Two-fingered collaborative robot electric gripper

Abstract

The utility model provides a kind of two-finger cooperation robot electric clamping jaw, with very high IP protection level and security, the utility model has two kinds of grasping mode of self-adapting grasping and parallel grasping, the utility model is composed of power module and finger module, the driving structure of power module is wrapped inside the shell of power module, with higher IP protection level;The connecting rod structure of finger module composition does not have the gap of clamping hand on the appearance side, and the security is high;The utility model can be realized under different use conditions, and finger module is conveniently replaced;The utility model can be inducted grasping object position by installing inductive sensor on power mode;The utility model can work in the harsh environmental conditions of larger dust and larger water vapor.

Description

Technical Field

[0001] This utility model belongs to the field of robot end effectors, specifically a two-finger collaborative robot electric gripper, which is an adaptive underactuated robot gripper with a high IP protection level. Background Technology

[0002] Currently, electric grippers are widely used in the field of robot end effectors. However, electric grippers generally have low IP protection levels and have certain requirements for the working environment. Most electric grippers cannot operate underwater. In addition, most electric grippers with adaptive object grasping capabilities use a simple four-bar structure with a large movement gap in the middle. This type of electric gripper itself has safety hazards. When it works in collaboration with or at close range with a human, the human's fingers may be inserted into the four-bar structure. Deformation of the four-bar structure may cause potential pinching injuries to the human hand.

[0003] As a universal standard product, electric grippers are widely used in different scenarios. Users need to change different fingers according to the usage conditions to adapt to gripping different items. This requires the gripper itself to be able to easily and quickly change the entire finger part. However, many electric grippers on the market with adaptive functions cannot achieve quick finger structure replacement. They can only replace the fingertip part. If you want to replace the entire linkage finger structure, you need to disassemble the electric gripper shell to replace it, which is very inconvenient to use. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide an adaptive electric gripper that can quickly replace and disassemble finger modules and has a high IP protection level and safety performance, in order to overcome the shortcomings of the existing technology.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows:

[0006] 1. A two-finger collaborative robot electric gripper, characterized in that it comprises a finger module and a power module; the number of finger modules is two, the number of power modules is one, and the two finger modules are respectively mounted on the top of the power module.

[0007] 2. The finger module, characterized in that it comprises: an inner connecting rod, an outer connecting rod, a drive connecting rod, a distal connecting rod, a fingertip, an outer connecting rod screw, and a drive connecting rod screw; the cross-section of the inner connecting rod is groove-shaped, and the inner connecting rod encloses the outer connecting rod, the drive connecting rod, and the distal connecting rod within the groove shape of the inner connecting rod to form a four-bar linkage mechanism without gaps that could pinch the finger, thus preventing the hand from being pinched by the four-bar linkage mechanism, and also preventing large foreign objects from affecting the movement of the four-bar linkage mechanism.

[0008] 3. The finger module, characterized in that, when the external connecting rod screw passes through the external connecting rod and is tightened onto the drive connecting rod, the drive connecting rod and the external connecting rod are relatively fixed and connected together, at which time the finger module is in a parallel grasping mode; when the external connecting rod screw is removed, the drive connecting rod and the external connecting rod can rotate relative to each other, at which time the finger module is in an adaptive grasping mode; the two-finger collaborative robot electric gripper can grasp objects in parallel in the parallel grasping mode, and the two-finger collaborative robot electric gripper can adaptively grasp according to the shape of the grasped object in the adaptive grasping mode.

[0009] 4. The power module, characterized in that it comprises: a motor, a small synchronous pulley, an annular synchronous belt, a large synchronous pulley, a bidirectional worm gear, a forward worm gear, a reverse worm gear, a pinion, a large gear, a drive shaft, a sensor, and an inner connecting rod shaft; the output shaft of the motor is directly connected to the small synchronous pulley; the small synchronous pulley transmits torque to the large synchronous pulley through the annular synchronous belt; the large synchronous pulley is fixedly connected to the bidirectional worm gear; the bidirectional worm gear meshes with the forward worm gear and the reverse worm gear respectively; when the bidirectional worm gear rotates, it will drive the forward worm gear and the reverse worm gear to rotate relative to each other; the forward worm gear is fixedly connected to one of the two pinions; the reverse worm gear is fixedly connected to the other pinion; each pinion meshes with its nearest large gear; the two large gears are fixedly mounted on the two drive shafts respectively; through the above mechanical transmission design, when the motor rotates, the two drive shafts rotate relative to each other at the same speed.

[0010] 5. The electric gripper of the two-finger collaborative robot, characterized in that the drive link and the drive shaft are connected by the drive link screw, and the inner link shaft passes through the inner link to realize the connection between the power module and the finger module.

[0011] 6. The power module, characterized in that the top of the power housing can be equipped with the sensing sensor for detecting the presence of the grasped object by the two-finger collaborative robot's electric gripper, wherein the sensing sensor is one of a photoelectric sensor, a Hall sensor, a fiber optic sensor, an inductive sensor, and a camera sensor. Attached Figure Description

[0012] Figure 1 A three-dimensional schematic diagram of an embodiment of the electric gripper of a two-finger collaborative robot of the present invention;

[0013] Figure 2 for Figure 1 The diagram shown is a front view of the power module in the electric gripper of a two-finger collaborative robot according to an embodiment of the present invention, wherein a power housing has been hidden.

[0014] Figure 3 for Figure 2 A sectional view along section line AA;

[0015] Figure 4 for Figure 1 The diagram shown is a side view of a finger module of a two-finger collaborative robot electric gripper according to an embodiment of the present invention.

[0016] Figure 5 for Figure 4 A sectional view along section line BB;

[0017] Figure 6 for Figure 1 The diagram shown is a perspective view of a finger module of a two-finger collaborative robot electric gripper according to an embodiment of the present invention.

[0018] Figure 7 This is a front view schematic diagram of the electric gripper of a two-finger collaborative robot according to an embodiment of the present invention;

[0019] Figure 8 for Figure 1 The image shown is a front view of the electric gripper of a two-finger collaborative robot according to an embodiment of the present invention, when performing parallel gripping.

[0020] Figure 9 for Figure 1 The image shown is a front view of a two-finger collaborative robot electric gripper of this utility model during adaptive gripping, according to an embodiment of the present invention.

[0021] Illustration numbering explanations: 300 - Two-finger collaborative robot electric gripper; 100 - Power module; 200 - Finger module; 101 - Motor mounting plate; 102 - Motor screw; 103 - Small synchronous pulley; 104 - Circular synchronous belt; 105 - Bidirectional worm gear; 106 - Worm gear bearing; 107 - Bearing housing; 108 - Gripper top pressure block; 109 - Sensor; 110 - Inner connecting rod shaft; 111 - Drive shaft; 112 - Large gear; 113 - Small gear; 114 - Forward worm gear; 115 - Motor; 116 - Power housing; 117 - Aviation connector; 118 - Worm gear shaft; 119 - Worm gear shaft 120 - Reverse worm gear; 121 - Housing fixing screw; 122 - Large synchronous belt pulley; 123 - Motor mounting plate screw; 201 - Finger tip screw; 202 - Screw filler block; 203 - Drive linkage; 204 - Drive linkage connecting shaft; 205 - Outer linkage screw; 206 - Outer linkage; 207 - Outer linkage connecting shaft; 208 - Torsion spring; 209 - Distal linkage; 210 - Finger tip; 211 - Distal linkage connecting shaft; 212 - Drive linkage screw; 213 - Inner linkage; 214 - Distal screw; 215 - Proximal filler block; 301 - Cuboid object to be grasped; 302 - Cylindrical object to be grasped. Detailed Implementation

[0022] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0023] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0027] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0028] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0029] like Figures 1 to 9As shown, this is an embodiment of the electric gripper 300 for a two-finger collaborative robot, used to be installed at the end of a robot to grasp materials or workpieces. The electric gripper 300 for the two-finger collaborative robot consists of a power module 100 and two finger modules 200. The power module 100 includes: a motor 115 connected and fixed to a motor mounting plate 101 by motor screws 102; the motor mounting plate 101 is fixed inside the power housing 116 by motor mounting screws 123; and a bidirectional worm gear 105 at both ends. A worm bearing 106 is installed on each of the motor housings. The worm bearing 106 is fixed inside the power housing 116 by the bearing seat 107 and the housing fixing screw 121. The motor 115 drives the bidirectional worm 105 to rotate by fixing the small synchronous pulley 103 on its output shaft, the large synchronous pulley 122 on the bidirectional worm 105, and the annular synchronous belt 104. The forward worm gear 114 and the pinion 113 are connected and fixed on the worm shaft 118, and the reverse worm gear 120 and another pinion 113 are connected and fixed on another worm gear shaft 118. On 18, the worm gear bearings 119 at both ends of the worm gear shaft 118 are installed inside the power housing 116. The two-way worm 105 is designed with right-hand and left-hand worm gear teeth at both ends. The two-way worm 105 meshes with the forward worm gear 114 and the reverse worm gear 120 respectively. The two-way worm 105 drives the forward worm gear 114 and the reverse worm gear 120 to rotate in opposite directions and at the same speed. The pinion 113 meshes with the large gear 112 fixed on the drive shaft 111. Both ends of the drive shaft 111 extend outwards. The sensor 109 is fixed to the top pressure block 108 on the outside of the two power housings 116 and connected to the finger module 200. The top pressure block 108 of the gripper is fixed to the top of the power housing 116. The cables of the sensor 109 and the motor 115 are connected to the terminals of the aviation plug 117, which is fixed to the power housing 116. The two power housings 116 are locked together by fixing screws 121 locked to the bearing seat 107, forming a closed cavity.

[0030] The beneficial effects of this utility model are as follows: the internal components of the power module 100 are all enclosed inside the two power housings 116. The power housings 116 seal and isolate the inside of the power module 100 from the outside world. Only the two ends of the drive shaft 111 are outside the power housings 116. The gaps on the outer surface of the power module 100 are sealed with sealant, sealing rings, and sealing strips, so that the two-finger collaborative robot electric gripper 300 has a high IP protection level and a compact drive structure, preventing moisture, dust and foreign objects from entering the inside of the power housings 116, and improving the working stability and service life of the two-finger collaborative robot electric gripper 300.

[0031] Specifically, such as Figures 1 to 5As shown, the finger module 200 includes: a drive link 203 that is engaged at both ends of the drive shaft 111 and locked by drive link screws 212 and screw filler blocks 202; the drive link 203 is hinged to the outer link 206 via a drive link connecting shaft 204; distal screws 214 are installed at both ends of the drive link connecting shaft 204 to prevent the drive link connecting shaft 204 from falling off when the two-finger collaborative robot's electric gripper 300 is working; when the outer link screw 205 passes through the outer link 206 and locks with the drive link 203, the drive link 203 and the outer link 206 are connected. The finger module 200 is locked and cannot rotate relative to the drive linkage shaft 204, making the finger module 200 appear smooth. The distal linkage 209 is connected to the outer linkage 206 through the outer linkage shaft 207. A torsion spring 208 is sleeved on the outer linkage shaft 207. The inner linkage 213 is hinged to the power housing 116 through the inner linkage shaft 110. The inner linkage 213 can rotate relative to the power housing 116. The other end of the inner linkage 213 is hinged to the distal linkage 209 through the distal linkage shaft 211. The fingertip 210 is connected to the distal linkage 209 through two fingertip screws 201.

[0032] Specifically, the torsion spring 208 is an elastic torsion spring. The two ends of the torsion spring 208 are supported on the distal connecting rod 209 and the outer connecting rod 206. The torsion spring 208 causes the outer connecting rod 206 and the distal connecting rod 209 to tend to be in an extended state. A boss is designed on the outer surface of the drive connecting rod 203 to limit the maximum rotation angle of the outer connecting rod 206 on the drive connecting rod 203.

[0033] Specifically, such as Figures 1 to 7 As shown, when the outer connecting rod screw 205 passes through the outer connecting rod 206 and locks the drive connecting rod 203, the two-finger collaborative robot electric gripper 300 is in parallel gripping mode. When the two-finger collaborative robot electric gripper 300 is in parallel gripping mode, the two fingertips 210 of the two-finger collaborative robot electric gripper 300 can only move in parallel. When the outer connecting rod screw 205 is not installed, the two-finger collaborative robot electric gripper 300 is in adaptive gripping mode. When the two-finger collaborative robot electric gripper 300 is in adaptive gripping mode, if the inner connecting rod 213 contacts the object to be gripped first, the inner connecting rod 213 stops rotating, and the drive connecting rod 203 drives the outer connecting rod 206 and the distal connecting rod 209 to rotate relative to the inner connecting rod 213. The fingertips 210 contact the object to be gripped to achieve adaptive gripping of the object. When the two-finger collaborative robot electric gripper 300 is in adaptive gripping mode, if the fingertips 210 contact the object to be gripped first, the two-finger collaborative robot electric gripper 300 can still grip the object in parallel.

[0034] The beneficial effects of adopting the above-mentioned further solution are as follows: When the finger module 200 is installed on the power module 100, the cross-section of the inner connecting rod 213 is groove-shaped, and the three sides of the inner connecting rod 213 partially wrap around the drive connecting rod 203, the outer connecting rod 206, and the distal connecting rod 209. The structure of the finger module 200 itself does not have any gaps that could pinch a person's hand. After removing the drive connecting rod screw 212 and the drive shaft 111, the finger module 200 and the power module 100 can be separated from each other, which facilitates the replacement of other types of finger structures and improves the convenience of replacing finger structures.

[0035] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0036] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An electric gripper for a two-finger collaborative robot, characterized in that, include: Two power casings; A motor mounting plate, the two ends of which are respectively fixed inside the two power housings; An electric motor, which is fixed to the side of the motor mounting plate; Small synchronous pulley, the small synchronous pulley is fixed on the output shaft of the motor; Bearing housing, the bearing housing being fixed inside the two power housings; A worm bearing, wherein the worm bearing is rotatably disposed inside the bearing housing; A bidirectional worm gear, wherein both ends of the bidirectional worm gear are fixed to the inner rings of the two worm bearings, and can rotate relative to the bearing housing, and both ends of the worm gear have worm teeth with opposite directions of rotation; A large synchronous pulley is fixed to the bidirectional worm gear and is arranged parallel to the small synchronous pulley. An annular synchronous belt is fitted onto the small synchronous pulley and the large synchronous pulley, forming a synchronous belt kinematic pair with them; Worm gear bearings, the worm gear bearings being fixed inside the two power housings; Two worm gear shafts, each with its two ends fixed to the inner ring of a worm gear bearing, are rotatably mounted on the two power housings via the worm gear bearings; The forward worm gear and the reverse worm gear are respectively fixed to the two worm gear shafts and mesh with the bidirectional worm. A small gear, the small gear being fixed to the worm gear shaft; Two drive shafts, which are rotatably mounted on and pass through the two power housings; A large gear is fixed to the drive shaft and is parallel to and meshes with the small gear to form a gear transmission pair; A sensing sensor, which is fixed to the top of the power housing; A gripper top pressure block is fixed to the top of the two power housings and is used to connect and fix the two power housings and support the object being gripped. An inner connecting rod shaft, which is rotatably disposed on and passes through the two power housings; Two finger modules, each of which is connected to one end of the drive shaft and one end of the inner connecting rod shaft, can be opened and closed by the drive shaft.

2. The electric gripper for a two-finger collaborative robot according to claim 1, characterized in that, The bidirectional worm has worm teeth with the same module but different directions of rotation at both ends. The outer diameter of the forward worm wheel has right-hand worm wheel teeth, and the outer diameter of the reverse worm wheel has left-hand worm wheel teeth. The worm teeth at both ends of the bidirectional worm are adapted to the forward worm wheel and the reverse worm wheel, respectively, forming two worm gear transmission pairs. When the worm rotates, the forward worm wheel and the reverse worm wheel rotate synchronously and in opposite directions.

3. The electric gripper for a two-finger collaborative robot according to claim 1, characterized in that, The output shaft of the motor drives the small synchronous pulley to rotate, which in turn drives the large synchronous pulley to rotate via the annular synchronous belt, thereby driving the bidirectional worm gear to rotate. The bidirectional worm gear drives the forward worm gear and the reverse worm gear to rotate in opposite directions via a worm gear transmission pair. The two worm gear shafts rotate in opposite directions with the forward and reverse worm gears, respectively, and drive the corresponding pinions to rotate in opposite directions. The pinions drive the meshing large gear and the drive shaft fixed to it to rotate in opposite directions. Through the above mechanical transmission design, when the motor rotates, it can drive the two drive shafts to rotate synchronously at the same speed but in opposite directions, realizing the opening and closing of the gripper.

4. The electric gripper for a two-finger collaborative robot according to claim 1, characterized in that, The two ends of the motor mounting plate are respectively fixed to the inside of the corresponding power housing by screws. By adjusting the tightness of the screws and changing the fixed position of the motor mounting plate relative to the power housing, the tension of the annular synchronous belt can be achieved.

5. The electric gripper for a two-finger collaborative robot according to claim 1, characterized in that, The two power housings are connected and fixed together by the top pressure block of the gripper, and / or the bearing housing, and / or the motor mounting plate.

6. The electric gripper for a two-finger collaborative robot according to claim 1, characterized in that, The sensing sensor is used to detect the presence of the object being grasped, and it is one of a photoelectric sensor, Hall sensor, fiber optic sensor, inductive sensor or camera sensor.

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