An adaptive force control gripper and robot thereof

Abstract

The utility model provides a kind of self-adaptive force control holder, driving mechanism is connected with connecting mechanism by transmission mechanism, for driving connecting mechanism movement;First connecting piece is respectively connected with the one end of second connecting piece and fifth connecting piece, and the other end of fifth connecting piece is rotatably connected with the middle part of fourth connecting piece;The other end of second connecting piece is rotatably connected with the one end of third connecting piece, and the other end of third connecting piece is rotatably connected with the one end of fourth connecting piece, and elastic member is equipped between second connecting piece and third connecting piece.This scheme realizes the linear regulation of clamping force by elastic member and multi-connecting rod transmission mechanism, ensures the stable clamping of different objects, can automatically adapt to object shape change, and can ensure that second connecting piece and third connecting piece are in elastic tension state under the action of elastic member, to ensure the uniform distribution of clamping force, avoid product damage or clamping failure caused by local stress concentration.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to an adaptive force-controlled gripper and its robot. Background Technology

[0002] Grippers are end effectors of robotic arms or robots, widely used in robotic grasping and handling. Existing technologies include solutions that integrate multiple sensors and complex algorithms to achieve adaptive grasping. For example, patent application number 202510226678.X, entitled "An Adaptive Robotic Hand and Method," proposes using vision, tactile, and force sensors combined with machine learning algorithms to control multi-degree-of-freedom joint and finger movements. While this approach improves grasping flexibility to some extent, its system is complex, costly, and its real-time performance and reliability are highly dependent on the stability of the algorithm and the accuracy of the sensors, resulting in significant drawbacks such as high application barriers and high maintenance costs. Furthermore, this approach struggles to achieve precise object grasping through the inherent adaptive capabilities of the mechanical structure, a limitation that significantly restricts its application scope.

[0003] Therefore, there is an urgent need to develop a new technical solution to improve the gripper's adaptability when grasping different products. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model proposes an adaptive force-controlled gripper and its robot. This solution achieves linear adjustment of the gripping force through elastic components and a multi-link transmission mechanism, ensuring stable gripping of objects of different materials. The rotational design of the connecting mechanism allows the gripping components to automatically adapt to changes in the object's shape without manual intervention. When the gripping components grip the product, irregularities in the product's surface will cause changes in the angle between the two gripping components. At this time, the included angle between the second and third connecting parts will change accordingly. Simultaneously, under the action of the elastic component, the second and third connecting parts can be kept in an elastic tension state, thereby ensuring a uniform distribution of the gripping force and avoiding product damage or gripping failure caused by local stress concentration.

[0005] Specifically, this utility model proposes an adaptive force-controlled gripper, including a mounting base, a drive mechanism, a transmission mechanism, and a gripping mechanism; the mounting base is equipped with the transmission mechanism and the drive mechanism, the gripping mechanism has two gripping components, and each gripping component is mounted on the mounting base through a connecting mechanism; the drive mechanism is connected to the connecting mechanism through the transmission mechanism and is used to drive the movement of the connecting mechanism.

[0006] The connecting mechanism includes: a first connecting member, a second connecting member, a third connecting member, a fourth connecting member, and a fifth connecting member;

[0007] The mounting base is provided with the first connector, and the first connector is rotatably connected to one end of the second connector and the fifth connector respectively, and the middle part of the fourth connector is rotatably connected to the other end of the fifth connector.

[0008] The other end of the second connector is rotatably connected to one end of the third connector, the other end of the third connector is rotatably connected to one end of the fourth connector, the other end of the fourth connector is provided with the clamping component, and the middle part of the fourth connector is rotatably connected to the other end of the fifth connector.

[0009] An elastic member is provided between the second connector and the third connector.

[0010] Preferably, the elastic member is a torsion spring or a tension spring.

[0011] Preferably, the transmission mechanism includes a worm and a worm wheel; the drive mechanism has an output shaft, and the output shaft of the drive mechanism is fixedly connected to the worm; one end of the second connecting member is fixed to the worm wheel shaft of the worm wheel, and the worm wheel and the worm are meshed together.

[0012] Preferably, the gear in the worm gear is a helical gear.

[0013] Preferably, the drive mechanism includes a motor.

[0014] Preferably, the drive mechanism further includes an encoder and a servo driver, wherein the encoder is used to monitor the position or speed of the motor's output shaft; and the servo driver is used to connect the motor and the control system.

[0015] Preferably, the clamping component is a knuckle.

[0016] Preferably, a tactile sensor is provided on the clamping surface of the clamping component.

[0017] Preferably, the mounting base includes a base and a housing, the housing is mounted on the base, and the housing has an installation cavity inside, and a sealing ring is provided at the joint surface of the housing and the base.

[0018] In addition, this application also proposes a robot including the aforementioned adaptive force-controlled gripper.

[0019] In summary, compared with the prior art, the above-described technical solution conceived by this utility model can achieve the following beneficial effects:

[0020] 1. The adaptive force control gripper proposed in this utility model forms a reverse transmission structure through a single motor-driven worm and worm wheel, realizing synchronous reverse movement of two gripping components. It has high transmission efficiency, compact structure, and simplifies the control system.

[0021] 2. The clamp of this utility model adopts a five-link adaptive finger structure and a multi-seal design, which can not only achieve stable clamping on objects of different shapes and materials, but also has good waterproof and dustproof performance, making it suitable for a variety of complex environments. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0023] Figure 1 This is a three-dimensional structural diagram of the adaptive force-controlled gripper proposed in this embodiment;

[0024] Figure 2 This is a schematic diagram of the adaptive force-controlled gripper from the main view direction proposed in this embodiment;

[0025] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure along the AA direction;

[0026] Figure 4 This is a top-view structural diagram of the adaptive force-controlled gripper proposed in this embodiment;

[0027] Figure 5 yes Figure 4 Schematic diagram of the cross-sectional structure in the middle BB direction;

[0028] Figure 6 This is a three-dimensional structural diagram of the worm gear in this embodiment;

[0029] Figure 7 This is a three-dimensional structural diagram of the adaptive force-controlled gripper when there are two phalanges in this embodiment;

[0030] Figure 8 This is a schematic diagram of the adaptive force-controlled gripper in parallel gripping mode in this embodiment;

[0031] Figure 9 This is a schematic diagram of the adaptive force control gripper in the adaptive gripping mode in this embodiment;

[0032] Figure 10 This is a schematic diagram of the adaptive force-controlled gripper in an irregular gripping mode in this embodiment.

[0033] The reference numerals used in the attached figures are as follows:

[0034] 1-First connector; 2-Second connector; 3-Third connector; 4-Fourth connector; 5-Fifth connector; 6-Worm gear; 7-Mounting base; 8-Finger joint; 8a-First finger joint; 8b-Second finger joint; 8c-Third finger joint; 9-Tactile sensor; 10-Torsion spring; 11-Oil seal; 12-Sealing ring; 13-Worm; 14-Motor; 15-Vision camera; 16-Housing housing; 17-Shock damping pad; 18-First bearing; 19-Second bearing; 20-Flat part; 21-Worm gear shaft; 22-Third bearing; 23-Base; 24-Outer shell; 25-Tension spring. Detailed Implementation

[0035] The technical solutions of this application will be further described below with reference to specific embodiments, but this application is not limited to these embodiments.

[0036] like Figures 1 to 10 As shown, this embodiment proposes an adaptive force-controlled gripper, including a mounting base 7, a drive mechanism, a transmission mechanism, and a gripping mechanism; the mounting base 7 is equipped with a transmission mechanism and a drive mechanism, characterized in that: the gripping mechanism has two gripping components, and each gripping component is respectively mounted on the mounting base 7 through a connecting mechanism; the drive mechanism is connected to the connecting mechanism through the transmission mechanism and is used to drive the movement of the connecting mechanism.

[0037] The connecting mechanism includes: a first connecting member 1, a second connecting member 2, a third connecting member 3, a fourth connecting member 4, and a fifth connecting member 5;

[0038] The mounting base 7 is provided with a first connector 1, which is rotatably connected to one end of the second connector 2 and the fifth connector 5 respectively, and the middle part of the fourth connector 4 is rotatably connected to the other end of the fifth connector 5.

[0039] The other end of the second connector 2 is rotatably connected to one end of the third connector 3, the other end of the third connector 3 is rotatably connected to one end of the fourth connector 4, the other end of the fourth connector 4 is provided with a clamping component, and the middle part of the fourth connector 4 is rotatably connected to the other end of the fifth connector 5.

[0040] An elastic member is provided between the second connector 2 and the third connector 3.

[0041] This solution achieves linear adjustment of clamping force through elastic components and a multi-link transmission mechanism, ensuring stable clamping of objects of different materials. The rotational design of the connecting mechanism allows the clamping components to automatically adapt to changes in the shape of the object without manual intervention. When the clamping components clamp the product, irregularities in the product's surface will cause changes in the angle between the two clamping components. At this time, the included angle between the second connecting piece 2 and the third connecting piece 3 will change accordingly. Simultaneously, under the action of the elastic component, the second connecting piece 2 and the third connecting piece 3 can be kept in an elastic tension state, thereby ensuring a uniform distribution of clamping force and avoiding product damage or clamping failure caused by local stress concentration.

[0042] As one implementation method of this embodiment, such as Figure 3 The elastic member shown is a torsion spring 10, or as... Figure 7 The elastic component shown is a tension spring 25. When tension spring 25 is used in the design, one end of tension spring 25 is installed on the second connecting member 2, and the other end of tension spring 25 is installed on the third connecting member 3.

[0043] Furthermore, in this solution, the first connecting member 1 is a fixed frame. A portion of the mounting base 7 can be used as the first connecting member 1, or the first connecting member 1 can be set separately and fixedly installed on the mounting base 7. The first connecting member 1 can be a plate-shaped component.

[0044] In addition, the second connecting member 2, the third connecting member 3, the fourth connecting member 4, and the fifth connecting member 5 are all connecting rods. The connection mechanism in this scheme is a five-bar linkage.

[0045] As one implementation method of this embodiment, such as Figure 1 As shown, a tactile sensor 9 is provided on the clamping surface of the clamping component. It can identify parameters including pressure data, proximity data, slippage data, and material data. It can accurately sense the gripping force, material, and whether there is relative slippage. When approaching the object being gripped, the proximity data can be used to adjust the gripping speed, making the entire gripping process more intelligent and efficient.

[0046] To enhance the gripper's environmental awareness, a vision camera 15 can be fixed on the mounting base 7. The camera can be an RGBD depth camera or a fisheye camera, used to identify the position, shape, and other information of the object being gripped, and work with the tactile sensor 9 to achieve more precise grasping control.

[0047] Furthermore, such as Figure 7 As shown, the fifth connector 5 is provided with a shock-absorbing pad 17.

[0048] As one embodiment of this invention, the transmission mechanism includes a worm 13 and a worm wheel 6; the drive mechanism has an output shaft, which is fixedly connected to the worm 13; one end of the second connecting member 2 is fixed to the worm wheel shaft 21 of the worm wheel 6, and the worm wheel shaft 21 and the second connecting member 2 can be fastened by a key connection, and the worm wheel 6 and the worm 13 are meshed together.

[0049] As one implementation method of this embodiment, such as Figure 6 As shown, the gear in the worm gear 6 is a helical gear.

[0050] The worm gear 13 is fixedly connected to the output shaft of the motor 14. The rotation of the output shaft of the motor 14 drives the worm gear 13 to rotate. The outer circumference of the worm gear 13 is fixed in the clamping housing by the first bearing 18. An identical worm wheel 6 is arranged on each side of the worm gear 13. A third bearing 22 is provided at the end of the worm gear 13. Based on the principle of the misaligned meshing and reverse rotation of the helical gears of the worm wheel 6, when the worm gear 13 rotates, it drives the helical gears on both sides to rotate in the opposite direction, thereby driving the second connecting piece 2 connected to the worm wheel shaft 21 to move in the opposite direction, driving the two clamping components to move in the opposite direction, realizing clamping and releasing. This transmission structure is compact, simple and efficient. It uses only the active degree of freedom provided by the motor 14 to drive the two worm wheel shafts 21 to achieve reverse rotation, achieving the effect of speed reduction and torque increase without the need for an additional speed reduction mechanism.

[0051] Furthermore, the first connector 1 is provided with mounting holes to provide a mounting channel between the worm gear shaft 21 and the second connector 2.

[0052] In one embodiment of this invention, the clamping component is a finger joint 8. Each clamping component includes one or two finger joints 8. There are two sets of five-bar linkages, with one or two five-bar linkages in each set, and each five-bar linkage is used to mount one finger joint 8.

[0053] Furthermore, when there are two five-bar linkages in the same group, the two five-bar linkages can be set at both ends of the worm gear shaft 21.

[0054] The number of phalanges 8 can be two, three, or four.

[0055] like Figure 7 As shown, there are two phalanges, namely the first phalange 8a and the second phalange 8b.

[0056] like Figure 10As shown, there are three joints: the first joint 8a, the second joint 8b, and the third joint 8c. The first joint 8a is mounted on a five-bar linkage. A fourth joint structure can also be added to this five-bar linkage. The fourth joint is not shown in the attached figure. In this way, all four joints can achieve adaptive clamping and irregular gripping, which can better conform to the surface of the object being clamped. The second joint 8b and the third joint 8c are mounted on another five-bar linkage.

[0057] Furthermore, the silicone pad attached to the knuckle 8 provides anti-slip and vibration damping, allowing for better contact with the surface of the object being clamped.

[0058] Combination Figures 1 to 5 As shown, the mounting base 7 includes a base 23 and a housing 16. The housing 16 is mounted on the base 23, and the housing 16 has a mounting cavity inside, which is used to accommodate and mount the drive mechanism and the transmission mechanism.

[0059] Both ends of the worm gear shaft 21 are equipped with second bearings 19 and oil seals 11. The second bearings 19 ensure smooth rotation, and the oil seals 11 ensure a sealing effect on both sides of the worm gear shaft 21. To further improve the overall waterproof performance, sealing rings 12 and oil seals 11 are set at various mating surfaces: the sealing rings 12 can achieve sealing at various positions of the clamp housing, such as the outer shell 24 on the outside of the connecting mechanism, where the sealing ring 12 is set at the mating surface between the outer shell 24 and the mounting base 7; the oil seals 11 can achieve sealing at the position of the worm gear shaft 21. Through multiple sealing designs, the entire machine is waterproof and can be used in harsh environments such as rain and dust, exhibiting better environmental adaptability.

[0060] As one embodiment of this invention, the drive mechanism includes a motor 14.

[0061] As one embodiment of this invention, the drive mechanism further includes an encoder and a servo driver. The encoder is used to monitor the position or speed of the output shaft of the motor 14, and the servo driver is used to connect the motor 14 and the control system.

[0062] Combination Figures 1 to 6 As shown, the worm gear shaft 21 has flat sections 20 on both sides, each flat section 20 being fixedly connected to a second connecting piece 2. The flat sections 20 are used for key connection or direct press-fitting between the mounting ports of the second connecting pieces 2. The rotation of the worm gear shaft 21 drives the second connecting pieces 2 to rotate together. The fit between the worm 13 and the worm gear shaft 21 has a certain reduction ratio, which can reduce the rotational speed at the flat section 20 position of the worm gear shaft 21 and increase the torque at the output end. The second connecting piece 2 and the third connecting piece 3 are connected by a rotating shaft, and the relative positions between the second connecting piece 2 and the third connecting piece 3 are kept fixed by the torsion spring 10 and structural limiting.

[0063] The adaptive gripper in this embodiment has multiple gripping modes, including parallel gripping, adaptive gripping, and irregular gripping modes.

[0064] The parallel clamping mode is as follows:

[0065] like Figure 8 As shown, the fourth connector 4 is required to be the same length as the first connector 1, and the fifth connector 5 is required to be the same length as the virtual connector. The virtual connector is formed by the shortest line connecting the beginning and end of the second connector 2 and the third connector 3. When the product is clamped, the second connector 2 and the third connector 3 maintain a fixed relative position. At this time, the five-bar linkage is similar to a parallelogram-shaped four-bar linkage.

[0066] The adaptive clamping modes are as follows:

[0067] like Figure 9 As shown, the product first contacts the fifth connector 5. At this point, the movement of the fifth connector 5 is stopped, while the end of the fourth connector 4 continues to move, causing the angle between the second connector 2 and the third connector 3 to increase. Simultaneously, the torsion spring 10 between the second connector 2 and the third connector 3 is compressed, achieving adaptive clamping of the product. When released, the restoring torque of the torsion spring 10 forces the angle between the second connector 2 and the third connector 3 to decrease until the restoring force of the torsion spring 10 balances the mechanical limit.

[0068] The irregular clamping modes are as follows:

[0069] like Figure 10 As shown, if the clamping component clamps the product and the object being clamped is irregular, the second phalanx 8b and the third phalanx 8c will better conform to the surface of the object during the clamping process, ensuring a more stable clamping.

[0070] In addition, this application also proposes a robot, including the aforementioned adaptive force-controlled gripper, which is specifically installed on the robot's robotic arm to form a complete robot system, enabling stable grasping and handling of objects of different shapes and materials.

[0071] For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. An adaptive force-controlled gripper, comprising a mounting base (7), a drive mechanism, a transmission mechanism, and a gripping mechanism; wherein the transmission mechanism and the drive mechanism are mounted on the mounting base (7), characterized in that: The clamping mechanism has two clamping components, and each clamping component is mounted on the mounting base (7) through a connecting mechanism. The driving mechanism is connected to the connecting mechanism through the transmission mechanism and is used to drive the connecting mechanism to move. The connecting mechanism includes: a first connector (1), a second connector (2), a third connector (3), a fourth connector (4), and a fifth connector (5); The mounting base (7) is provided with the first connector (1), and the first connector (1) is rotatably connected to one end of the second connector (2) and the fifth connector (5) respectively. The middle part of the fourth connector (4) is rotatably connected to the other end of the fifth connector (5). The other end of the second connector (2) is rotatably connected to one end of the third connector (3), the other end of the third connector (3) is rotatably connected to one end of the fourth connector (4), the other end of the fourth connector (4) is provided with the clamping component, and the middle part of the fourth connector (4) is rotatably connected to the other end of the fifth connector (5). An elastic member is provided between the second connector (2) and the third connector (3).

2. The adaptive force-controlled gripper according to claim 1, characterized in that: The elastic member is a torsion spring (10) or a tension spring (25).

3. The adaptive force-controlled gripper according to claim 1, characterized in that: The transmission mechanism includes a worm (13) and a worm wheel (6); the drive mechanism has an output shaft, which is fixedly connected to the worm (13); one end of the second connecting member (2) is fixed on the worm wheel shaft (21) of the worm wheel (6), and the worm wheel (6) and the worm (13) are meshed together.

4. The adaptive force-controlled gripper according to claim 3, characterized in that: The gear in the worm gear (6) is a helical gear.

5. The adaptive force-controlled gripper according to claim 1, characterized in that: The drive mechanism includes a motor (14).

6. The adaptive force-controlled gripper according to claim 5, characterized in that: The drive mechanism also includes an encoder and a servo driver. The encoder is used to monitor the position or speed of the output shaft of the motor (14). The servo driver is used to connect the motor (14) and the control system.

7. The adaptive force-controlled gripper according to claim 1, characterized in that: The clamping component is a finger joint (8).

8. The adaptive force-controlled gripper according to claim 1, characterized in that: A tactile sensor (9) is provided on the clamping surface of the clamping component.

9. The adaptive force-controlled gripper according to claim 1, characterized in that: The mounting base (7) includes a base (23) and a housing (16). The housing (16) is mounted on the base (23) and has an installation cavity inside. A sealing ring (12) is provided at the joint surface of the housing (16) and the base (23).

10. A robot, characterized in that, Includes the adaptive force-controlled gripper as described in any one of claims 1 to 9.

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