitating the movement of the garment template. The lower end of the gripper finger has a pointed structure, allowing the gripper structure to simulate the pinching action of human fingertips when gripping materials. The gripper structure can operate on flexible garment pieces and rigid garment templates, can control the gripping force, and has a simple structure. Attached Figure Description

[0016] Figure 1 The diagram shown is a three-dimensional structural schematic of the robot in this embodiment.

[0017] Figure 2 The diagram shows a three-dimensional structure of the gripper structure of this embodiment, specifically the side where the gripper finger is fixed.

[0018] Figure 3 The diagram shows a three-dimensional structure of the gripper structure of this embodiment, specifically the side with the movable gripper finger.

[0019] Figure 4 The diagram shows a three-dimensional structure of the gripper finger member of the gripper finger structure in this embodiment, on one side of the gripper finger body.

[0020] Figure 5 The diagram shows a three-dimensional structural schematic of the gripper finger member of the gripper structure in this embodiment, showing the gripper finger mounting side.

[0021] Figure 6 The diagram shows a three-dimensional structure of the gripper finger member with the groove provided in this embodiment.

[0022] Figure 7 The diagram shows a three-dimensional view of the side of the gripper finger member of the gripper structure in this embodiment.

[0023] Figure 8 The diagram shows the relative arrangement of the movable and fixed gripping fingers of the gripper structure in this embodiment.

[0024] Figure 9 The diagram shown is a structural schematic of the gripper structure opening the top cover of the garment template in this embodiment.

[0025] Figure 10 This is a three-dimensional structural diagram showing the clamping finger of the gripper structure in this embodiment when the pressing template surface is attached to the garment template.

[0026] Figure 11 This is a three-dimensional structural diagram showing the movable and fixed gripper fingers of the gripper structure in this embodiment closing to clamp the two ends of the garment piece.

[0027] Figure 12 The diagram shows a three-dimensional structure of the robot's left and right arms rotating two gripper structures to create a folded edge on the garment piece.

[0028] Figure 13 This is a three-dimensional structural diagram showing the two gripper structures in this embodiment moving above the garment template via the robot's right and left arms, and adjusting the garment pieces to align with the seam grooves of the garment template.

[0029] Figure 14 The diagram shows a three-dimensional structure of the garment piece when the moving fingers of this embodiment move the garment piece along both sides, causing the sides of the garment piece to bulge and form overlapping edges.

[0030] Figure 15This is a three-dimensional structural diagram showing the robot's right and left arms adjusting the position of the garment piece relative to the garment template, so that the garment piece is aligned with the preset position.

[0031] Figure 16 The diagram shown is a schematic of the robot under the control of the controller in this embodiment.

[0032] Explanation of icon numbers

[0033] 1. Grip structure

[0034] 100 drive components

[0035] 200 movable finger slides

[0036] 300 Fixed Finger Connector

[0037] 401 Moving finger gripper

[0038] 402 Fixed finger clip

[0039] 410 Finger pincher body side view

[0040] 411 Finger mounting hole

[0041] 420 Clip-on Finger Mount Side

[0042] 430 Pressure plate surface

[0043] 440 Cutting Piece Clipping

[0044] 450 Groove

[0045] 500 Moving Part Connector

[0046] 600 robot bodies

[0047] 710 Robot's Right Arm

[0048] 720 Robot Left Arm

[0049] 800 controller

[0050] 10 Clothing Templates

[0051] 11. Top Cover

[0052] 20 Garment Pieces

[0053] 21. Folding the hem of the cut piece

[0054] 22 pieces overlap Detailed Implementation

[0055] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0056] Please refer to the accompanying drawings. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0057] like Figures 1 to 8 , Figure 16 As shown, the gripper structure 1 in this embodiment includes:

[0058] Drive component 100;

[0059] The movable slide 200 is mounted on the drive unit 100;

[0060] The fixed connector 300 is connected to the drive component 100;

[0061] Two mirror-mounted finger clamps are provided; of the two finger clamps, one is a movable finger clamp 401 and the other is a fixed finger clamp 402; the fixed finger clamp 402 is connected to the bottom of the fixed finger connector 300, and the movable finger clamp 401 is connected to the bottom of the movable finger slide 200; the drive unit 100 can drive the movable finger clamp 401 to move away from or towards the fixed finger clamp 402 via the movable finger slide 200.

[0062] The finger clamp has a finger clamping main body side 410, a finger clamping mounting side 420, a pressing template surface 430, and a piece clamping surface 440; the finger clamping main body side 410 and the finger clamping mounting side 420 are arranged opposite to each other; the finger clamping main body side 410 of the two finger clamps are on the same plane, the lower part of the finger clamping main body side 410 is connected to the pressing template surface 430, the pressing template surface 430 is inclined relative to the finger clamping main body side 410, and the lower part of the pressing template surface 430 extends towards the finger clamping mounting side 420; the piece clamping surface 440 is connected to the pressing template surface 430, and the piece clamping surfaces 440 of the two finger clamps are arranged opposite to each other; the lower end of the finger clamp has a pointed structure.

[0063] In the gripper structure 1, the driving member 100 drives the moving gripper finger 401 to move horizontally, causing the gripper structure 1 to open and close horizontally. The driving member 100 controls the gripping force of the gripper structure 1. The fixed gripper finger 402 is used for auxiliary positioning and clamping with external objects. The pressure plate surface 430 is inclined relative to the side surface 410 of the gripper finger body. The setting of the pressure plate surface 430 can increase the pressing area between the end of the gripper finger and the garment template 10, thereby increasing the pressing friction and facilitating the movement of the garment template 10. The gripper 430 is inclined relative to the side 410 of the gripper body. The lower part of the pressure template surface 430 extends towards the gripper mounting side 420. The piece gripping surface 440 is triangular in shape. Therefore, the lower end of the gripper has a structure with a decreasing cross-sectional size from top to bottom, and the lower end of the gripper has a pointed structure. This allows the gripper structure 1 to simulate the pinching action of human fingertips when gripping materials. The gripper structure 1 can operate on flexible garment pieces 20 and rigid garment templates 10, can control the gripping force, and has a simple structure. When the gripper structure 1 is installed on a robot, the robot can precisely control the gripper to complete the gripping action of the garment piece 20.

[0064] In this embodiment, the driving component 100 is a servo motor with a sensitive current loop control mode to precisely control the end clamping force of the gripper structure 1. The movable gripper finger 401 is mounted on the movable finger slide 200, and the servo motor controls the movable finger slide 200 to move horizontally. The servo motor includes an external body structure, and the fixed finger connector 300 is mounted on the external body structure. The gripper structure 1 drives the movable gripper finger 401 through the servo motor to control its opening and closing actions. The servo motor can be a stepper motor, a brushless DC motor, or other precisely controllable motor as its power source. The shape of the servo motor can be varied according to the motor structure. The angle between the pressure plate surface 430 and the side surface 410 of the gripper finger body is 30 degrees.

[0065] The gripper has a groove 450, and the grooves 450 of the two grippers are arranged opposite each other. The grooves 450 make the gripper a flexible bending structure, which allows the gripper to have a certain degree of elastic deformation when gripping materials, thus avoiding damage to the object caused by the pressure of rigid clamping.

[0066] The gripper fingers are made of an elastic material. The material used for the gripper fingers is thermoplastic polyurethane rubber, and the gripper fingers have a Shore hardness of 95A. Thermoplastic polyurethane rubber gives the gripper fingers good elasticity. The gripper fingers can also be made of other elastic rubber materials with a Shore hardness similar to that of this embodiment.

[0067] The movable finger slide 200 is connected to the upper part of the movable finger clamp 401 via the movable part connector 500. The finger clamp body side 410 of the finger clamp is provided with a finger clamp mounting hole 411. The fixed finger clamp 402 is mounted on the fixed finger connector 300 through the finger clamp mounting hole 411, and the movable finger clamp 401 is mounted on the movable part connector 500 through the finger clamp mounting hole 411.

[0068] The robot of this embodiment includes: a robot body 600, a right robot arm 710, and a left robot arm 720, both of which are connected to the robot body 600. A gripper structure 1 is mounted on both the right robot arm 710 and the left robot arm 720. The drive components 100 of the right robot arm 710, the left robot arm 720, and the gripper structure 1 are all connected to a controller 800. The controller 800 controls the operation of the right robot arm 710, the left robot arm 720, and the drive components 100 of the gripper structure 1.

[0069] The robot body 600, the robot right arm 710 and the robot left arm 720 constitute the robot body. The robot body can be replaced by any structure that can change the posture of the gripper structure 1.

[0070] like Figure 1 and Figure 9 As shown, the gripper structure 1 in this embodiment is mainly used for operating the garment cut piece 20 and the garment template 10. The following is a description of these two operating steps.

[0071] In this embodiment, one step in operating the garment template 10 involves opening and closing the top cover 11. The gripper structure 1 at the end of the robot's left arm 720 presses down on the garment template 10 by adjusting its posture. The gripper structure 1 at the end of the robot's right arm 710 opens the top cover 11 of the garment template 10 by adjusting its posture. The design length of the top cover 11 exceeds that of the garment template 10, allowing the gripper structure 1 to effectively support the top cover 11 when the robot's right arm 710 moves. The robot's right arm 710's precise path planning capability enables the flipping action of the top cover 11. Similarly, when closing the garment template 10, the gripper structure 1 of the robot's right arm 710 uses two gripping fingers at its end to move the edge of the top cover 11, and the robot's precise path planning capability allows the garment template 10 to close.

[0072] like Figure 1 , Figure 4 and Figure 10As shown, the operation of moving the garment template 10 requires the simultaneous operation of the robot's right arm 710 and left arm 720. The robot's right arm 710 and left arm 720 adjust the posture of the gripper structure 1, causing the pressing surface 430 of the gripper fingers to adhere to the garment template 10 and apply a certain pressure. Then, through precise control of the robot's right arm 710 and left arm 720, the garment template 10 can achieve horizontal movement and horizontal turning, allowing it to move freely on any horizontal plane within the working area.

[0073] like Figure 1 , Figure 2 and Figure 11 As shown, the horizontal clamping state of the garment piece 20 occurs in the scenario of picking up a single layer of garment piece 20. Two gripper structures 1 are horizontally positioned at the left and right ends of the garment piece 20 by the robot's left arm 720 and right arm 710, respectively, and extend a certain distance. The two gripper structures 1 can open the movable gripping finger 401, so that the fixed gripping finger 402 is located on the upper surface of the garment piece 20. By controlling the movable gripping finger 401 and the fixed gripping finger 402 to close, the two ends of the garment piece 20 are clamped.

[0074] like Figure 1 , Figure 2 and Figure 12 As shown, after the two gripper structures 1 horizontally clamp the garment piece 20, the robot's left arm 720 and right arm 710 rotate the two gripper structures 1 respectively, causing the garment piece 20 to have a folded edge 21. At this time, the two movable gripping fingers 401 are located on the outer side of the folded edge 21, and the two fixed gripping fingers 402 are located on the inner side of the folded edge 21. This process requires fine-tuning of the distance between the robot's right arm 710 and left arm 720 to ensure that the two fixed gripping fingers 402 maintain distance during the flipping process, preventing the garment piece 20 from being excessively stretched and damaged.

[0075] like Figure 1 , Figure 2 and Figure 13As shown, after performing the gripping and flipping action, the two gripper structures 1 move above the garment template 10 via the robot's right arm 710 and left arm 720, precisely aligning the garment piece 20 with the seam groove of the garment template 10. At this time, the two gripper structures 1 maintain an angle of approximately 15 degrees with the garment template 10. The fixed gripper fingers 402 in the two gripper structures 1 press the garment piece 20 firmly onto the garment template 10. The movable gripper fingers 401 in the two gripper structures 1 maintain an angle of approximately 5 degrees with the garment template 10, ensuring that the movable gripper fingers 401 do not contact the garment template 10 when opened, thus preventing displacement of the garment template 10. When the fixed gripper fingers 402 of the two gripper structures 1 press the garment piece 20 firmly onto the garment template 10, the movable gripper fingers 401 are controlled to move and open, releasing the folded edge 21 of the garment piece. Next, adjust the robot's right arm 710 and left arm 720 so that the fixed gripper 402 rises about 5 mm and moves to both sides, smoothing out the released fabric fold 21 and completing the entire fabric placement action.

[0076] like Figure 1 , Figure 2 , Figure 6 and Figure 14 As shown, the two gripper structures 1 may vertically grip the garment piece 20, which occurs when the garment piece 20 needs adjustment and sewing. By controlling the robot's right arm 710 and left arm 720, the two gripper structures 1 are made perpendicular to the surface of the garment piece 20. The fixed gripper finger 402 in the two gripper structures 1 is located on the inner side of the garment piece 20, and the movable gripper finger 401 is located on the outer side of the garment piece 20. Through the sensitive force control function of the servo motor, the two gripper structures 1 press down on the garment piece 20 with a certain force. After the fixed gripper finger 402 on the two gripper structures 1 presses down on the garment piece 20, by moving the two movable gripper fingers 401, the movable gripper fingers 401 move the two sides of the garment piece 20, causing the two sides of the garment piece 20 to bulge and form the garment piece overlap 22. The garment piece gripping surface 440 of the two gripper structures 1 clamps the garment piece overlap 22, completing the gripping action of the garment piece 20.

[0077] like Figure 1 , Figure 2 , Figure 6 and Figure 15As shown, when the two gripper structures 1 operate on the garment template 10, after clamping the garment piece 20 on the template 10 to form a folded edge 22, the position of the garment piece 20 relative to the garment template 10 is adjusted by controlling the robot's right arm 710 and left arm 720, so that the garment piece 20 is aligned with the preset position. Then, the two fixed gripper fingers 402 press the garment piece 20 onto the garment template 10, and the angle of the two gripper structures 1 is adjusted so that the gripper structures 1 and the garment template 1 form an angle of about 5 degrees, so that the moving gripper fingers 401 can open smoothly without touching the garment template 10. After the two gripper structures 1 open, the adjustment process of the garment piece 20 is completed.

[0078] like Figures 1 to 9 , Figure 16 As shown, the gripper structure 1 is mainly used for the robot to grasp, drag, and flip the garment cutting pieces 20 and the garment template 10. The entire process of the template machine is realized through the cooperative operation of the robot's right arm 710 and the robot's left arm 720.

[0079] There are two gripper structures 1, which are respectively mounted on the robot's right arm 710 and left arm 720. The two gripper structures 1 perform gripping, flipping, and smoothing operations on the garment piece 20. The various positions of the gripper structures 1 relative to the garment piece 20 are adjusted by the robot's right arm 710 and left arm 720, respectively. The robot's main body is composed of the robot's right arm 710, left arm 720, and robot body 600.

[0080] In this embodiment, the robot's right arm 710 and left arm 720 can be replaced by other mechanical structures in order to enable the two gripper structures 1 to have 6 degrees of freedom in space.

[0081] The gripper structure 1 is an actuator that integrates various process characteristics for the entire operation of the template machine. Gripper structure 1 is a single-finger moving structure that can adapt to the operation process. Gripper structure 1 can operate both the flexible garment cut piece 20 and the garment template 10. The elastic structure of gripper structure 1 itself can also cope with various changes in clamping force. Gripper structure 1 can sensitively sense changes in clamping force through servo motor control.

[0082] In summary, this embodiment effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0083] The above embodiments are merely illustrative of the principles and effects of this embodiment and are not intended to limit this embodiment. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this embodiment. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this embodiment should still be covered by the claims of this embodiment.

Claims

1. A gripper structure, characterized by, include: Drive unit (100); A movable slide (200) is mounted on the drive unit (100); The fixed connector (300) is connected to the drive member (100); Two mirror-mounted finger clamps; of the two finger clamps, one is a movable finger clamp (401) and the other is a fixed finger clamp (402); the fixed finger clamp (402) is connected to the bottom of the fixed finger connector (300), and the movable finger clamp (401) is connected to the bottom of the movable finger slide (200); the driving member (100) can drive the movable finger clamp (401) to move away from the fixed finger clamp (402) or towards the fixed finger clamp (402) via the movable finger slide (200); The finger clamp has a finger clamping main body side (410), a finger clamping mounting side (420), a pressing template surface (430), and a cut piece clamping surface (440); the finger clamping main body side (410) and the finger clamping mounting side (420) are arranged opposite to each other; the finger clamping main body side (410) of the two finger clamps are on the same plane, the lower part of the finger clamping main body side (410) is connected to the pressing template surface (430), the pressing template surface (430) is inclined relative to the finger clamping main body side (410), and the lower part of the pressing template surface (430) extends towards the finger clamping mounting side (420); the cut piece clamping surface (440) is connected to the pressing template surface (430), and the cut piece clamping surfaces (440) of the two finger clamps are arranged opposite to each other; the lower end of the finger clamp has a pointed structure.

2. The jaw structure of claim 1, wherein: The finger clamp is provided with a groove (450), and the grooves (450) of the two finger clamps are arranged opposite to each other.

3. The jaw structure of claim 1, wherein: The finger clamp is made of an elastic material.

4. The jaw structure of claim 1, wherein: The movable finger slide (200) is connected to the upper part of the movable finger clamp (401) via the movable part connector (500).

5. A robot, characterized by: include: The robot body (600), the robot right arm (710), and the robot left arm (720) are all connected to the robot body (600); the robot right arm (710) and the robot left arm (720) are all equipped with a gripper structure as described in any one of claims 1 to 4; the robot right arm (710), the robot left arm (720), and the drive unit (100) of the gripper structure are all connected to the controller (800).

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