A composite mechanical arm gripper device and robot

Abstract

The application discloses a composite mechanical arm gripper device and belongs to the technical field of robot grippers.When the driving mechanism drives the linkage mechanism to move, the mechanical gripper is combined, and the suction cup is lifted upward at the same time.When the driving mechanism drives the linkage mechanism to move again, the mechanical gripper is opened, and the suction cup is stretched downward at the same time.In a conventional state, the mechanical gripper is opened, and the suction cup is stretched downward;ordinary materials are only adsorbed and carried by using the suction cup;when adsorption fails, the mechanical gripper is combined, and the mode can be automatically switched to the clamping mode seamlessly.The scheme not only significantly expands the type range of the materials that can be handled, covers various materials such as metal pieces, cartons and cloth, but also reduces the weight of the tail end through structure optimization, improves the response speed, and makes the switching of the adsorption and clamping modes shorter.Therefore, the operation reliability is improved, the manufacturing cost is reduced, and an efficient and reliable solution is provided for complex logistics sorting scenes.

Description

Technical Field

[0001] This application relates to the field of robot gripper technology, and in particular to a composite robotic arm gripper device and robot. Background Technology

[0002] The increasingly complex and diverse scenarios in logistics sorting and handling place higher demands on the versatility, adaptability, and robustness of gripper mechanisms. Existing end effectors for sorting and handling robotic arms mainly employ two types of solutions: suction cup and mechanical gripping. Suction cup solutions use silicone or sponge suction cups to create a vacuum negative pressure to adsorb objects. While offering advantages such as light end-load, fast response, and simple structure, they are highly dependent on the surface characteristics of the material and struggle to stably grip breathable materials (such as fabrics), irregularly shaped objects, or materials contaminated with oil, thus limiting their adaptability. Mechanical gripping solutions rely on gripper mechanisms to apply mechanical clamping force. They are highly adaptable to the surface characteristics of materials (breathability, coating, contamination), but are limited by their clamping range, making it difficult to cover large-sized materials (such as micro-components and large boxes). Furthermore, precise planning of clamping points, clamping forces, and clamping strokes is required. When dealing with materials with complex shapes, random postures, or unknown states, control complexity is high, and failures are common. Additionally, the longer clamping time reduces handling efficiency. Utility Model Content

[0003] This application provides a composite robotic arm gripper device and robot. It solves the problem of poor adaptability of existing robotic arm end effectors. The technical solution is as follows: On the one hand, a composite robotic arm gripper device is provided, including: a support base, a drive mechanism, a linkage mechanism, a suction cup, and a set of two grippers arranged opposite to each other; The drive mechanism is mounted on the support base, and the linkage mechanism is mounted on the support base and is connected to the drive mechanism in a transmission manner; The two opposing grippers and the suction cup are both connected to the linkage mechanism, and the suction cup is distributed between the two opposing grippers; the two opposing grippers have an open state and a closed state, and the suction cup has an extended state and a retracted state. The linkage mechanism is configured such that, when the driving mechanism drives a set of two oppositely arranged grippers to switch from an open state to a closed state, it simultaneously drives the suction cup to switch from an extended state to a retracted state; or, when the driving mechanism drives a set of two oppositely arranged grippers to switch from a closed state to an open state, it simultaneously drives the suction cup to switch from a retracted state to an extended state.

[0004] Optionally, the linkage mechanism includes two sub-linkage components that are oppositely arranged to the two grippers arranged in a set of opposite directions, and the drive mechanism includes two sub-drive components that are respectively drivenly connected to the two sub-linkage components; wherein at least a portion of each sub-linkage component is distributed between one side of the corresponding gripper and suction cup, and is drivenly connected to one side of both the gripper and suction cup.

[0005] Optionally, the sub-linkage assembly includes: a reuse rotating shaft and a transmission linkage group, wherein the extension direction of each reuse rotating shaft is perpendicular to the arrangement direction of the two reuse rotating shafts, and the transmission linkage group and the sub-drive assembly are respectively located on both sides of the axis of the reuse rotating shaft; the connecting end of the gripper is fastened to the reuse rotating shaft, one end of the transmission linkage group is fastened to the reuse rotating shaft, and the other end of the transmission linkage group is hinged to the side of the suction cup; The drive end of the sub-drive component is connected to the multiplex rotating shaft to drive the gripper to swing during the rotation of the multiplex rotating shaft, and to drive the suction cup to rise and fall through the transmission linkage group.

[0006] Optionally, the transmission linkage assembly includes: a first linkage and a second linkage, one end of the first linkage being fastened to the reuse shaft, the other end of the first linkage being hinged to one end of the second linkage, and the other end of the second linkage being hinged to the side of the suction cup.

[0007] Optionally, the sub-linkage assembly has two transmission linkage groups arranged side by side.

[0008] Optionally, the sub-drive assembly includes a drive telescopic member and a swing arm. The drive telescopic member is installed on the edge of the support base, one end of the swing arm is securely sleeved with a reused pivot, and the other end of the swing arm is hinged to the telescopic end of the drive telescopic member.

[0009] Optionally, the linkage mechanism, the suction cup, and a set of two opposing grippers are all located on the same side of the support base.

[0010] Optionally, the composite robotic arm gripper device further includes a negative pressure sensor, which is connected to the suction cup via a conduit.

[0011] Optionally, the negative pressure sensor is electrically connected to the drive mechanism, which is used to drive the linkage mechanism to move after the negative pressure sensor detects that the suction cup has failed, so as to drive a set of two oppositely arranged grippers to switch to a merged state.

[0012] On the other hand, a robot is provided, which is equipped with any of the composite robotic arm gripper devices given above.

[0013] The beneficial effects of the technical solutions provided in this application include at least the following: The composite robotic arm gripper device features an integrated, compact design with the suction cup positioned between two grippers. A linkage mechanism enables dual-action coupling, requiring only a single power source to drive the mechanism and complete the dual-function switching. This significantly simplifies the transmission structure, reduces manufacturing costs, and lowers end-effector weight. In terms of overall performance, the compact design reduces end-effector load to improve the robotic arm's mobility, while simplifying control logic and reducing system integration complexity and energy consumption.

[0014] For example, when the drive mechanism drives the linkage mechanism, the mechanical grippers close, simultaneously lifting the suction cup upwards. When the drive mechanism drives the linkage mechanism again, the mechanical grippers open, simultaneously extending the suction cup downwards. Under normal conditions, the mechanical grippers are open and the suction cup is extended downwards; ordinary materials are simply adsorbed and transported using the suction cup. When adsorption fails, the mechanical grippers close, automatically and seamlessly switching to clamping mode. It features a dual guarantee mechanism of adsorption priority and clamping backup. This solution not only significantly expands the range of materials that can be handled, covering various materials such as metal parts, cardboard boxes, and fabrics, but also reduces end-point weight through structural optimization, improves response speed, and shortens the switching time between adsorption and clamping modes. Thus, while improving operational reliability, it reduces manufacturing costs, providing an efficient and reliable solution for complex logistics sorting scenarios. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is an isometric view of a composite robotic arm gripper device provided in an embodiment of this application; Figure 2 This is an isometric view of a composite robotic arm gripper device provided in an embodiment of this application from another perspective; Figure 3 This is a schematic diagram illustrating the effect of the gripper engaging and the suction cup retracting in a composite robotic arm gripper device provided in this application embodiment; Figure 4 This is a schematic diagram illustrating the effect of the gripper opening and suction cup extending of a composite robotic arm gripper device provided in this application embodiment; Figure 5 This is a schematic diagram of another composite robotic arm gripper device provided in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of another composite robotic arm gripper device provided in the embodiments of this application; Figure 7This is a schematic diagram of the gripper engaging and suction cup retracting in a composite robotic arm gripper device provided in this application embodiment.

[0017] The components include a support base 100, a drive mechanism 200, a linkage mechanism 300, a suction cup 400, a gripper 500, a sub-linkage assembly 301, a sub-drive assembly 201, a reusable rotating shaft 301a, a transmission linkage group 301b, a first link L1, a second link L2, a drive telescopic component 201a, and a swing arm 201b.

[0018] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0020] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0021] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , Figure 1 This is an isometric view of a composite robotic arm gripper device provided in an embodiment of this application. Figure 2 This is an isometric view from another perspective of a composite robotic arm gripper device provided in an embodiment of this application. Figure 3 This is a schematic diagram illustrating the effect of the gripper engaging and the suction cup retracting in a composite robotic arm gripper device according to an embodiment of this application. Figure 4 This is a schematic diagram illustrating the effect of the grippers opening and the suction cup extending in a composite robotic arm gripper device according to an embodiment of this application. The composite robotic arm gripper device may include: a support base 100, a drive mechanism 200, a linkage mechanism 300, a suction cup 400, and a set of two grippers 500 arranged opposite each other.

[0022] In the composite robotic arm gripper device, the drive mechanism 200 is mounted on the support base 100, and the linkage mechanism 300 is mounted on the support base 100 and is connected to the drive mechanism 200 for transmission.

[0023] A set of two opposing grippers 500 and a suction cup 400 can both be connected to the linkage mechanism 300, with the suction cup 400 distributed between the two opposing grippers 500. The two opposing grippers 500 can be in an open or closed state, and the suction cup 400 can be in an extended or retracted state. Here, the two opposing grippers 500 can be arranged horizontally, and the suction cup can move vertically when switching between the extended and retracted states.

[0024] The linkage mechanism 300 can be configured such that, when the drive mechanism 200 drives two opposing grippers 500 from an open state to a closed state, it simultaneously drives the suction cup 400 from an extended state to a retracted state. Alternatively, when the drive mechanism 200 drives two opposing grippers 500 from a closed state to an open state, it simultaneously drives the suction cup 400 from a retracted state to an extended state.

[0025] In this embodiment, the composite robotic arm gripper device adopts an integrated and compact design, with the suction cup positioned between two grippers 500. Dual-action coupling is achieved through a linkage mechanism 300. Only a single power source drive mechanism 200 is needed to complete the dual-function switching between the grippers and the suction cup, significantly simplifying the transmission structure and reducing manufacturing costs and end-effector weight. In terms of overall performance, the compact design reduces end-effector load to improve the robotic arm's movement flexibility, while simplifying control logic and reducing system integration complexity and energy consumption.

[0026] For example, when the drive mechanism 200 drives the linkage mechanism 300, the mechanical gripper 500 closes, simultaneously lifting the suction cup 400 upwards. When the drive mechanism 200 drives the linkage mechanism 300 again, the mechanical gripper 500 opens, simultaneously extending the suction cup 400 downwards. Under normal conditions, the mechanical gripper 500 is open and the suction cup 400 is extended downwards; ordinary materials are handled using only the suction cup 400. When adsorption fails, the mechanical gripper 500 closes, automatically and seamlessly switching to clamping mode. This provides a dual guarantee mechanism of adsorption priority and clamping backup. This solution not only significantly expands the range of materials that can be handled, covering various materials such as metal parts, cardboard boxes, and fabrics, but also reduces end-point weight through structural optimization, improves response speed, and shortens the switching time between adsorption and clamping modes. Thus, while improving operational reliability, it reduces manufacturing costs, providing an efficient and reliable solution for complex logistics sorting scenarios.

[0027] In summary, this application provides a composite robotic arm gripper device, which may include: a support base, a drive mechanism, a linkage mechanism, a suction cup, and a set of two grippers arranged opposite each other. When the drive mechanism drives the linkage mechanism to move, the mechanical grippers close together, simultaneously lifting the suction cup upwards; when the drive mechanism drives the linkage mechanism to move again, the mechanical grippers open, simultaneously extending the suction cup downwards. In normal operation, the mechanical grippers are open and the suction cup is extended downwards, and ordinary materials are only adsorbed and transported using the suction cup. When adsorption fails, the mechanical grippers close together, automatically and seamlessly switching to the gripping mode. It has a dual guarantee mechanism of adsorption priority and gripping backup. This solution not only significantly expands the range of materials that can be processed, covering various materials such as metal parts, cardboard boxes, and fabrics, but also reduces the end-effector weight through structural optimization, improves response speed, and shortens the switching time between adsorption and gripping modes. Thus, while improving operational reliability, it reduces manufacturing costs, providing an efficient and reliable solution for complex logistics sorting scenarios.

[0028] Optional, such as Figures 1-4 As shown, the linkage mechanism 300 in the composite robotic arm gripper device may include two oppositely arranged sub-linkage components 301 corresponding to two oppositely arranged grippers. The drive mechanism 200 may include two sub-drive components 201 respectively connected to the two sub-linkage components 301. At least a portion of each sub-linkage component 301 is distributed between one side of the corresponding gripper 500 and suction cup 400, and can be connected to one side of both the gripper 200 and suction cup 400. Thus, by cooperating with the two sub-linkage components 301, the two grippers 500 and suction cup 400 are driven, i.e., each set of sub-drive components 201, sub-linkage components 301, and grippers 500 is integrated, improving control flexibility and ease of maintenance.

[0029] In the embodiments of this application, please refer to Figure 5 , Figure 6 and Figure 7 , Figure 5 This is a schematic diagram of another composite robotic arm gripper device provided in an embodiment of this application. Figure 6 This is a schematic diagram of the structure of another composite robotic arm gripper device provided in the embodiments of this application. Figure 7This is a schematic diagram of the gripper engagement and suction cup retraction structure of a composite robotic arm gripper device provided in this application embodiment. The sub-linkage assembly 301 may include: a multiplexed rotating shaft 301a and a transmission link group 301b. The extension direction of each multiplexed rotating shaft 301a is perpendicular to the arrangement direction of the two multiplexed rotating shafts 301a in the two sub-linkage assemblies 301. The multiplexed rotating shaft 301a is mounted on and rotatably connected to the support base 100. The transmission link group 301b and the sub-drive assembly 201 may be located on opposite sides of the axis of the multiplexed rotating shaft 301a. The connecting end of the gripper 500 may be securely sleeved to the outer surface of the multiplexed rotating shaft 301a. One end of the transmission link group 301b may be securely connected to the multiplexed rotating shaft 301a, and the other end of the transmission link group 301b may be hinged to the side of the suction cup 400. In this design, the drive end of the sub-drive assembly 201 is connected to the multiplex rotating shaft 301a. As the multiplex rotating shaft 301a rotates, it causes the gripper 500 to swing, and via the transmission linkage 301b, it causes the suction cup 400 to rise and fall. Thus, when the drive end of the sub-drive assembly 201 is connected to the multiplex rotating shaft 301a, rotating the multiplex rotating shaft 301a in the first direction, it causes the gripper 500 to swing, causing the two grippers 500 to move towards each other and merge. Simultaneously, the transmission linkage 301b causes the suction cup 400 to retract. When the multiplex rotating shaft 301a rotates in the second direction, it causes the gripper 500 to swing, causing the two grippers 500 to move away from each other and open. Simultaneously, the transmission linkage 301b causes the suction cup 400 to extend. Here, one of the first and second directions is clockwise, and the other is counterclockwise.

[0030] Optionally, the transmission linkage group 301b may include: a first linkage L1 and a second linkage L2. One end of the first linkage L1 can be securely sleeved to the outer side of the multiplex rotating shaft 301a, and the other end of the first linkage L1 can be hinged to one end of the second linkage L2. The other end of the second linkage L2 is hinged to the side of the suction cup 400. In this way, during the rotation of the multiplex rotating shaft 301a, the lifting and lowering drive of the suction cup 400 is realized through the linkage mechanism formed by the first linkage L1 and the second linkage L2, which has a simple structure and stable drive. Here, each sub-linkage assembly 301 may have two transmission linkage groups 301b arranged side by side.

[0031] In this embodiment, the sub-drive assembly 201 may include a drive telescopic member 201a and a swing arm 201b. The drive telescopic member 201a is mounted on the edge of the support base 100, one end of the swing arm 201b is securely sleeved with the multiplex rotating shaft 301a, and the other end of the swing arm 201b is hinged to the telescopic end of the drive telescopic member 201a. Thus, during the extension or retraction of the drive end of the drive telescopic member 201a, the motion is converted into rotational motion of the swing arm 201b, thereby driving the multiplex rotating shaft 301a to rotate.

[0032] In this application, the linkage mechanism 300, the suction cup 40, and a set of two opposing grippers 500 are all located on the same side of the support base 100, which is used to dock with the robot's robotic arm.

[0033] Optionally, the composite robotic arm gripper device may further include a negative pressure sensor (not shown in the figure), which can be connected to the suction cup 400 via a conduit. Here, the negative pressure sensor can be electrically connected to the drive mechanism 200, which drives the linkage mechanism 300 to move after the negative pressure sensor detects a failure of the suction cup 400, thereby switching two opposing grippers 500 to the merging device. In this way, by setting an alarm value for the negative pressure sensor, it can be applied to measurement and control in situations with weak medium pressure, providing good monitoring results and reducing errors during use. For example, after detecting that the suction force of the suction cup 400 is lower than the alarm value, the negative pressure sensor sends a detection signal to the drive mechanism 200, which controls the two grippers 500 to mechanically grasp the workpiece through the linkage mechanism 300.

[0034] In summary, this application provides a composite robotic arm gripper device, which may include: a support base, a drive mechanism, a linkage mechanism, a suction cup, and a set of two grippers arranged opposite each other. When the drive mechanism drives the linkage mechanism to move, the mechanical grippers close together, simultaneously lifting the suction cup upwards; when the drive mechanism drives the linkage mechanism to move again, the mechanical grippers open, simultaneously extending the suction cup downwards. In normal operation, the mechanical grippers are open and the suction cup is extended downwards, and ordinary materials are only adsorbed and transported using the suction cup. When adsorption fails, the mechanical grippers close together, automatically and seamlessly switching to the gripping mode. It has a dual guarantee mechanism of adsorption priority and gripping backup. This solution not only significantly expands the range of materials that can be processed, covering various materials such as metal parts, cardboard boxes, and fabrics, but also reduces the end-effector weight through structural optimization, improves response speed, and shortens the switching time between adsorption and gripping modes. Thus, while improving operational reliability, it reduces manufacturing costs, providing an efficient and reliable solution for complex logistics sorting scenarios.

[0035] This application also provides a robot that integrates any of the composite robotic arm gripper devices described above. For example, the robotic arm in the robot can dock with the support base in the composite robotic arm gripper device.

[0036] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0037] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A composite robotic arm gripper device, characterized in that, include: Support base, drive mechanism, linkage mechanism, suction cup, and a set of two opposing grippers; The drive mechanism is mounted on the support base, and the linkage mechanism is mounted on the support base and is connected to the drive mechanism in a transmission manner; The two opposing grippers and the suction cup are both connected to the linkage mechanism, and the suction cup is distributed between the two opposing grippers; the two opposing grippers have an open state and a closed state, and the suction cup has an extended state and a retracted state. The linkage mechanism is configured such that, when the driving mechanism drives a set of two oppositely arranged grippers to switch from an open state to a closed state, it simultaneously drives the suction cup to switch from an extended state to a retracted state; or, when the driving mechanism drives a set of two oppositely arranged grippers to switch from a closed state to an open state, it simultaneously drives the suction cup to switch from a retracted state to an extended state.

2. The composite robotic arm gripper device according to claim 1, characterized in that, The linkage mechanism includes two sub-linkage components that are oppositely arranged to the two grippers arranged opposite to each other. The driving mechanism includes two sub-driving components that are respectively drivenly connected to the two sub-linkage components. At least a portion of each sub-linkage component is distributed between one side of the corresponding gripper and suction cup, and is drivenly connected to one side of both the gripper and suction cup.

3. The composite robotic arm gripper device according to claim 2, characterized in that, The sub-linkage assembly includes: a reused rotating shaft and a transmission linkage group. The extension direction of each reused rotating shaft is perpendicular to the arrangement direction of the two reused rotating shafts. The transmission linkage group and the sub-drive assembly are located on both sides of the axis of the reused rotating shaft. The connecting end of the gripper is fastened to the reused rotating shaft. One end of the transmission linkage group is fastened to the reused rotating shaft, and the other end of the transmission linkage group is hinged to the side of the suction cup. The drive end of the sub-drive component is connected to the multiplex rotating shaft to drive the gripper to swing during the rotation of the multiplex rotating shaft, and to drive the suction cup to rise and fall through the transmission linkage group.

4. The composite robotic arm gripper device according to claim 3, characterized in that, The transmission linkage assembly includes a first link and a second link. One end of the first link is fastened to the reuse shaft, the other end of the first link is hinged to one end of the second link, and the other end of the second link is hinged to the side of the suction cup.

5. The composite robotic arm gripper device according to claim 3, characterized in that, The sub-linkage assembly has two transmission linkage groups arranged side by side.

6. The composite robotic arm gripper device according to claim 3, characterized in that, The sub-drive assembly includes a drive telescopic member and a swing arm. The drive telescopic member is installed on the edge of the support base. One end of the swing arm is fastened to a reused pivot shaft, and the other end of the swing arm is hinged to the telescopic end of the drive telescopic member.

7. The composite robotic arm gripper device according to any one of claims 1-6, characterized in that, The linkage mechanism, the suction cup, and a set of two opposing grippers are all located on the same side of the support base.

8. The composite robotic arm gripper device according to claim 7, characterized in that, The composite robotic arm gripper device also includes a negative pressure sensor, which is connected to the suction cup via a conduit.

9. The composite robotic arm gripper device according to claim 8, characterized in that, The negative pressure sensor is electrically connected to the drive mechanism. The drive mechanism is used to drive the linkage mechanism to move after the negative pressure sensor detects that the suction cup has failed, so as to drive a set of two oppositely arranged grippers to switch to a merged state.

10. A robot, characterized in that, The robot is equipped with a composite robotic arm gripper device as described in any one of claims 1-9.

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