A humanoid robot with a broad finger-shaped parallel gripper structure

Abstract

A humanoid robot's broad-finger-shaped parallel gripper structure includes: a mounting base, which includes a motor mounting part and two sliding parts. The two sliding parts are respectively disposed on the left and right sides of the motor mounting part, with motor modules mounted below the motor mounting part. The output ends of the motor modules pass through the motor mounting part. Two gripping mechanisms are symmetrically disposed above the two sliding parts about the axis of the motor mounting part. A transmission part extends from the side of the gripping mechanism towards the other sliding part. A rack is provided on the facing surface of the two transmission parts, and the rack meshes with a gear. The lower speed motor module can effectively slow down the approach speed of the gripping mechanism when controlling the gripping mechanism to approach. The operator can observe the positional relationship between the gripping mechanism and the gripped object, and stop the motor module when the gripped object is just gripped by the gripping mechanism, avoiding scratches, indentations, or even damage to the object surface caused by excessive gripping force or insufficient control.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, and in particular to a humanoid robot broad-finger-shaped parallel 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] For gripping wider objects, parallel grippers are often the preferred tool due to their structural characteristics and the advantage of applying force evenly to the object. This gripper design ensures that the object is subjected to uniform force during gripping, reducing the risk of deformation or slippage caused by uneven force. However, most existing parallel grippers use hydraulic drive systems to activate the gripping mechanism. While this drive method can provide sufficient gripping force, it also reveals some limitations in certain application scenarios.

[0004] Especially when dealing with objects with low surface stiffness, such as soft materials or coated surfaces, hydraulically driven clamping mechanisms may cause scratches, indentations or even damage to the object's surface due to excessive clamping force or insufficient control. Utility Model Content

[0005] To address the aforementioned shortcomings, the purpose of this invention is to propose a humanoid robot with a broad-finger-shaped parallel gripper structure, which solves the problem of damage to objects caused by excessive gripping force when grasping soft materials or objects with coated surfaces.

[0006] To achieve this objective, the present invention adopts the following technical solution: a humanoid robot broad-finger-shaped parallel gripper structure, comprising:

[0007] The mounting base includes a motor mounting part and two sliding parts, with the two sliding parts respectively disposed on the left and right sides of the motor mounting part;

[0008] A motor module is installed below the motor mounting part. The output end of the motor module passes through the motor mounting part and is flush with the upper surface of the motor mounting part. A gear is installed on the output end of the motor module.

[0009] Two clamping mechanisms are slidably mounted on the mounting base;

[0010] Two clamping mechanisms are symmetrically arranged above the two sliding parts with the axis of symmetry of the motor mounting part as the axis of symmetry;

[0011] A transmission part extends from the side of the clamping mechanism toward another sliding part, and a rack is provided on the facing surfaces of the two transmission parts, the rack meshing with a gear.

[0012] Preferably, it also includes a connecting plate for connecting to the robot, the connecting plate having mounting holes;

[0013] The connecting plate is fixedly connected to the motor mounting part through a support member, and the motor module does not abut against the support member or the connecting plate.

[0014] Preferably, the support member is a support column, and the support columns are distributed in a rectangular array on the connecting plate.

[0015] Preferably, a slide rail is provided above the mounting base along the length direction, and the slide rail is located above the output end of the motor module;

[0016] The clamping mechanism includes a long clamping finger module and a slider;

[0017] The slider is slidably mounted on the slide rail, and the long clamping finger module is fixedly mounted on the upper end face of the slider.

[0018] Preferably, the long clamping finger module includes a mounting plane, a first clamping finger member, and a second clamping finger member. The mounting plane is fixedly connected to the slider. The bottom ends of the first clamping finger member and the second clamping finger member are respectively fixed to the front and rear sides of the mounting plane, and the top ends of the first clamping finger member and the second clamping finger member are connected.

[0019] Preferably, the bottom width of the first and second finger grippers is greater than the top width.

[0020] Preferably, the sliding part extends outward to form a blocking part, which is used to restrict the lateral movement of the transmission part.

[0021] Preferably, the middle part of the first finger clamp is bent toward the second finger clamp to form a bending angle.

[0022] One of the above technical solutions has the following advantages or beneficial effects: The rack moves horizontally under the drive of the gears, causing the two clamping mechanisms to engage, thereby gripping objects with soft materials or coated surfaces. Meanwhile, the motor module drives the gears to move the heavier clamping mechanism. At this time, the motor module can only operate at a lower speed to increase torque. The lower speed of the motor module effectively slows down the engagement speed of the clamping mechanisms. The operator can observe the positional relationship between the clamping mechanism and the clamped object, stopping the motor module just as the object is clamped, thus avoiding scratches, indentations, or even damage to the object's surface due to excessive clamping force or insufficient control. This greatly improves the adaptability of the parallel grippers to objects with soft materials or coated surfaces. Attached Figure Description

[0023] Figure 1 This is a structural schematic diagram of one embodiment of the present invention.

[0024] Figure 2 This is a top view of disassembling the slide rail in one embodiment of this utility model.

[0025] Figure 3 This is a schematic diagram of the clamping mechanism in one embodiment of the present invention.

[0026] The components include: mounting base 1, motor mounting part 1a, sliding part 1b, and motor module 2.

[0027] Clamping mechanism 3, transmission part 3a, rack 3aa, long clamping finger module 3b, mounting plane 3ba, first clamping finger 3bb, second clamping finger 3bc, slider 3c.

[0028] 4. Gear; 5. Connecting plate; 6. Mounting hole; 7. Support; 8. Slide rail; 9. Blocking part; 10. Bending angle. Detailed Implementation

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] like Figures 1-3 As shown, a humanoid robot's broad-finger-shaped parallel gripper structure includes:

[0034] Mounting base (1), the mounting base (1) includes a motor mounting part (1a) and two sliding parts (1b), the two sliding parts (1b) are respectively disposed on the left and right sides of the motor mounting part (1a);

[0035] The motor module (2) is installed below the motor mounting part (1a). The output end of the motor module (2) passes through the motor mounting part (1a) and is flush with the upper surface of the motor mounting part (1a). The output end of the motor module (2) is equipped with a gear (4).

[0036] Two clamping mechanisms (3) are slidably mounted on the mounting base (1);

[0037] Two clamping mechanisms (3) are respectively arranged symmetrically above the two sliding parts (1b) with the axis of symmetry of the motor mounting part (1a);

[0038] A transmission part (3a) extends from the side of the clamping mechanism (3) toward another sliding part (1b). A rack (3aa) is provided on the facing surfaces of the two transmission parts (3a), and the rack (3aa) meshes with the gear (4).

[0039] In this invention, a motor module (2) is used as the drive. During clamping, the motor module (2) drives the gear (4) to rotate, and the rack (3aa) moves horizontally under the drive of the gear (4), so that the two clamping mechanisms (3) come into contact, thereby gripping objects with soft materials or coated surfaces. The motor module (2) drives the gear (4) to drive the heavier clamping mechanism (3). At this time, the motor module (2) can only operate at a lower speed to increase torque. The lower speed of the motor module (2) can effectively slow down the contact speed of the clamping mechanism (3) when controlling the contact. The operator can observe the positional relationship between the clamping mechanism (3) and the clamped object, and stop the motor module (2) when the clamped object is just clamped by the clamping mechanism (3) to avoid scratches, indentations or even damage to the object surface due to excessive clamping force or insufficient control. This greatly improves the adaptability of the parallel gripper to objects with soft materials or coated surfaces.

[0040] Preferably, it also includes a connecting plate (5) for connecting to the robot, and the connecting plate (5) has mounting holes (6).

[0041] The connecting plate (5) is fixedly connected to the motor mounting part (1a) through the support member (7), and the motor module (2) does not abut against the support member (7) or the connecting plate (5).

[0042] When installing the gripper, the gripper can be installed on the robot's hand through the mounting hole (6) and simple studs, etc. The connecting plate (5) 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.

[0043] Furthermore, when gripping objects made of soft materials or with coated surfaces, the pressure applied by the gripping mechanism (3) to the gripped object is relatively small. The vibration generated during the robot's movement can easily cause the object to fall off. Therefore, in this invention, the connecting plate (5) is fixedly connected to the motor mounting part (1a) through the support member (7), and the motor module (2) does not abut against the support member (7) or the connecting plate (5). This reduces the external force on the motor module (2), thereby allowing the gear (4) to maintain its responsive posture and preventing the vibration from affecting the stability of the gear (4), which could cause the gripping mechanism (3) to loosen and the gripped object to fall off.

[0044] Preferably, the support member (7) is a support column, and the support columns are distributed in a rectangular array on the connecting plate (5).

[0045] In one embodiment, four support columns are provided, and the four support columns are connected to each other by connecting plates (5) to form an integral structural frame. This integral structure can enhance the overall stiffness and strength of the structure, improve the seismic performance of the structure, and ultimately reduce the impact of robot operation vibration on the mounting base (1).

[0046] Preferably, a slide rail (8) is provided above the mounting base (1) along the length direction, and the slide rail (8) is located above the output end of the motor module (2);

[0047] The clamping mechanism (3) includes a long clamping finger module (3b) and a slider (3c);

[0048] The slider (3c) is slidably mounted on the slide rail (8), and the long clamping finger module (3b) is fixedly mounted on the upper end face of the slider (3c).

[0049] Suitable for frequent replacement of the clamping mechanism (3) under high working intensity, this utility model adopts a combination of slide rail (8) and slider (3c) to realize the sliding installation of the clamping mechanism (3). This structure is easy to install and has low construction cost. Suitable for replacement of the clamping mechanism (3) under high working intensity. The slider (3c) has a transmission part (3a) extending from its side towards another sliding part (1b).

[0050] Preferably, the long finger clamping module (3b) includes a mounting plane (3ba), a first finger clamping member (3bb), and a second finger clamping member (3bc). The mounting plane (3ba) is fixedly connected to the slider (3c). The bottom ends of the first finger clamping member (3bb) and the second finger clamping member (3bc) are respectively fixed to the front and rear sides of the mounting plane (3ba), and the top ends of the first finger clamping member (3bb) and the second finger clamping member (3bc) are connected.

[0051] The first gripper (3bb) and the second gripper (3bc) form an inverted "V" shape. When gripping round or irregular objects, the protrusions of the round or irregular objects can be embedded in the hollow part in the middle of the "V" shape to achieve a tighter grip, thereby effectively stabilizing the gripped object and improving the stability of the gripping when the robot moves and the firmness of the gripped object.

[0052] Preferably, the bottom width of the first finger clip (3bb) and the second finger clip (3bc) is greater than the top width.

[0053] When clamping objects with high hardness, greater pressure is required to ensure that the objects are firmly clamped. According to Newton's third law, the reaction force on the clamping mechanism (3) will also increase accordingly. In order to enhance the rigidity of the clamping mechanism (3) to meet the clamping requirements of hard objects, the bottom width of the first clamping finger (3bb) and the second clamping finger (3bc) is designed to be greater than the top width, and their bottom ends are ensured to have sufficient support thickness. This design effectively improves the rigidity of the clamping fingers in the direction of the applied force.

[0054] Preferably, the sliding part (1b) extends outward to form a blocking part (9), which is used to restrict the lateral movement of the transmission part (3a).

[0055] The bottom of the blocking part (9) is at a lower level than the top of the transmission part (3a). When the transmission part (3a) moves outward to a certain position, the blocking part (9) will abut against the transmission part (3a), thereby restricting the lateral movement of the transmission part (3a). This prevents the clamping mechanism (3) from disengaging from the slide rail (8).

[0056] Preferably, the middle part of the first gripper (3bb) is bent toward the direction of the second gripper to form a bending angle (10).

[0057] During clamping, the protrusions of round or irregular objects can be inserted into the hollow space in the middle of the "V" shape. When the gripper needs to rotate to the point where the first gripper finger (3bb) is parallel to the horizontal position, the gravity on the first gripper finger (3bb) will increase. To improve its rigidity, the middle part of the first gripper finger (3bb) is bent towards the second gripper finger, forming a bending angle (10). By changing part of the lateral load into axial pressure, the bending moment and bending deformation are reduced, thereby improving the service life of the first gripper finger (3bb).

[0058] 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.

[0059] 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 broad fingered parallel gripper structure, characterized by, include: Mounting base (1), the mounting base (1) includes a motor mounting part (1a) and two sliding parts (1b), the two sliding parts (1b) are respectively disposed on the left and right sides of the motor mounting part (1a); The motor module (2) is installed below the motor mounting part (1a). The output end of the motor module (2) passes through the motor mounting part (1a) and is flush with the upper surface of the motor mounting part (1a). The output end of the motor module (2) is equipped with a gear (4). Two clamping mechanisms (3) are slidably mounted on the mounting base (1); Two clamping mechanisms (3) are respectively arranged symmetrically above the two sliding parts (1b) with the axis of symmetry of the motor mounting part (1a); A transmission part (3a) extends from the side of the clamping mechanism (3) toward another sliding part (1b). A rack (3aa) is provided on the facing surfaces of the two transmission parts (3a), and the rack (3aa) meshes with the gear (4).

2. The humanoid robot broad fingered parallel gripper structure of claim 1, wherein, It also includes a connecting plate (5) for connecting to the robot, and the connecting plate (5) has mounting holes (6). The connecting plate (5) is fixedly connected to the motor mounting part (1a) through the support member (7), and the motor module (2) does not abut against the support member (7) or the connecting plate (5).

3. The humanoid robot broad fingered parallel gripper structure of claim 2, wherein, The support member (7) is a support column, and the support columns are distributed in a rectangular array on the connecting plate (5).

4. The humanoid robot broad fingered parallel gripper structure of claim 1, wherein, A slide rail (8) is provided above the mounting base (1) along the length direction, and the slide rail (8) is located above the output end of the motor module (2); The clamping mechanism (3) includes a long clamping finger module (3b) and a slider (3c); The slider (3c) is slidably mounted on the slide rail (8), and the long clamping finger module (3b) is fixedly mounted on the upper end face of the slider (3c).

5. The humanoid robot broad fingered parallel gripper structure of claim 4, wherein, The long clamping finger module (3b) includes a mounting plane (3ba), a first clamping finger (3bb), and a second clamping finger (3bc). The mounting plane (3ba) is fixedly connected to the slider (3c). The bottom ends of the first clamping finger (3bb) and the second clamping finger (3bc) are respectively fixed to the front and rear sides of the mounting plane (3ba), and the top ends of the first clamping finger (3bb) and the second clamping finger (3bc) are connected.

6. The humanoid robot broad fingered parallel gripper structure of claim 5, wherein, The bottom width of the first finger clip (3bb) and the second finger clip (3bc) is greater than the top width.

7. The humanoid robot broad fingered parallel gripper structure of claim 1, wherein, The sliding part (1b) extends outward to form a blocking part (9), which is used to restrict the lateral movement of the transmission part (3a).

8. The humanoid robot broad fingered parallel gripper structure of claim 5, wherein, The middle part of the first clamping finger (3bb) bends toward the second clamping finger (3bc) to form a bending angle (10).

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