A humanoid robot arm gripper structure

Abstract

A humanoid robot arm gripper structure includes a mounting base, a power unit, a lifting device, and two gripping mechanisms symmetrically mounted on the mounting base. The mounting base has an inner cavity, and the lifting device is mounted within this cavity. The power unit is connected to the lifting device for driving its lifting motion. The gripping structure includes a first rod, a second rod, and a third rod. One end of the first rod has a first hinge and a second hinge. The first hinge is hinged to the lifting device, and the second hinge is hinged to the mounting base. The second hinge of the first rod is also connected to the mounting base, reducing the reaction force transmitted to the first hinge and thus ensuring the stability of the lifting device. Excessive pressure will prevent the lifting device from shaking, thus maintaining its stability.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, and in particular to a gripper structure for a humanoid robot arm. 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] Mechanical grippers, as an indispensable clamping component of humanoid robots, play a crucial role in fixing and clamping workpieces to facilitate machining or assembly tasks. However, challenges arise when handling objects with smooth surfaces or special materials. These objects often require the gripper's holding mechanism to provide greater clamping force to ensure sufficient friction for stable gripping and prevent slippage or detachment during processing. Unfortunately, some mechanical gripper designs on the market are still limited to a single arc-shaped gripper structure. While simple, this design reveals its insufficient rigidity when facing high clamping force requirements. Once the power output from the power unit exceeds the gripper structure's tolerance limit, the gripper is prone to deformation, affecting not only the stability and accuracy of clamping but also, in severe cases, causing the gripper to fail to effectively grasp the object, thus impacting the efficiency of the entire production line and product quality. Utility Model Content

[0004] To address the aforementioned shortcomings, the purpose of this invention is to propose a gripper structure for a humanoid robot arm, which solves the problem that the gripper is prone to deformation when subjected to large pressure.

[0005] To achieve this objective, the present invention adopts the following technical solution: a humanoid robot arm gripper structure, comprising a mounting base, a power unit, a lifting device, and two gripping mechanisms symmetrically mounted on the mounting base;

[0006] The mounting base is provided with an inner cavity, the lifting device is installed in the inner cavity, and the power device is connected to the lifting device for driving the lifting device to perform lifting activities.

[0007] The clamping mechanism includes a first rod, a second rod, and a third rod;

[0008] One end of the first rod is provided with a first hinge and a second hinge. The first hinge is hinged to the lifting device, and the second hinge is hinged in the mounting base. The other end of the first rod is hinged to the end of the third rod. One end of the second rod is hinged in the mounting base and is located above the first rod. The other end of the second rod is hinged to the rod body of the third rod. The other end of the third rod is bent to provide a clamping section. The clamping sections of the two third rods are arranged facing each other.

[0009] Preferably, the hinge point between the second rod and the third rod is located at the bend of the clamping section of the third rod.

[0010] Preferably, the first rod and the second rod are provided with through holes, which extend along the length of the first rod or the second rod.

[0011] Preferably, the power unit is a geared motor module, and the power unit is detachably installed below the mounting base.

[0012] Preferably, the lifting device includes a first bearing seat, a second bearing seat, a lead screw, and a lead screw nut;

[0013] The first bearing housing and the second bearing housing are respectively located at the top and bottom of the central axis of the mounting cavity. The two sections of the lead screw are respectively installed in the first bearing housing and the second bearing housing. The lead screw nut is sleeved on the surface of the lead screw.

[0014] The lead screw nut is provided with hinges on its front and rear sides respectively. The hinges extend to the left and right sides, so that the hinges protrude from the lead screw nut. The protruding parts of the front and rear hinges form a hinge space. The first hinge part is hingedly installed in the hinge space.

[0015] Preferably, the opposing surfaces of the two clamping segments are covered with friction-enhancing elements.

[0016] Preferably, the lower end of the mounting base extends outward to form a first pressure surface, and the upper end of the power device extends outward to form a second pressure surface. The first pressure surface and the second pressure surface are adapted to each other in shape. The first pressure surface has a countersunk positioning pin hole, and the countersunk bolt passes through the second pressure surface and is installed in the countersunk positioning pin hole.

[0017] Preferably, the lower end face of the power unit extends into four mounting planes on each of the four axes, and the mounting planes are provided with mounting holes.

[0018] One of the above technical solutions has the following advantages or beneficial effects: During the clamping process, the reaction force of the object on the clamping section is transmitted to the third rod. Since the third rod is connected to the second rod, part of the reaction force is transmitted to the second rod, reducing the bending moment and force exerted on the third rod and improving its rigidity. Simultaneously, the second hinge of the first rod is also connected to the mounting base, reducing the reaction force transmitted to the first hinge, thus ensuring the stability of the lifting device. Excessive pressure will not cause the lifting device to shake, thereby affecting its stability. Attached Figure Description

[0019] Figure 1 This is a structural schematic diagram of one embodiment of the present invention.

[0020] Figure 2 This is a cross-sectional view of one embodiment of the present invention.

[0021] The components include: mounting base 1, mounting cavity 1a, power unit 2, lifting device 3, first bearing seat 3a, second bearing seat 3b, lead screw 3c, lead screw nut 3d, hinge 3e, clamping mechanism 4, first rod body 4a, first hinge part 4aa, second hinge part 4ab, second rod body 4b, third rod body 4c, clamping section 4ca, through hole 5, friction increasing component 6, first pressure surface 7, second pressure surface 8, countersunk positioning pin hole 9, mounting plane 10, and mounting hole 11. Detailed Implementation

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] like Figures 1-2 As shown, a humanoid robot arm gripper structure includes a mounting base (1), a power unit (2), a lifting device (3), and two gripping mechanisms (4) symmetrically mounted on the mounting base (1).

[0027] The mounting base (1) is provided with an mounting cavity (1a), the lifting device (3) is installed in the mounting cavity (1a), and the power device (2) is connected to the lifting device (3) for driving the lifting device (3) to perform lifting activities;

[0028] The clamping mechanism includes a first rod (4a), a second rod (4b), and a third rod (4c).

[0029] One end of the first rod (4a) is provided with a first hinge (4aa) and a second hinge (4ab). The first hinge (4aa) is hinged to the lifting device (3). The second hinge (4ab) is hinged in the mounting base (1). The other end of the first rod (4a) is hinged to the end of the third rod (4c). One end of the second rod (4b) is hinged in the mounting base (1) and the second rod (4b) is located above the first rod (4a). The other end of the second rod (4b) is hinged to the rod body of the third rod (4c). The other end of the third rod (4c) is bent to provide a clamping section (4ca). The clamping sections (4ca) of the two third rods (4c) are arranged facing each other.

[0030] like Figure 1As shown, in this utility model, when it is necessary to clamp an object, the lifting device (3) is lowered. At this time, the first hinge part (4aa) of the first rod (4a) rotates as the position of the lifting device (3) changes, driving the first rod (4a) to rotate. When the first rod (4a) rotates, it drives the third rod (4c) to rotate inward, thereby clamping the object. During the clamping process, the reaction force of the object on the clamping section (4ca) is transmitted to the third rod (4c). The rod body of the third rod (4c) is connected to the second rod (4b), and part of the reaction force is transmitted to the second rod (4b), reducing the bending moment and force of the external force on the third rod (4c) and improving the rigidity of the third rod (4c). Meanwhile, the second hinge (4ab) of the first rod (4a) is also connected to the mounting base (1), reducing the reaction force transmitted to the first hinge (4aa), thereby keeping the lifting device (3) stable. The lifting device (3) will not shake due to excessive pressure, thus affecting the stability of the lifting device (3). When it is necessary to lower the clamped object, it is only necessary to drive the power device (2) to raise the lifting device (3).

[0031] Preferably, the hinge point between the second rod (4b) and the third rod (4c) is located at the bend of the clamping section (4ca) of the third rod (4c).

[0032] During clamping, the pressure of the object on the clamping section (4ca) is mainly concentrated at the bend. Positioning the hinge point between the second rod (4b) and the third rod (4c) here disperses this pressure. When clamping an object, the bent clamping section (4ca) of the third rod (4c) grips the object more firmly, while the support of the second rod (4b) reduces bending or deformation caused by clamping forces, thus improving the stability and reliability of the entire clamping mechanism. Furthermore, by placing the hinge point at the bend of the clamping section (4ca), the clamping section (4ca) of the third rod (4c) has greater flexibility and range when opening and closing. This design allows the clamping mechanism to adapt to objects of different sizes and shapes, improving its practicality and applicability.

[0033] Preferably, the first rod (4a) and the second rod (4b) have through holes (5) on their shafts, and the through holes (5) extend along the length direction of the first rod (4a) or the second rod (4b).

[0034] The through-hole (5) design can reduce stress concentration in the first rod (4a) and the second rod (4b) under load to a certain extent. By opening the through-hole (5) in the rod body, stress can be dispersed, improving the overall strength and durability of the structure. In addition, after opening the hole, the overall weight of the first rod (4a) and the second rod (4b) becomes lighter, which is convenient for robot drive. From an economic point of view, it can also save material costs.

[0035] Preferably, the power unit (2) is a geared motor module, and the power unit (2) is detachably installed below the mounting base (1).

[0036] The geared motor module can provide greater torque to the grippers to meet the clamping force requirements of different clamping operations.

[0037] Preferably, the lifting device (3) includes a first bearing seat (3a), a second bearing seat (3b), a lead screw (3c), and a lead screw nut (3d).

[0038] The first bearing housing (3a) and the second bearing housing (3b) are respectively located at the top and bottom of the central axis of the mounting cavity (1a). The two sections of the lead screw (3c) are respectively installed in the first bearing housing (3a) and the second bearing housing (3b). The lead screw nut (3d) is sleeved on the surface of the lead screw (3c).

[0039] The lead screw nut (3d) is provided with hinges (3e) on the front and rear sides respectively. The hinges (3e) extend to the left and right sides, so that the hinges (3e) protrude from the lead screw nut (3d). The protruding parts of the front and rear hinges (3e) form a hinge space. The first hinge part (4aa) is hingedly installed in the hinge space.

[0040] The precise fit between the lead screw (3c) and the lead screw nut (3d) enables the lifting device (3) to achieve very high positioning accuracy and change the opening and closing degree of the two clamping mechanisms (4) according to the size of different objects.

[0041] Preferably, the opposing surfaces of the two clamping sections (4ca) are covered with a friction-enhancing element (6). The friction-enhancing element (6) is a sponge or rubber. Simply adding a sponge or rubber to the opposing surfaces of the clamping sections (4ca) can increase the friction between the clamping sections (4ca) and the object, thereby reducing the power output of the power unit (2).

[0042] Preferably, the lower end of the mounting base (1) extends outward to form a first pressure surface (7), and the upper end of the power device (2) extends outward to form a second pressure surface (8). The first pressure surface (7) and the second pressure surface (8) are adapted to each other in shape. The first pressure surface (7) is provided with a countersunk positioning pin hole (9), and the countersunk bolt passes through the second pressure surface (8) and is installed in the countersunk positioning pin hole (9).

[0043] The countersunk bolts, the first pressure surface (7), and the second pressure surface (8) provide a larger support area and more support points. The multi-point support design effectively reduces vibration and swaying of the gripper during movement, improving the smoothness and safety of operation. Especially during high-speed movement or complex operations, these support components can significantly improve the performance and reliability of the gripper.

[0044] Preferably, the lower end face of the power unit (2) extends into four axes with mounting planes (10), and the mounting planes (10) are provided with mounting holes (11).

[0045] 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.

[0046] 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.

[0047] 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 arm gripper structure, characterized by, It includes a mounting base (1), a power unit (2), a lifting device (3), and two clamping mechanisms (4) symmetrically mounted on the mounting base (1); The mounting base (1) is provided with an mounting cavity (1a), the lifting device (3) is installed in the mounting cavity (1a), and the power device (2) is connected to the lifting device (3) for driving the lifting device (3) to perform lifting activities; The clamping mechanism (4) includes a first rod (4a), a second rod (4b) and a third rod (4c). One end of the first rod (4a) is provided with a first hinge (4aa) and a second hinge (4ab). The first hinge (4aa) is hinged to the lifting device (3). The second hinge (4ab) is hinged in the mounting base (1). The other end of the first rod (4a) is hinged to the end of the third rod (4c). One end of the second rod (4b) is hinged in the mounting base (1) and the second rod (4b) is located above the first rod (4a). The other end of the second rod (4b) is hinged to the rod body of the third rod (4c). The other end of the third rod (4c) is bent to provide a clamping section (4ca). The clamping sections (4ca) of the two third rods (4c) are arranged facing each other.

2. The humanoid robot arm gripper structure according to claim 1, characterized in that, The hinge point between the second rod (4b) and the third rod (4c) is located at the bend of the clamping section (4ca) of the third rod (4c).

3. The humanoid robot arm gripper structure according to claim 1, wherein The first rod (4a) and the second rod (4b) have through holes (5) on their shafts, and the through holes (5) extend along the length direction of the first rod (4a) or the second rod (4b).

4. The humanoid robot arm gripper structure of claim 1, wherein, The power unit (2) is a geared motor module, and the power unit (2) can be detachably installed below the mounting base (1).

5. The humanoid robot arm gripper structure of claim 1, wherein, The lifting device (3) includes a first bearing seat (3a), a second bearing seat (3b), a lead screw (3c), and a lead screw nut (3d). The first bearing housing (3a) and the second bearing housing (3b) are respectively located at the top and bottom of the central axis of the mounting cavity (1a). The two sections of the lead screw (3c) are respectively installed in the first bearing housing (3a) and the second bearing housing (3b). The lead screw nut (3d) is sleeved on the surface of the lead screw (3c). The lead screw nut (3d) is provided with hinges (3e) on the front and rear sides respectively. The hinges (3e) extend to the left and right sides, so that the hinges (3e) protrude from the lead screw nut (3d). The protruding parts of the front and rear hinges (3e) form a hinge space. The first hinge part (4aa) is hingedly installed in the hinge space.

6. The humanoid robot arm gripper structure of claim 1, wherein, The opposing surfaces of the two clamping sections (4ca) are covered with friction-enhancing elements (6).

7. The humanoid robot arm gripper structure of claim 4, wherein, The lower end of the mounting base (1) extends outward to form a first pressure surface (7), and the upper end of the power device (2) extends outward to form a second pressure surface (8). The first pressure surface (7) and the second pressure surface (8) are adapted to each other in shape. The first pressure surface (7) is provided with a countersunk positioning pin hole (9). The countersunk bolt passes through the second pressure surface (8) and is installed in the countersunk positioning pin hole (9).

8. The humanoid robot arm gripper structure of claim 1, wherein, The lower end face of the power unit (2) extends into four shafts with mounting planes (10), and the mounting planes (10) are provided with mounting holes (11).

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