A humanoid robot embrace clamping jaw structure

Abstract

A humanoid robot gripper structure includes at least two gripping mechanisms mounted side-by-side on the same support to grip a cylindrical object. Each gripping mechanism includes an arc-shaped gripping section and an arc-shaped drive section. One end of the arc-shaped gripping section is hinged to the support, and the other end is hinged to the arc-shaped drive section. A power assembly is mounted on the support and hinged to the arc-shaped drive section. The power assembly drives both arc-shaped drive sections to rotate simultaneously. When gripping a cylindrical object, the gripper is moved to the cylindrical object, and then the power assembly is driven. The arc-shaped drive section at the end rotates first, tightening the gripper opening. When the gripper opening is smaller than the diameter of the cylindrical object, the cylindrical object will be locked inside the gripper and will not detach due to uneven force distribution.

Description

Technical Field

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

[0002] Humanoid robots, as a type of mechanical entity that highly mimics human appearance and behavior, especially those designed with human-like physiques, exhibit remarkable flexibility and adaptability in performing a variety of complex tasks. The hand designs of these robots are particularly ingenious, allowing for the replacement of different parts as needed to meet diverse task requirements, ranging from delicate manipulation to heavy-duty handling.

[0003] When performing the specific task of gripping cylindrical objects, the operation of a humanoid robot requires extremely high precision and coordination. First, the robot must precisely move its gripper to the position of the cylinder, a process that demands accurate positioning capabilities and sensitive perception of environmental changes. Next, a crucial step in driving the gripper to perform the gripping action is ensuring that the midpoint of the gripper when closed perfectly coincides with the midpoint of the cylinder. This precise alignment is critical because the smooth surface of the cylinder and the compressive force generated by the gripper during the gripping process can cause the cylindrical object to slip out of the gripper if the grip is unstable, resulting in task failure.

[0004] However, for robots with inaccurate vision positioning systems or blind spots, alignment deviations may occur when the gripper moves near a cylinder. This deviation can become more pronounced, especially when the cylinder contacts the base of the gripper. If the robot continues to drive the gripper according to the preset program, the cylindrical object may not only detach from the gripper due to misalignment or uneven force distribution, but may also tip over due to uneven force, leading to task interruption or even equipment damage.

[0005] In this situation, human intervention becomes particularly necessary. Operators need to closely monitor the robot's movements, and once an alignment deviation is detected, they need to manually adjust the robot's position or the gripper's posture in a timely manner. However, this greatly increases the complexity and time cost of the operation. Utility Model Content

[0006] To address the aforementioned shortcomings, the purpose of this invention is to propose a humanoid robot gripper structure that solves the problem of grippers being unable to effectively grasp cylindrical objects due to inaccurate visual positioning.

[0007] To achieve this objective, the present invention adopts the following technical solution: a humanoid robot gripper structure, comprising at least two gripping mechanisms, which are mounted side by side on the same support and jointly grip a cylindrical object;

[0008] The clamping mechanism includes an arc-shaped clamping section and an arc-shaped driving section. One end of the arc-shaped clamping section is hinged to the bracket, and the other end of the arc-shaped clamping section is hinged to the arc-shaped driving section.

[0009] The bracket is equipped with a power assembly, which is hinged to the arc-shaped drive segment. The power assembly is used to drive the two arc-shaped drive segments to rotate simultaneously.

[0010] Preferably, the arc-shaped drive segment is provided with a connecting part, and the arc-shaped clamping segment and the power component are both hinged to the connecting part.

[0011] Preferably, the power assembly includes a motor module, a first mounting base, a second mounting base, a transmission mechanism, and a worm gear;

[0012] The first mounting base and the second mounting base are respectively provided with an upper end and a lower end of a bracket;

[0013] The two ends of the worm are respectively disposed on the first mounting base and the second mounting base;

[0014] The motor module is fixedly installed on the lower end face of the bracket, and the output end of the motor module passes through the second mounting base and is connected to the worm gear drive;

[0015] The transmission mechanism is installed inside the bracket, and one end of the transmission mechanism is connected to the worm gear transmission, while the other end of the transmission mechanism is hinged to the connecting part.

[0016] Preferably, the transmission mechanism includes a semi-circular worm gear assembly, a first arm, and a second arm;

[0017] The central part of the semi-circular worm gear assembly is hinged and installed in the bracket, and the gear part of the semi-circular worm gear assembly meshes with the worm.

[0018] One end of the first arm is hinged to the center of the semi-circular worm gear assembly, the other end of the first arm is hinged to one end of the second arm, and the other end of the second arm is hinged to the connecting part.

[0019] Preferably, the upper surface of the second mounting base or the lower surface of the first mounting base is provided with an arc-shaped groove, the rotation trajectory of the gear portion of the semi-circular worm gear assembly passes through the arc-shaped groove, and the contour of the rotation trajectory of the gear portion is adapted to the contour of the arc-shaped groove.

[0020] Preferably, both the opposing surfaces of the two arc-shaped drive sections and the opposing surfaces of the arc-shaped clamping sections are provided with mounting grooves, and friction-increasing components are provided in the mounting grooves.

[0021] Preferably, the friction-enhancing component is a pneumatic gripper finger.

[0022] Preferably, the friction-enhancing component is a sponge or rubber.

[0023] Preferably, the lower end face of the motor module extends into four axes with mounting planes, and the mounting planes are provided with mounting holes.

[0024] One of the above technical solutions has the following advantages or beneficial effects: the traditional clamping mechanism is divided into an arc-shaped clamping section and an arc-shaped driving section, with the arc-shaped driving section at the free end connected to the power assembly. When clamping a cylindrical object, the gripper is moved to the cylindrical object, and then the power assembly is driven. At this time, the arc-shaped driving section at the end rotates first, thereby tightening the opening of the gripper. When the opening of the gripper is smaller than the diameter of the cylindrical object, the cylindrical object will be locked inside the gripper and will not detach from the gripper due to uneven force direction or force distribution. The arc-shaped driving section rotates until the two arc-shaped driving sections abut against each other, and then the arc-shaped clamping section rotates accordingly, thereby clamping the cylindrical object and achieving the gripping of the cylinder. Attached Figure Description

[0025] Figure 1 This is a structural schematic diagram of one embodiment of the present invention.

[0026] Figure 2 This is a bottom view of one embodiment of the present invention.

[0027] The components include: clamping mechanism 1, arc-shaped clamping section 1a, arc-shaped driving section 1b, connecting part 1ba, bracket 2, motor module 3, first mounting base 4, second mounting base 5, transmission mechanism 6, semi-circular worm gear assembly 6a, first arm 6b, second arm 6c, worm 7, arc-shaped groove 8, friction increasing component 9, mounting plane 10, and mounting hole 11. Detailed Implementation

[0028] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0029] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] like Figures 1-2 As shown, a humanoid robot gripper structure includes at least two gripping mechanisms (1), each gripping mechanism (1) is mounted side by side on the same bracket (2) and together grips a cylindrical object;

[0033] The clamping mechanism (1) includes an arc-shaped clamping section (1a) and an arc-shaped driving section (1b). One end of the arc-shaped clamping section is hinged to the bracket (2), and the other end of the arc-shaped clamping section is hinged to the arc-shaped driving section (1b).

[0034] The bracket (2) is equipped with a power assembly, which is hinged to the arc-shaped drive segment (1b). The power assembly is used to drive the two arc-shaped drive segments (1b) to rotate simultaneously.

[0035] For robots with inaccurate vision positioning systems or blind spots, alignment deviations may occur when the gripper moves near a cylinder. This deviation can become more pronounced, especially when the cylinder contacts the base of the gripper. If the robot continues to drive the gripper according to the preset program, the cylindrical object may not only detach from the gripper due to misalignment or uneven distribution of gripping force.

[0036] To solve this problem, in this invention, the traditional clamping mechanism (1) is divided into an arc-shaped clamping section (1a) and an arc-shaped driving section (1b). The arc-shaped driving section (1b) at the free end is connected to the power assembly. When clamping a cylindrical object, the jaws are moved to the cylindrical object, and then the power assembly is driven. At this time, the arc-shaped driving section (1b) at the end rotates first, thereby tightening the opening of the jaws. When the opening of the jaws is smaller than the diameter of the cylindrical object, the cylindrical object will be locked in the jaws and will not come out of the jaws due to the direction of force or uneven force. The arc-shaped driving section (1b) rotates until the two arc-shaped driving sections (1b) abut against each other, and then the arc-shaped clamping section (1a) rotates accordingly, thereby clamping the cylindrical object and realizing the gripping of the cylinder.

[0037] The clamping gripper structure of this invention can effectively reduce the probability of cylindrical objects detaching from the gripper, greatly improving the practicality of the clamping gripper structure and enabling it to be used in robots with relatively low-end positioning systems, allowing the robot to complete the clamping work of cylindrical objects.

[0038] Preferably, the arc-shaped drive segment (1b) is provided with a connecting part (1ba), and the arc-shaped clamping segment (1a) and the power component are both hinged to the connecting part (1ba).

[0039] When the power component is started, a corresponding thrust is applied to the connecting part (1ba), and the arc-shaped clamping section (1a) is also hinged to the connecting part (1ba). The applied thrust is also transmitted to the arc-shaped clamping section (1a). At this time, the arc-shaped clamping section (1a) and the arc-shaped drive section (1b) are pushed to rotate simultaneously. The arc-shaped clamping section (1a) can rotate and tighten the cylindrical object without waiting for the two arc-shaped drive sections (1b) to come into contact, which greatly speeds up the clamping efficiency.

[0040] Preferably, the power assembly includes a motor module (3), a first mounting base (4), a second mounting base (5), a transmission mechanism (6), and a worm gear (7);

[0041] The first mounting base (4) and the second mounting base (5) are respectively provided with the upper end and lower end of the bracket (2);

[0042] The two ends of the worm (7) are respectively disposed on the first mounting base (4) and the second mounting base (5);

[0043] The motor module (3) is fixedly installed on the lower end face of the bracket (2), and the output end of the motor module (3) passes through the second mounting base (5) and is connected to the worm gear (7) for transmission.

[0044] The transmission mechanism is installed inside the bracket (2), and one end of the transmission mechanism (6) is connected to the worm gear (7) for transmission, and the other end of the transmission mechanism is hinged to the connecting part (1ba).

[0045] In one embodiment of this utility model, bearings are installed on both the first mounting base (4) and the second mounting base (5), and the worm gear (7) is mounted on the bearings. When the motor module (3) is started, it can drive the worm gear (7) to rotate. The force generated by the worm gear (7) during rotation is transmitted to the transmission mechanism (6). The conventional mechanism transmits the generated force to the corresponding connecting part (1ba) to realize the transmission of force. By transmitting the force in this way, the vibration of the bracket (2) can be reduced, and the cylindrical object can be prevented from falling off the gripper due to vibration and gravity when clamping the cylindrical object, thus avoiding damage to the clamped cylindrical object.

[0046] Preferably, the transmission mechanism includes a semi-circular worm gear assembly (6a), a first arm (6b), and a second arm (6c).

[0047] The central part of the semicircular worm gear assembly (6a) is hinged and installed in the bracket (2), and the gear part of the semicircular worm gear assembly (6a) meshes with the worm (7);

[0048] One end of the first arm (6b) is hinged to the center of the semi-circular worm gear assembly (6a), and the other end of the first arm (6b) is hinged to one end of the second arm (6c). The other end of the second arm (6c) is hinged to the connecting part (1ba).

[0049] During driving, the worm (7) rotates, and the worm (7) and the core of the semi-circular worm gear assembly (6a) drive the semi-circular worm gear assembly (6a) to rotate. The first arm (6b) connected to the semi-circular worm gear assembly (6a) then performs a circular motion. The second arm (6c) generates a corresponding upward or downward thrust due to the displacement of the first arm (6b), thereby pushing the connecting part (1ba) to rotate. Compared with the existing single-bar transmission, this utility model combines the first arm (6b) and the second arm (6c) into a double-bar transmission. The movement trajectory of the second arm (6c) connected to the connecting part (1ba) is more in line with the arc shape, thereby better driving the arc-shaped clamping section (1a) and the arc-shaped driving section (1b) to clamp the cylindrical object. Meanwhile, since the connection between the first arm (6b) and the second arm (6c) is equivalent to adding a joint point to the transmission component, the force support of the joint can improve the stability and accuracy of the transmission, and better coordinate with the arc-shaped motion trajectory to grasp cylindrical objects.

[0050] Preferably, the upper surface of the second mounting base (5) or the lower surface of the first mounting base (4) is provided with an arc-shaped groove (8), the rotation trajectory of the gear part of the semi-circular worm gear assembly (6a) passes through the arc-shaped groove (8), and the contour of the rotation trajectory of the gear part is adapted to the contour of the arc-shaped groove (8).

[0051] Since the semi-circular worm gear assembly (6a) is located between the first mounting base (4) and the second mounting base (5), a certain space needs to be reserved for the movement of the semi-circular worm gear assembly (6a). This utility model can avoid the movement of the semi-circular worm gear assembly (6a) by opening an arc-shaped groove (8), thereby shortening the space between the second mounting base (5) and the first mounting base (4) for the semi-circular worm gear assembly (6a), thus making the overall structure of the gripper more compact.

[0052] Preferably, the opposing surfaces of the two arc-shaped drive sections (1b) and the opposing surfaces of the arc-shaped clamping section (1a) are provided with mounting grooves, and friction-increasing components (9) are provided in the mounting grooves.

[0053] By increasing the friction enhancer (9), the surface friction on the cylindrical object can be increased, and the cylindrical object can be better clamped to counteract the effect of gravity.

[0054] Preferably, the friction-increasing component (9) is a pneumatic gripper.

[0055] Since the arc-shaped drive segment (1b) is driven to rotate first in this invention, when a cylindrical object with a small radius is pushed by the arc-shaped drive segment (1b), even if the two arc-shaped drive segments (1b) are completely closed, they may not be able to abut against the cylindrical object. In order to increase the friction force, the friction-increasing component (9) in this invention is equipped with pneumatic gripping fingers. By activating the pneumatic gripping fingers, the activated gripping fingers protrude outward and squeeze the cylindrical object, thereby increasing the friction force and gripping the cylindrical object with a smaller radius more firmly.

[0056] Preferably, the friction-increasing component (9) is a sponge or rubber.

[0057] For cylindrical objects with a larger radius, simply adding a sponge or rubber into the mounting groove can increase the friction of the arc-shaped clamping section (1a) and the arc-shaped driving section (1b) on the cylindrical object.

[0058] Preferably, the lower end face of the motor module (3) extends into four axes with mounting planes (10), and the mounting planes (10) are provided with mounting holes (11).

[0059] When installing the gripper, the gripper can be installed on the robot's hand through the mounting hole (11) and simple studs and other devices. The mounting surface (10) can increase the contact area with the robot. When gripping heavy objects, the increased contact area can provide sufficient support for the gripper so that the robot can perform actions such as flipping and moving.

[0060] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0061] Although embodiments of the present invention have been shown and described, those skilled in the art will understand 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 claims and their equivalents.

Claims

1. A humanoid robot gripper structure, characterized in that, It includes at least two clamping mechanisms (1), each clamping mechanism (1) is installed side by side on the same bracket (2) and together clamps the cylindrical object; The clamping mechanism (1) includes an arc-shaped clamping section (1a) and an arc-shaped driving section (1b). One end of the arc-shaped clamping section is hinged to the bracket (2), and the other end of the arc-shaped clamping section is hinged to the arc-shaped driving section (1b). The bracket (2) is equipped with a power assembly, which is hinged to the arc-shaped drive segment (1b). The power assembly is used to drive the two arc-shaped drive segments (1b) to rotate simultaneously.

2. The humanoid robot gripper structure according to claim 1, characterized in that, The arc-shaped drive section (1b) is provided with a connecting part (1ba), and the arc-shaped clamping section (1a) and the power component are both hinged to the connecting part (1ba).

3. The humanoid robot gripper structure according to claim 2, characterized in that, The power assembly includes a motor module (3), a first mounting base (4), a second mounting base (5), a transmission mechanism (6), and a worm gear (7); The first mounting base (4) and the second mounting base (5) are respectively provided with the upper end and lower end of the bracket (2); The two ends of the worm (7) are respectively disposed on the first mounting base (4) and the second mounting base (5); The motor module (3) is fixedly installed on the lower end face of the bracket (2), and the output end of the motor module (3) passes through the second mounting base (5) and is connected to the worm gear (7) for transmission. The transmission mechanism is installed inside the bracket (2), and one end of the transmission mechanism (6) is connected to the worm gear (7) for transmission, and the other end of the transmission mechanism (6) is hinged to the connecting part (1ba).

4. The humanoid robot gripper structure according to claim 3, characterized in that, The transmission mechanism includes a semi-circular worm gear assembly (6a), a first arm (6b), and a second arm (6c). The central part of the semicircular worm gear assembly (6a) is hinged and installed in the bracket (2), and the gear part of the semicircular worm gear assembly (6a) meshes with the worm (7); One end of the first arm (6b) is hinged to the center of the semi-circular worm gear assembly (6a), and the other end of the first arm (6b) is hinged to one end of the second arm (6c). The other end of the second arm (6c) is hinged to the connecting part (1ba).

5. The humanoid robot gripper structure according to claim 4, characterized in that, The upper surface of the second mounting base (5) or the lower surface of the first mounting base (4) is provided with an arc-shaped groove (8). The rotation trajectory of the gear part of the semi-circular worm gear assembly (6a) passes through the arc-shaped groove (8), and the outline of the rotation trajectory of the gear part is adapted to the outline of the arc-shaped groove (8).

6. The humanoid robot gripper structure according to claim 1, characterized in that, The opposing surfaces of the two arc-shaped drive sections (1b) and the opposing surfaces of the arc-shaped clamping section (1a) are all provided with mounting grooves, and friction-increasing components (9) are provided in the mounting grooves.

7. The humanoid robot gripper structure according to claim 6, characterized in that, The friction-enhancing component (9) is a pneumatic gripper.

8. The humanoid robot gripper structure according to claim 6, characterized in that, The friction-enhancing component (9) is a sponge or rubber.

9. The humanoid robot gripper structure according to claim 3, characterized in that, The lower end face of the motor module (3) extends into four axes with mounting planes (10), and the mounting planes (10) are provided with mounting holes (11).

Images