High-response two-fingered gripper

Abstract

The utility model discloses a high response two finger clamping jaw belongs to robot technical field, including finger subassembly, transmission component, drive motor and casing, drive motor and finger direction parallel arrangement, transmission component adopts 45 degree helical gear set cooperation left and right idler wheel and realizes power transmission, and finger subassembly is through parallelogram link structure, slidable finger pulp and the articulated fingertip of spring torsional spring constitution, this clamping jaw has solved traditional clamping jaw transmission efficiency low, response slow, the problem of structure hypertrophy, has the advantages of transmission high efficiency, compact structure, response fast and self -adaptation clamping, can adapt to humanoid robot and industrial automation equipment's space limited scene and high -precision operation demand.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a high-response two-finger gripper. Background Technology

[0002] In the field of robotics, two-finger grippers, as core actuators in humanoid robots and industrial automation equipment, directly impact the operational efficiency and application range of these devices due to their response speed, gripping accuracy, adaptability, and structural compactness. Existing two-finger grippers generally employ T-screw or worm gear transmission structures. These transmission methods have significant drawbacks: T-screw transmission efficiency is typically below 30%, and worm gear transmission efficiency is less than 50%, resulting in high energy loss and poor torque transparency, making it difficult to achieve rapid response and precise force control. While some grippers use ball screw transmissions to improve efficiency (reaching around 90%), the pitch design of the ball screw limits the fingertip movement speed, failing to meet the application requirements of humanoid robots simulating rapid human finger movements.

[0003] In terms of structural layout, the traditional gripper's drive motor and gear transmission components lack coordinated design in their axis arrangement. They often adopt an arrangement where the drive motor output shaft is perpendicular to the finger direction, coupled with multiple sets of non-parallel axis gear transmission structures. This results in a large overall gripper size and low space utilization, which not only affects the device's appearance coordination but also makes it difficult to adapt to space-constrained installation scenarios such as humanoid robot arms.

[0004] To address the aforementioned issues, existing technologies urgently need improvement. Utility Model Content

[0005] The purpose of this invention is to solve the above-mentioned technical problems and propose a high-response two-finger gripper, which has the advantages of high transmission efficiency, compact structure and fast response speed.

[0006] This utility model provides the following technical solution: a high-response two-finger gripper, comprising a finger assembly, a transmission assembly, a drive motor, and a housing; the transmission assembly includes an input helical gear, a helical intermediate gear, an output helical gear, a left idler gear, and a right idler gear; the drive motor and its output shaft are parallel to the finger direction of the finger assembly; the drive motor is connected to the input helical gear; the input helical gear meshes with the helical intermediate gear; the axis of the helical intermediate gear is perpendicular to the axis of the input helical gear; the helical intermediate gear meshes with the output helical gear; the axis of the output helical gear is parallel to the axis of the helical intermediate gear; the output helical gear is coaxially arranged with the right idler gear; the right idler gear meshes with the left idler gear; the finger assembly includes an output gear; the left and right idler gears mesh with the corresponding output gears; the left and right idler gears have the same module, and the left and right idler gears match the module of the corresponding output gears; the housing includes an upper housing and a lower housing; the transmission assembly and the drive motor are both installed inside the housing.

[0007] Furthermore, this application also proposes that the finger assembly further includes a main swing arm, a secondary swing arm, a support base, a fingertip, and a finger pad; the output gear is fixedly connected to the main swing arm, the ends of the main swing arm and the secondary swing arm near the output gear are respectively hinged to the housing, and the ends of the main swing arm and the secondary swing arm away from the output gear are both hinged to the support base, forming a parallelogram linkage structure in which the main swing arm and the secondary swing arm have the same length and the distance between the hinge points at both ends is equal; the finger pad is connected to the middle area of ​​the support base through a guide structure and can move linearly relative to the support base, one end of the fingertip is hinged to the side of the finger pad away from the support base, and the other end is hinged to the end of the support base away from the main swing arm.

[0008] Furthermore, this application also proposes that a torsion spring is provided at the hinge between the fingertip and the support, with the two ends of the torsion spring abutting against the fingertip and the support respectively.

[0009] Furthermore, this application also proposes that the guide structure includes a guide rod, a spring, and a guide post embedded inside the fingertip. The guide rod is connected to the support base, the upper part of the guide rod is hollow, the guide post is nested inside the guide rod, the spring is sleeved on the outside of the guide rod, and the two ends of the spring abut against the support base and the upper part of the guide post, respectively, and the fingertip can slide along the guide rod.

[0010] Furthermore, this application also proposes that the surfaces of both the fingertips and finger pads are covered with a rubber layer and have been processed with anti-slip textures.

[0011] Furthermore, this application also proposes that the input helical gear, intermediate helical gear, and output helical gear are all 45° helical teeth.

[0012] Compared with the prior art, the beneficial effects achieved by this utility model are as follows: This utility model significantly improves transmission efficiency and response speed by using a 45° helical gear set with a short-path transmission structure, solving the problem of low efficiency and slow response of traditional grippers; the drive motor is arranged parallel to the finger direction, combined with an optimized gear axis layout, to achieve a compact structure that is suitable for installation scenarios with limited space; the parallelogram linkage structure of the finger component, the adaptive fingertip with torsion spring and the sliding finger pad, combined with an anti-slip rubber layer, not only ensures clamping accuracy and stability, but also flexibly adapts to objects of different shapes, avoiding slippage or damage, and the overall design combines the advantages of high efficiency, compactness, precision and adaptive clamping. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the overall structure of the two-finger gripper of this utility model. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the two-finger gripper of this utility model. Figure 2 ; Figure 3 This utility model Figure 2 A cross-sectional view along the AA direction; Figure 4 This is an exploded view of the overall structure of the two-finger gripper of this utility model; Figure 5 This is an exploded view of the overall structure of the finger assembly of this utility model; Figure 6 This is a schematic diagram of the closed state of the finger assembly of this utility model; Figure 7 This is a schematic diagram of the open state of the finger assembly of this utility model; Figure 8 This is a schematic diagram of the adaptive state of the finger component of this utility model.

[0015] In the diagram: 100, finger assembly; 110, output gear; 120, main swing arm; 130, secondary swing arm; 140, support base; 150, fingertip; 160, fingertip; 151, guide rod; 152, spring; 153, guide post; 161, torsion spring; 200. Transmission assembly; 210. Left idler gear; 220. Right idler gear; 230. Output helical gear; 240. Intermediate helical gear; 250. Input helical gear; 300, drive motor; 400, housing; 410, lower housing; 420, upper housing. Detailed Implementation

[0016] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0017] Please see the appendix Figure 1-5 One embodiment of this utility model is a high-response two-finger gripper, which includes a finger assembly 100, a transmission assembly 200, a drive motor 300, and a housing 400.

[0018] The transmission assembly 200 includes an input helical gear 250, an intermediate helical gear 240, an output helical gear 230, a left idler gear 210, and a right idler gear 220. The drive motor 300 and its output shaft are parallel to the finger direction of the finger assembly 100. The drive motor 300 is connected to the input helical gear 250. The input helical gear 250 meshes with the intermediate helical gear 240. The axis of the intermediate helical gear 240 is perpendicular to the axis of the input helical gear 250. The intermediate helical gear 240 meshes with the output helical gear 230. The axis of the output helical gear 230 is parallel to the axis of the intermediate helical gear 240. The output helical gear 230 and the right idler gear 220 are arranged coaxially via a pin. The right idler gear 220 meshes with the left idler gear 210.

[0019] The output shaft of the drive motor 300 is arranged parallel to the finger direction of the finger assembly 100, and transmits power to the input helical gear 250 via a transmission connection. The input helical gear 250 meshes with the intermediate helical gear 240, wherein the axis of the intermediate helical gear 240 is perpendicular to the axis of the input helical gear 250, thereby achieving efficient conversion of power direction. The intermediate helical gear 240 further meshes with the output helical gear 230, the axis of the output helical gear 230 being parallel to the axis of the intermediate helical gear 240, thereby simplifying the power transmission path and optimizing the internal space layout.

[0020] The output helical gear 230 and the right idler gear 220 are arranged coaxially. The right idler gear 220 meshes with the left idler gear 210, forming a linkage mechanism on both sides. The left idler gear 210 and the right idler gear 220 mesh with the output gear 110 on the corresponding side, transmitting power to the finger assembly 100 to drive the fingers to perform opening and closing actions. This design ensures the consistency of movement on both sides, improving the reliability of the gripping action. It guarantees the synchronicity and stability of the output end rotation, reduces transmission errors, and improves action accuracy. Thus, it not only solves the problems of low transmission efficiency and slow response speed of traditional grippers, but also achieves a compact structure, adapting to the needs of space-constrained scenarios.

[0021] The finger assembly 100 includes an output gear 110, with a left idler gear 210 and a right idler gear 220 meshing with the output gear 110 on their respective sides. The housing 400 includes an upper housing 420 and a lower housing 410. The transmission assembly 200 and the drive motor 300 are both installed inside the housing 400. The upper housing 420 and the lower housing 410 of the housing 400 can be assembled by bolt connection or snap-fit ​​structure.

[0022] Through the above structural design, the overall device achieves a compact layout, avoiding the additional space occupation problem caused by the traditional vertical axis design. At the same time, the drive motor 300 is directly connected to the input helical gear 250, reducing intermediate transmission links, improving power transmission efficiency, and reducing energy loss.

[0023] like Figure 2-5 As shown, this application further proposes a specific structure for the finger assembly 100, which includes a main swing arm 120, a secondary swing arm 130, a support base 140, a fingertip 160, and a finger pad 150. The output gear 110 is fixedly connected to the main swing arm 120. The ends of the main swing arm 120 and the secondary swing arm 130 near the output gear 110 are respectively hinged to the housing 400, and the ends of the main swing arm 120 and the secondary swing arm 130 away from the output gear 110 are both hinged to the support base 140, forming a parallelogram linkage structure where the main swing arm 120 and the secondary swing arm 130 have the same length and the distance between their hinge points is equal. The finger pad 150 is connected to the middle region of the support base 140 via a guide structure and can move linearly relative to the support base 140. One end of the fingertip 160 is hinged to the side of the finger pad 150 away from the support base 140, and the other end is hinged to the end of the support base 140 away from the main swing arm 120.

[0024] Specifically, the main swing arm 120 and the auxiliary swing arm 130 are of the same length. The distance between the hinge points at both ends of the main swing arm 120 is equal to the distance between the hinge points at both ends of the auxiliary swing arm 130. Furthermore, the hinge points of the main swing arm 120, the auxiliary swing arm 130, the output gear 110, and the support base 140 are coplanar. The main swing arm 120 is a rigid connecting component, which can be made of metal plates or high-strength composite materials. Its purpose is to convert the rotational motion of the output gear 110 into a swinging motion. The auxiliary swing arm 130 is a linkage component used in conjunction with the main swing arm 120. It can be hinged to the housing 400 and the support base 140 via pins or bearings, thereby ensuring that the two maintain a synchronous relationship during movement. The support base 140 is the core load-bearing component of the entire finger assembly 100. It can be designed as a frame structure or a block structure for installing and fixing other moving parts. A guide mechanism is embedded inside the fingertip 150 to achieve a sliding function. The Fingertip 160 is an end effector that uses a dual-hinged layout to enable fine-tuning, thereby optimizing the clamping effect.

[0025] like Figure 5 As shown, this application further proposes an improved solution for the above-mentioned two-finger gripper, wherein a torsion spring 161 is provided at the hinge between the fingertip 160 and the support seat 140, and the two ends of the torsion spring 161 abut against the fingertip 160 and the support seat 140 respectively.

[0026] Specifically, the torsion spring 161 can be implemented in different forms, such as a cylindrical torsion spring or a double torsion arm torsion spring. In practical applications, the purpose of the torsion spring 161 is to provide controllable elastic force, enabling the fingertip 160 to generate appropriate rotational displacement when force is applied and to quickly return to its original position when the external force is removed. This technical solution significantly improves the compliance and adaptive gripping capability of the gripper. Based on the overall structural design of the finger assembly 100, the torsion spring 161 allows the fingertip 160 to flexibly adjust according to minute changes in the object's surface during gripping, avoiding slippage or damage caused by rigid impact. While achieving rapid response, the gripper can better adapt to the gripping needs of objects of different shapes, effectively solving the gripping instability problem caused by rigid connections.

[0027] like Figure 5 As shown, this application further proposes a guide structure consisting of a guide rod 151, a spring 152, and a guide post 153 embedded inside the fingertip 150. The guide rod 151 is hinged to the support base 140. The upper part of the guide rod 151 is hollow. The guide post 153 is nested inside the guide rod 151. The spring 152 is sleeved on the outside of the guide rod 151. The two ends of the spring 152 abut against the support base 140 and the upper part of the guide post 153, respectively. The fingertip 150 can slide along the guide rod 151.

[0028] Specifically, the guide rod 151 is a guide element with a fixed axis, which can be implemented as a cylindrical metal rod or a rectangular cross-section guide rail, and its purpose is to provide a stable sliding reference for the fingertip 150. The spring 152 is a compression spring or a corrugated spring, and its purpose is to absorb impact energy and provide a restoring force through elastic deformation. The guide post 153 is a sliding element used in conjunction with the guide rod 151, and it can be a solid metal post, its purpose being to ensure smooth and unobstructed sliding. When the fingertip 150 contacts an object and is compressed, the fingertip 150 rotates around the hinge point of the support seat with the guide structure, while the fingertip 150 slides linearly along the guide rod and the spring 152 stretches. When releasing the object, the spring 152 provides a uniform restoring force, achieving dynamic adjustment of the clamping force. This design relies on the synergistic effect of the guide rod 151 and the spring 152, allowing the fingertip 150 to automatically adapt to the surface contour when clamping irregular objects, adjusting the contact point in real time according to the object's shape, maintaining uniform pressure distribution, and significantly improving clamping stability and responsiveness to subtle changes.

[0029] This application further proposes that the surfaces of the fingertips 160 and finger pads 150 are covered with a rubber layer and both surfaces are processed with anti-slip textures. The rubber layer refers to a layer of elastomeric material covering the surface of the substrate, which can be made of polymer materials such as natural rubber, silicone, or polyurethane. The rubber layer can generate a large static friction force in the initial clamping stage, thereby reducing the possibility of object slippage, which is particularly important for achieving rapid response. Through its unique elasticity and deformation capacity, the rubber layer allows the grippers to better conform to the surface contour of the object being gripped, not only providing additional gripping force but also acting as a cushioning effect, making the clamping process more stable.

[0030] This application further proposes that the input helical gear 250, intermediate helical gear 240, and output helical gear 230 are all 45° helical teeth. The input helical gear 250 refers to the gear structure that is connected to the output shaft of the drive motor 300. Its 45° helical tooth design enables a continuous meshing line, ensuring uniform torque distribution during power transmission. The intermediate helical gear 240 can be understood as a gear structure that plays a key role in the vertical shaft transmission. Its 45° helical tooth design balances the axial force component. This design reduces the impact load during startup and speed change, aiming to optimize power transmission characteristics, improve the overall response performance of the gripper, avoid bearing wear and vibration caused by excessive force on one side, make torque transmission more efficient, and thus improve the action response speed and precise control capability of the finger assembly.

[0031] Working principle After the drive motor 300 starts, the power is transmitted to the input helical gear 250 through the output shaft. The power direction is efficiently converted by meshing with the helical intermediate gear 240 perpendicular to the axis. The power is then transmitted to the coaxial right idler gear 220 through the output helical gear 230 parallel to the axis. The right idler gear 220 meshes with the left idler gear 210, driving the output gears 110 on both sides to rotate synchronously in opposite directions, providing the power basis for the opening and closing of the finger assembly 100.

[0032] The output gear 110 is fixedly connected to the main swing arm 120. Its rotation drives the main swing arm 120 to swing around the hinge point of the housing 400. Relying on the parallelogram linkage structure formed by the main swing arm 120 and the auxiliary swing arm 130, the main swing arm 120 and the auxiliary swing arm 130 work together to drive the support base 140 and the fingertips 150 and 160 at the ends to move synchronously: when the output gear 110 rotates in the forward direction, the main swing arm 120 and the auxiliary swing arm 130 swing inward, causing the fingertips 150 and 160 to move closer to each other and enter the auxiliary... Figure 6 The closed state shown completes the clamping action; when the output gear 110 rotates in the reverse direction, the main swing arm 120 and the auxiliary swing arm 130 swing outward, and the fingertips 150 and 160 move away from each other, switching to the auxiliary position. Figure 7 The open state shown indicates that the clamped object is released.

[0033] During the clamping process, if an irregularly shaped object is encountered, the finger component 100 will enter the attachment. Figure 8 The adaptive state is shown as follows: After the fingertip 150 contacts the object, it is subjected to pressure and slides linearly along the guide rod 151, compressing the spring 152. The elastic deformation of the spring 152 buffers the pressure and dynamically adjusts the clamping force. At the same time, the fingertip 160 rotates flexibly around the hinge point between the support base 140 and the fingertip 150 under the elastic action of the torsion spring 161, adaptively conforming to the surface contour of the object and avoiding excessive local force that could cause the object to slip or be damaged. The anti-slip rubber layer and texture on the surfaces of the fingertip 160 and the fingertip 150 further enhance friction and improve clamping stability. When the object is released, the spring 152 and the torsion spring 161 reset synchronously, causing the fingertip 150 to return to its initial position along the guide rod 151, and the fingertip 160 to return to its initial angle. The entire mechanism completes one complete clamping-release cycle, achieving an efficient, precise, and flexible operation process.

[0034] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A high-response two-finger gripper, characterized in that, The device includes a finger assembly (100), a transmission assembly (200), a drive motor (300), and a housing (400). The transmission assembly (200) includes an input helical gear (250), a helical intermediate gear (240), an output helical gear (230), a left idler gear (210), and a right idler gear (220). The drive motor (300) is parallel to the finger direction of the finger assembly (100). The drive motor (300) is connected to the input helical gear (250) for transmission. The input helical gear (250) meshes with the helical intermediate gear (240). The axis of the helical intermediate gear (240) is perpendicular to the axis of the input helical gear (250). The intermediate gear (240) meshes with the output helical gear (230), the axis of the output helical gear (230) is parallel to the axis of the helical intermediate gear (240), the output helical gear (230) is coaxially arranged with the right idler gear (220), and the right idler gear (220) meshes with the left idler gear (210); the finger assembly (100) includes an output gear (110), and the left idler gear (210) and the right idler gear (220) mesh with the output gear (110) on the corresponding side respectively; the housing (400) includes an upper housing (420) and a lower housing (410), and the transmission assembly (200) and the drive motor (300) are both installed in the housing (400).

2. The high-response two-finger gripper according to claim 1, characterized in that, The finger assembly (100) further includes a main swing arm (120), a secondary swing arm (130), a support base (140), a fingertip (160), and a finger pad (150); the output gear (110) is fixedly connected to the main swing arm (120), and the ends of the main swing arm (120) and the secondary swing arm (130) near the output gear (110) are respectively hinged to the housing (400), while the ends of the main swing arm (120) and the secondary swing arm (130) away from the output gear (110) are both connected to the support base (140). 140) Hinged together to form a parallelogram connecting rod structure in which the main swing arm (120) and the auxiliary swing arm (130) have the same length and the distance between the hinge points at both ends is equal; the fingertip (150) is connected to the middle area of ​​the support seat (140) through the guide structure and can slide linearly relative to the support seat (140); one end of the fingertip (160) is hinged to the side of the fingertip (150) away from the support seat (140), and the other end is hinged to the end of the support seat (140) away from the main swing arm (120).

3. A high-response two-finger gripper according to claim 2, characterized in that, A torsion spring (161) is provided at the hinge between the fingertip (160) and the support base (140), with the two ends of the torsion spring (161) abutting against the fingertip (160) and the support base (140) respectively.

4. A high-response two-finger gripper according to claim 2, characterized in that, The guide structure consists of a guide rod (151), a spring (152), and a guide post (153) embedded inside the fingertip (150). The guide rod (151) is hinged to the support seat (140). The upper part of the guide rod (151) is hollow. The guide post (153) is nested inside the guide rod (151). The spring (152) is sleeved on the outside of the guide rod (151). The two ends of the spring (152) abut against the support seat (140) and the upper part of the guide post (153) respectively. The fingertip (150) can slide along the guide rod (151).

5. A high-response two-finger gripper according to claim 2, characterized in that, Both the fingertips (160) and the finger pads (150) are covered with a rubber layer and have anti-slip textures.

6. A high-response two-finger gripper according to claim 1, characterized in that, The input helical gear (250), the intermediate helical gear (240), and the output helical gear (230) are all 45° helical teeth.

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