Modular gripping finger system, gripping finger, modular gripper system and gripper for a robot

Abstract

The invention relates to a modular gripping finger system for a robot, the gripping finger system comprising at least one universal actuator module type and different kinematic element types for assembling finger modules (104), wherein actuator modules (102) of the at least one universal actuator module type can be coupled to finger modules (104) assembled from kinematic elements (106, 108, 110, 112), to form complete actuated gripping fingers (100). The invention also relates to a gripping finger (100) for a robot, to a modular gripping system for a robot, and to a gripper for a robot.

Description

Modular gripper finger system, gripper finger, modular gripper system and gripper for a robot Description

[0001] The invention relates to a modular gripper finger system for a robot. Furthermore, the invention relates to a gripper finger for a robot. Furthermore, the invention relates to a modular gripper system for a robot. Furthermore, the invention relates to a gripper for a robot.

[0002] The publication DE 10 2006 006 322 B3 relates to a robot hand with several fingers, each having at least two finger elements, a palm element connected to the fingers, joints arranged between the finger elements and between the palm element and the first finger elements, and drive devices connected to the finger elements and / or the joints. To reduce the risk of damage in the event of intentional or unintentional collisions, at least one drive device in the robot hand of the publication DE 10 2006 006 322 B3 is connected to a stiffness adjustment element for adjusting the passive stiffness of the joint.

[0003] The document DE 10 2017 220 999 A1 relates to a modular end effector comprising a base with at least one connecting element, wherein a manipulator is connected to the connecting element, in particular in an interchangeable manner. To increase versatility, the position of the connecting element and / or the position of the manipulator within the connecting element can be changed in the end effector from the document DE 10 2017 220 999 A1, so that the manipulator can be used in different positions relative to the base.

[0004] The document US 9 669 551 B1 relates to a robot hand. The robot hand comprises one or more fingers that are detachably attached to a robot hand frame. The fingers can be pulled in and spread out as well as bent and The fingers are removably attached to the frame by magnets, allowing the fingers to detach from the frame if excessive force is applied to the fingers.

[0005] The invention is based on the object of structurally and / or functionally improving a modular gripper finger system for a robot as mentioned above. Furthermore, the invention is based on the object of structurally and / or functionally improving a gripper finger for a robot. Furthermore, the invention is based on the object of structurally and / or functionally improving a modular gripper system for a robot. Furthermore, the invention is based on the object of structurally and / or functionally improving a gripper for a robot.

[0006] The problem is solved by a modular gripper finger system having the features of claim 1. Furthermore, the problem is solved by a gripper finger having the features of claim 7. Furthermore, the problem is solved by a modular gripper system having the features of claim 9. Furthermore, the problem is solved by a gripper having the features of claim 17. Advantageous embodiments and / or further developments are the subject of the dependent claims.

[0007] The modular gripper finger system can be designed to assemble complete, actuated gripper fingers for a robot, in particular for a gripper of a robot. The gripper finger system has at least one universal actuator module type. The gripper finger system has different kinematic element types. The kinematic elements are designed to assemble finger modules. Kinematic elements can be designed to assemble finger modules from kinematic elements of the same and / or different kinematic element types. Actuator modules of the at least one universal actuator module type can be coupled to finger modules to form complete, actuated gripper fingers. The finger modules are composed of kinematic elements. Finger modules can be composed of kinematic elements of the same and / or different kinematic element types. The gripper finger system can have different finger module types.

[0008] "Modular gripper finger system" refers in particular to a set of actuator modules of the at least one universal actuator module type and of kinematic elements of the same and / or different kinematic element types, wherein kinematic elements of the same and / or different kinematic element types can be combined to form finger modules and actuator modules of the at least one universal actuator module type and finger modules composed of kinematic elements can be coupled to form complete actuated gripper fingers.

[0009] "Actuator module type" in this context refers in particular to an abstract group or class of actuator modules that have certain matching structural and / or functional features. "Kinematic element type" in this context refers in particular to an abstract group or class of kinematic elements that have certain matching structural and / or functional features. Kinematic elements of the same and / or different kinematic element types can have compatible interfaces, thus enabling the assembly of finger modules. "Assembling" in this context can in particular comprise selecting and connecting kinematic elements to form finger modules that can be used as intended. Actuator modules of the universal actuator module type and finger modules of the same and / or different finger module types can have compatible interfaces, thus enabling coupling.In this context, "coupling" also refers in particular to the selection and connection of actuator modules and finger modules to form gripping fingers that can be used as intended.

[0010] "Completely actuated gripper finger" refers here in particular to a gripper finger that comprises drive-generating, drive-transmitting, and drive-receiving components. A fully actuated gripper finger can comprise all drive-generating, drive-transmitting, and drive-receiving components required to actuate the gripper finger. A fully actuated gripper finger can form a closed system. A fully actuated gripper finger can be designed to execute gripping movements without and / or independently of further actuators and / or effectors.

[0011] Actuator modules of the universal actuator module type can each have a drive device. The drive device can have at least one motor, at least one sensor, and / or an electronic control device. The motor can be embodied as an electric motor. The at least one sensor can be embodied as a force sensor. The at least one sensor can be designed to absorb tensile and / or compressive forces. The electronic control device can have a processor, a working memory, a data memory, at least one signal input, and / or at least one signal output. The at least one sensor can be connected to the electronic control device in a signal-conducting manner. The electronic control device can be designed and / or arranged to control the at least one motor taking into account signals from the at least one sensor.Actuator modules of the universal actuator module type can each have an actuator housing. The drive device can be arranged in the actuator housing.

[0012] Actuator modules of the universal actuator module type can each have an electrical power and / or signal interface. The electrical power and / or signal interface can be designed and / or arranged to connect an actuator module of a fully actuated gripper finger to a data bus system in a signal-conducting manner, to supply the actuator module with electrical energy, and / or to connect the at least one motor. The electrical power and / or signal interface can be designed and / or arranged to connect an actuator module of a fully actuated gripper finger and at least one further actuator module of a fully actuated gripper finger to one another in a signal-conducting manner. The electrical power and / or signal interface can be designed as a standardized interface.The electrical power and / or signal interface can be designed and / or arranged for data transmission, in particular using a serial communication protocol such as SPI. The electrical power and / or signal interface can have at least one connector. The electrical power and / or signal interface can be arranged on the outside of the actuator housing.

[0013] Actuator modules of the universal actuator module type can each have a first interface assigned to a finger module. Actuator modules of the universal actuator module type can each have a second interface assigned to a gripper base module. The first interface and / or the second interface can be implemented as a mechanical and / or electrical interface. The first interface and / or the second interface can be implemented as a standardized interface.

[0014] Kinematic elements can be designed and / or arranged to represent finger phalanges and / or finger joints. Kinematic elements of different kinematic element types can differ with regard to kinematically relevant features. Kinematic elements of different kinematic element types can be designed and / or arranged to represent different finger phalanges and / or finger joints. Kinematic elements of at least one kinematic element type can be designed and / or arranged to represent at least one finger joint embodied as a rotary joint. Kinematic elements of at least one kinematic element type can be designed and / or arranged as a finger base. Kinematic elements of at least one kinematic element type can be designed and / or arranged as a finger end phalange.

[0015] A finger module composed of kinematic elements can have a finger base, at least one finger joint, at least one phalanx, and / or a phalanx. A phalanx can be articulated to the finger base. A phalanx can be articulated between the finger base and a phalanx. A phalanx can be articulated to another phalanx. A phalanx can be articulated between one phalanx and another phalanx. The phalanx can be articulated to a phalanx. A phalanx can be articulated between one phalanx and the phalanx.

[0016] Finger modules composed of kinematic elements of different Finger module types can be kinematically and / or geometrically different. Finger modules of different finger module types composed of kinematic elements may differ in terms of the number, dimensions, particularly length, and / or design of finger joints. Finger modules of different finger module types composed of kinematic elements may differ in terms of the number of finger joints, the orientation of finger joint axes, and / or the design of finger joints.

[0017] At least one finger joint can have a first finger joint part, a second finger joint part, and / or a finger joint axis. At least one finger joint can be designed as a pivot joint. The first finger joint part and the second finger joint part can be movable relative to one another about the finger joint axis. The finger joint axis can be a rotational axis. At least one phalanx can be rod-shaped. At least one phalanx can have a first end and a second end. At least one phalanx can have a phalanx longitudinal axis. The first end and / or the second end can be fork-shaped.

[0018] Kinematic elements of at least one kinematic element type can be designed and / or arranged to represent at least one cable feedthrough. Kinematic elements of at least one kinematic element type can be designed and / or arranged to represent at least one cable feedthrough coaxial with a finger joint axis. Kinematic elements of at least one kinematic element type can be designed and / or arranged to represent at least one cable receptacle. Kinematic elements of at least one kinematic element type can be designed and / or arranged to represent at least one cable receptacle parallel to a finger joint longitudinal axis.

[0019] Finger modules composed of kinematic elements can each have at least one finger joint with a cable feedthrough. The cable feedthrough can be arranged coaxially to a finger joint axis. The cable feedthrough can be designed as a channel or sleeve. The cable feedthrough can be accessible from the outside. Finger modules composed of kinematic elements can each have at least one finger joint with at least one cable receptacle. The at least one cable receptacle can be arranged externally. The at least one cable receptacle can run parallel to a finger joint longitudinal axis. The at least one cable receptacle can run from a cable feedthrough of one finger joint to a cable feedthrough of another finger joint. The at least one cable receptacle can be designed like a groove. The at least one cable receptacle can have at least one clamping section for cables. The at least one cable receptacle can be accessible from the outside. The at least one cable receptacle can have a cover.

[0020] Kinematic elements of at least one kinematic element type can have sensor interfaces for the interchangeable mounting of a sensor. A kinematic element can have at least one sensor interface for the interchangeable mounting of a sensor. The gripper finger system can have different sensor types for mounting on the at least one sensor interface. The sensor interface can be designed for the interchangeable mounting of sensors of the same sensor type or of different sensor types. The sensor interface can be embodied, for example, as a standardized I2C interface. Sensors for mounting on the at least one sensor interface can be embodied as force sensors or tactile sensors.

[0021] Kinematic elements can each have at least one active element. Kinematic elements of different kinematic element types can each differ in terms of active elements. Kinematic elements of different kinematic element types can each differ in terms of the number of active elements, the design of the active elements, and / or the arrangement of the active elements.

[0022] Kinematic elements of at least one kinematic element type can be designed as a fingertip with an interchangeable fingertip. The gripper finger system can have different fingertip types. The fingertip can be designed to interchangeably accommodate fingertips of the same or different fingertip types. At least one fingertip type may have an active element and / or a sensor. In this case, an active element is, in particular, an element that is designed and / or arranged to form an active pairing with a grasping object during a gripping action. Fingertips of different fingertip types may have different active elements and / or sensors. Fingertip sensors can be designed as force sensors or tactile sensors.

[0023] The gripper finger is designed for arrangement and / or use on a robot. The gripper finger is designed for arrangement on a gripper base module. The gripper finger is designed for arrangement together with at least one further gripper finger, in particular together with a plurality of further gripper fingers. The gripper finger is designed to interact with at least one further gripper finger, in particular with a plurality of further gripper fingers. The gripper finger can be designed for arrangement on a gripper base module of at least one gripper base module type, in particular in a way that can be detached, positioned and / or fixed without the use of tools. The gripper finger can be designed for a fixedly positioned arrangement on a gripper base module of at least one gripper base module type.

[0024] The gripper finger has an actuator module of the universal actuator module type and a finger module of one of the different finger module types of the gripper finger system, coupled to the actuator module. The gripper finger can also be referred to as a modular gripper finger. The actuator module of the gripper finger can be selected from the actuator modules of the gripper finger system. The finger module of the gripper finger can be composed of kinematic elements of the gripper finger system. The gripper finger can have at least one transmission means for transmitting force and / or movement. The at least one transmission means can act between the actuator module, in particular a motor, and the finger module, in particular a finger joint part and / or a finger phalanx. The gripper finger can have at least one transmission means for each movable finger phalanx.The at least one transmission means can be designed and / or arranged to transmit tensile and / or compressive forces. The at least one transmission means can be designed as a traction means, in particular as a cable. The gripping finger can have at least one elastic element. The at least one elastic element can be effective on the at least one transmission means. The at least one elastic element can be adjustable. The at least one elastic element can be designed and / or arranged to provide passive stiffness. The gripping finger can be actuated antagonistically.

[0025] The gripper finger can be configured to meet specific requirements. The finger module can be configured to meet specific requirements.

[0026] The modular gripper system is designed to assemble gripping systems for a robot. The gripper system comprises the gripper finger system and different gripper base module types. Gripper base modules are designed to accommodate at least one gripper finger, in particular a plurality of gripper fingers. At least one gripper base module type can be designed to accommodate at least one gripper finger, in particular a plurality of gripper fingers. At least one gripper base module type can be designed to position at least one gripper finger, in particular a plurality of gripper fingers. At least one gripper base module type can be designed to position a plurality of gripper fingers relative to a gripper base module and / or relative to one another. At least one gripper base module type can be designed to position at least two gripper fingers next to one another and / or in opposition to one another.Gripper base modules of at least one gripper base module type can be designed as plates. Gripper base modules of at least one gripper base module type can have a data bus system. Gripper base modules of at least one gripper base module type can be designed for connection to a robot. Gripper base modules of at least one gripper base module type can have an interface for connection to a robot.

[0027] The gripper system can comprise at least one gripper base module type for the variable arrangement of at least one gripper finger. Gripper base modules of the at least one gripper base module type for the variable arrangement of at least one gripper finger can also be referred to as variable gripper base modules. Variable Gripper base modules can be designed to accommodate and / or position at least one gripper finger, in particular multiple gripper fingers, in a variable arrangement. "Variable" in this case refers in particular to an arrangement that can be changed with little or no effort in order to test a gripper in different arrangements. Variable gripper base modules can be designed to accommodate at least one gripper finger, in particular multiple gripper fingers, in particular in a way that can be detachably, positioned, and / or fixed without the use of tools. Variable gripper base modules can be designed to accommodate at least one gripper finger, in particular multiple gripper fingers, in a freely positionable manner. Variable gripper base modules can have a receiving surface for at least one gripper finger, in particular multiple gripper fingers. The receiving surface can be at least approximately flat.

[0028] A magnetic, in particular ferromagnetic, material can be effective on the receiving surface. The receiving surface can comprise a magnetic, in particular ferromagnetic, material or be made of a magnetic, in particular ferromagnetic, material. The magnetic, in particular ferromagnetic, material can be a metallic material, in particular an iron-containing alloy. At least one gripper finger can be detachable, positioned, and / or fixed on variable gripper base modules, in particular on the receiving surface, in particular without the use of tools.

[0029] The gripper system can have at least one coupling module type. Coupling modules of the at least one coupling module type can each be designed and / or arranged for the variable arrangement of at least one gripper finger. Coupling modules of the at least one coupling module type can each be designed and / or arranged for the variable arrangement on variable gripper base modules, in particular on the receiving surface. Coupling modules of the at least one coupling module type can each be designed and / or arranged for the arrangement between a gripper finger and a gripper base module.

[0030] Coupling modules of the at least one coupling module type can each have a first coupling section and a second coupling section. The first The coupling section and the second coupling section can be arranged at opposite ends of a coupling module. The first coupling section can be assigned to a gripper finger. The first coupling section can be designed and / or arranged for a fixed connection, in particular for screwing. The second coupling section can be assigned to a variable gripper base module. The second coupling section can be designed and / or arranged for a detachable connection.

[0031] Finger modules of at least one of the different finger module types can each have at least one coupling section. The at least one coupling section can be integrated into a finger module. The at least one coupling section can be integrated into a finger base. The at least one coupling section of a finger module can be designed for arrangement on a coupling module, in particular with a first coupling section of a coupling module. The at least one coupling section of a finger module can be designed for fixed connection, in particular for screwing, to a coupling module, in particular with a first coupling section of a coupling module.

[0032] Clutch modules of the at least one clutch module type can each have a clutch housing. The clutch housing can have or at least partially form the first clutch section. The clutch housing can have or at least partially form the second clutch section. The second clutch section can have a clutch surface or can be at least partially formed by means of a clutch surface. The clutch surface can be at least approximately flat. Clutch modules of the at least one clutch module type can each have a magnet arrangement. The magnet arrangement can be switchable. The magnet arrangement can be arranged in the clutch housing.

[0033] The magnet arrangement may comprise at least one permanent magnet. The at least one permanent magnet may have a magnetic north pole and a magnetic south pole on its surface. The at least one permanent magnet may have a cuboid shape. The at least one permanent magnet may be a rare earth magnet. The at least one permanent magnet may be made of a hard magnetic material, in particular a neodymium-iron-boron alloy or a samarium-cobalt alloy, or comprise a hard magnetic material, in particular a neodymium-iron-boron alloy or a samarium-cobalt alloy.

[0034] The magnet arrangement can have at least one magnetic coupling element. The at least one magnetic coupling element can have a circular-cylindrical shape. The at least one magnetic coupling element can comprise a magnetic, in particular ferromagnetic, material or be made of a magnetic, in particular ferromagnetic, material. The magnetic, in particular ferromagnetic, material can be a metallic material, in particular an iron-containing alloy.

[0035] The magnet arrangement can be switchable between a first switching position and a second switching position. In the first switching position, a magnetic field of the at least one permanent magnet can be directed outward across the clutch surface. The first switching position can also be referred to as the active position or on position. In the second switching position, a magnetic flux path of the at least one permanent magnet can be closed internally within the clutch. In the second switching position, a magnetic field of the at least one permanent magnet can be at least approximately ineffective to the outside. The second switching position can also be referred to as the passive position or off position. The terms "inside" or "internal" and "outside" in this context refer in particular to a clutch module.

[0036] The magnet arrangement can comprise a first magnet module. The first magnet module can comprise at least one permanent magnet. The first magnet module can comprise at least one magnetic coupling element. The first magnet module can comprise at least one coupling element arranged on a permanent magnet. The first magnet module can comprise at least one magnet-free coupling element. The first magnet module can comprise at least a first functional group. The at least one first functional group can have two coupling elements arranged at a distance from one another. The first magnet module can have at least one second functional group. The at least one second functional group can have two coupling elements arranged at a distance from one another and a permanent magnet arranged between the coupling elements. In each case, one pole of the permanent magnet arranged between the coupling elements can face one of the coupling elements. The coupling elements of the second functional group can be arranged on the permanent magnet arranged between the coupling elements. The coupling elements of the first functional group and the coupling elements of the second functional group can each be at least approximately equally spaced from one another. The first magnet module can have a first functional group and two second functional groups.The first functional group and the two second functional groups can be arranged consecutively. The functional groups of the first magnet module can be arranged such that the coupling elements form two rows. The permanent magnets of the second functional groups can be arranged with opposite polarity.

[0037] The magnet arrangement can have a second magnet module. The second magnet module can have at least one permanent magnet. The second magnet module can have at least one magnetic coupling element. The second magnet module can have at least one coupling element arranged on a permanent magnet. The second magnet module can have at least one coupling element arranged without a magnet. The second magnet module can have at least one second functional group. The at least one second functional group can have two coupling elements arranged at a distance from one another and a permanent magnet arranged between the coupling elements. In each case one pole of the permanent magnet arranged between the coupling elements can face one of the coupling elements. The coupling elements of the second functional group can be arranged on the permanent magnet arranged between the coupling elements.The second magnet module can have at least one first functional group. The at least one first functional group can have two. have coupling elements arranged at a distance from one another. The coupling elements of the second functional group and the coupling elements of the first functional group can each be at least approximately equally spaced from one another. The second magnet module can have two second functional groups and one first functional group. The two second functional groups and the first functional group can be arranged one after the other. The functional groups of the second magnet module can be arranged such that the coupling elements form two rows. The permanent magnets of the second functional groups can be arranged with opposite polarity.

[0038] The permanent magnets of the second functional group of the first magnet module, which is arranged between the first functional group and the further second functional group, and the permanent magnets of the second functional group of the second magnet module, which is arranged between the further second functional group and the first functional group, can be arranged with mutually aligned polarity.

[0039] The first magnet module and the second magnet module can be arranged one above the other. The first magnet module can be arranged below the second magnet module. The second magnet module can be arranged above the first magnet module. The first magnet module and the second magnet module can be arranged such that the coupling element rows of the first magnet module and the coupling element rows of the second magnet module are arranged one above the other. The coupling element rows can be arranged parallel to one another.

[0040] The first magnet module and the second magnet module can be displaced relative to one another. The first magnet module and the second magnet module can be displaced relative to one another along a linear axis. The linear axis can be arranged coaxially or parallel to the coupling element rows. The first magnet module and the second magnet module can be displaced relative to one another in order to switch the magnet arrangement between the first switching position and the second switching position.

[0041] In the first switching position, the first functional group of the first magnet module can be arranged below a second functional group of the second magnet module, a second functional group of the first magnet module can be arranged below a second functional group of the second magnet module, and a second functional group of the first magnet module can be arranged below the first functional group of the second magnet module. The permanent magnets of the second functional groups arranged one above the other can be arranged with mutually aligned polarity.

[0042] In the second switching position, the first functional group of the first magnet module and the first functional group of the second magnet module can each be arranged free of a second functional group, a second functional group of the first magnet module can be arranged below a second functional group of the second magnet module, and a second functional group of the first magnet module can be arranged below the second functional group of the second magnet module. The permanent magnets of the second functional groups arranged one above the other can be arranged with opposite polarity.

[0043] Clutch modules of the at least one clutch module type can each have a switching element. The switching element can be displaceable relative to the clutch housing. The switching element can be displaceable along the linear axis. The switching element can be guided in the clutch housing. The switching element can be guided in the clutch housing in a drawer-like manner. The switching element can have a handle portion. The handle portion can be designed and / or arranged for manual actuation of the switching element. The first magnet module can be arranged on the clutch housing. The second magnet module can be arranged on the switching element.

[0044] The switching element can be inserted into the clutch housing and withdrawn from the clutch housing. An extension path can correspond to a distance of two consecutive functional groups in the direction of extension of the linear axis. An inserted position of the switching element can correspond to the first switching position, an extended position of the switching element can correspond to the second switching position.

[0045] Coupling modules of the at least one coupling module type can each have at least one support section. The at least one support section can be designed and / or arranged for support on the receiving surface. The at least one support section can be designed as an extension. The at least one support section can be designed as a hook. The at least one support section can be arranged on the switching element and / or formed with the aid of the switching element. Coupling modules of the at least one coupling module type can each have two support sections.

[0046] The gripper system can have at least one gripper base module type for the fixed arrangement of at least one gripper finger. Gripper base modules of the at least one gripper base module type for the fixed arrangement of at least one gripper finger can also be referred to as fixed gripper base modules. Fixed gripper base modules can be designed to receive and / or position at least one gripper finger, in particular a plurality of gripper fingers, in a fixed arrangement. Fixed gripper base modules can be designed to receive at least one gripper finger, in particular a plurality of gripper fingers, in a fixed position. The at least one coupling section of a finger module can be designed for arrangement on a fixed gripper base module. The at least one coupling section of a finger module can be designed for a fixed connection, in particular for screwing, to a gripper base module.

[0047] The gripper is designed for installation and / or use on a robot. The gripper comprises a gripper base module of a gripper base module type of the gripper system and at least one gripper finger arranged on the gripper base module. The gripper can also be referred to as a modular gripper. The gripper can be designed for installation and / or use as an end effector. The gripper can be configured to meet specific requirements.

[0048] In summary and in other words, the invention results in, among other things, a modular robot hand for powerful and precise Gripping. A modular system kit is provided. Modular, self-contained, and adaptable modules for different use cases can be combined. Fingertips can be interchangeable. Each module can be considered a closed system, allowing for rapid changes in their arrangement. The system can comprise a universal base module. The base module can contain a CPU for the entire module and the force sensor elements. All modules can be connected, for example, via a standardized SPI interface. The shape of the module can be adapted to accommodate a different number of finger modules in various arrangements. The system can comprise a magnetic coupling mechanism. The magnetic coupling can be embedded in the finger module. The robot hand can have a counterpart. Cables can be routed through pipe sleeves near a neutral axis.

[0049] The invention reduces costs, construction effort, and / or time expenditure. Flexibility and / or adaptability are increased. A streamlined and universal manufacturing process for different finger kinematics and dimensions is enabled. The need to adapt connection sockets can be eliminated. The simultaneous use of a different number of modules is enabled. A quick change of arrangement is possible. Easy adaptation to different objects and use cases is enabled. The need to make changes to the hardware can be reduced or eliminated. Various fingertip sensors can be used.

[0050] In the following, embodiments of the invention are described in more detail with reference to figures, which show schematically and by way of example: Fig. 1 shows a gripper finger for a robot composed of elements and modules of a modular gripper finger system with a universal actuator module and a finger module composed of kinematic elements of different kinematic element types, Fig. 2 shows a gripper finger for a robot composed of elements and modules of a modular gripper finger system with a universal actuator module and a finger module composed of kinematic elements of different kinematic element types, Fig. 3 shows a gripper for a robot composed of elements and modules of a modular gripper system with a gripper base module for the variable arrangement of gripper fingers and gripper fingers variably arranged using coupling modules, Fig. 4 shows a gripper for a robot composed of elements and modules of a modular gripper system with a gripper base module for the fixed arrangement of gripper fingers and fixedly arranged gripper fingers, Fig. 5 shows a finger module for a robot composed of kinematic elements of different kinematic element types of a modular gripper finger system with a sensor interface for accommodating different sensors in a perspective view, Fig. 6 shows a section of a finger module for a robot composed of kinematic elements of different kinematic element types of a modular gripper finger system with a sensor interface for accommodating different sensors in a longitudinal section view, Fig. 7 a coupling module of a modular gripper system in a perspective partially transparent view, Fig. 8 a magnet arrangement of a coupling module of a modular gripper system, Fig. 9 shows a magnet arrangement of a coupling module of a modular gripper system in a first switching position and Fig. 10 a magnet arrangement of a coupling module of a modular gripper system in a second switching position.

[0051] Fig. 1 shows a perspective view of a first side of a gripper finger 100 for a robot, composed of elements and modules of a modular gripper finger system, with a universal actuator module 102 and a finger module 104. Fig. 2 shows the gripper finger 100 in a perspective view from a second side.

[0052] The finger module 104 is composed of kinematic elements 106, 108, 110, 112 of different kinematic element types, taking specific requirements into account. The kinematic element 106 is designed as a finger base 114. The kinematic elements 108, 110 are designed as phalanges 116, 118. The kinematic element 112 is designed as a finger end phalange 120. The kinematic elements 106, 108 represent a finger joint 122 acting between the finger base 114 and the phalange 116. The kinematic elements 108, 110 represent a finger joint 124 acting between the phalange 116 and the phalange 118. Using kinematic elements 110, 112, a finger joint 126 is shown that acts between the phalanx 118 and the distal phalanx 120. The distal phalanx 120 has a replaceable fingertip 128. The phalanxes 116, 118 and the distal phalanx 120 each have an active element 130, 132, 134.

[0053] The actuator module 102 has an actuator housing 136, a drive device, and an electrical power and / or signal interface 138. The drive device has electric motors, force sensors, and an electronic control device and is arranged in the actuator housing 136. The electrical power and / or signal interface 132 is designed and / or arranged to connect the actuator module 102 to a data bus system in a signal-conducting manner, to supply the actuator module 102 with electrical energy, and to connect the electric motors, and is arranged on the outside of the actuator housing 136. The gripper finger 100 has transmission means for transmitting force and / or movement between the electric motors and the finger segments 116. 1 18 or the finger end phalanx 120 and on the transmission means effective adjustable elastic elements.

[0054] The gripper finger 100 comprises all drive-giving, drive-transmitting and drive-receiving components required for actuation and is designed as a closed system to carry out gripping movements without and / or independently of further actuators and / or effectors.

[0055] Fig. 3 shows a gripper 200 for a robot, composed of elements and modules of a modular gripper system, with a gripper base module 202 and gripper fingers 204, 206. The gripper fingers 204, 206 each have an actuator module 208, 210 and a finger module 212, 214. Like the gripper finger 100 shown in Fig. 1, the gripper fingers 204, 206 are composed of elements and modules of a modular gripper finger system. For details of the gripper fingers 204, 206, reference is made in particular to Fig. 1 and Fig. 2 and the associated description.

[0056] The gripper base module 202 is designed for the variable arrangement of gripper fingers and has a flat receiving surface 216 made of a ferromagnetic material. The gripper fingers 204, 206 are variably arranged on the receiving surface 208 using coupling modules 218, 220. The coupling modules 218, 220 each have a first coupling section assigned to a gripper finger 204 or 206 and a second coupling section assigned to the gripper base module 202. The coupling modules 218, 220 are each firmly connected to an actuator module 208, 210 with their first coupling section in a force-locking and form-locking manner. The coupling modules 218, 220 are each manually releasably connected to the gripper base module 202 with their second coupling section.

[0057] Fig. 4 shows a gripper 300 for a robot, composed of elements and modules of a modular gripper system, with a gripper base module 302 and gripper fingers 304, 306, 308. The gripper fingers 304, 306, 308 each have an actuator module 310, 312, 314 and a finger module 316, 318, 320. The gripper fingers 304, 306, 308, like the gripper finger 100 according to Fig. 1, are composed of elements and modules of a modular gripper finger system. For details of the gripper fingers 304, 306, 308, reference is therefore made in particular to Fig. 1 and Fig. 2 and the associated description.

[0058] The gripper base module 302 is designed for the fixed arrangement of gripper fingers and has a shape corresponding to the specific arrangement of the gripper fingers 304, 306, 308. The gripper fingers 304, 306, 308 are positioned relative to one another and are firmly connected to the gripper base module 302 with their actuator modules 310, 312, 314 in a force-locking and form-locking manner. This ensures that the arrangement is secure even under operational loads.

[0059] Fig. 5 shows the finger module 104 of the gripper finger 100 according to Fig. 1 and Fig. 2 in a perspective view. Fig. 6 shows a section of the finger module 104 in a longitudinal section. The finger module 104 has a sensor interface on the finger end segment 120 for interchangeably receiving a sensor 140. For example, the sensor interface is designed as a standardized I2C interface, and the sensor 140 as a force sensor or tactile sensor. The sensor 140 is part of a replaceable fingertip, which is otherwise shown as transparent.

[0060] Kinematic elements 110, 112 illustrate a sleeve-like cable feedthrough 142 coaxial with a finger joint axis of finger joint 126. Kinematic element 110 has a groove-like cable receptacle 144 parallel to a phalanx longitudinal axis of phalanx 118 and accessible from the outside. Kinematic elements 108, 110 illustrate a sleeve-like cable feedthrough 146 coaxial with a phalanx axis of finger joint 124. Kinematic element 108 has a groove-like cable receptacle 148 parallel to a phalanx longitudinal axis of phalanx 116 and accessible from the outside. Kinematic element 106 has internal cable feedthroughs, such as cable feedthrough 150.

[0061] The sensor 140 has a sensor connection cable 152. The sensor connection cable 152 is guided from the fingertip 120 through the cable bushing 142, the cable receptacle 144, the cable bushing 146, the cable receptacle 148 and the cable bushing 150 to the actuator module 102 in a force-relieved manner. This allows the sensor connection cable 152 to be removed without disassembly when changing the fingertip. the kinematic elements 106, 108, 110, 112 of the finger module 104 are removed or relocated.

[0062] Fig. 7 shows a coupling module 400, like coupling module 218, 220 according to Fig. 3, of a modular gripper system in a perspective, partially transparent view. The coupling module 400 has a first coupling section 402 for fixed connection to a gripper finger and a second coupling section 404 with a coupling surface for releasable arrangement on a receiving surface of a variable gripper base module. The coupling module 400 has a coupling housing 406, a switchable magnet arrangement 408, and a switching element 410 for switching the magnet arrangement 408. The switching element 410 is guided in the coupling housing 406 along a linear axis 412 in a drawer-like manner and can be inserted into or pulled out of the coupling housing 406.

[0063] Fig. 8 shows the magnet arrangement 408. The magnet arrangement 408 has a first magnet module 414 and a second magnet module 416. The first magnet module 414 is arranged on the clutch housing 406, and the second magnet module 416 is arranged on the switching element 410. Thus, the second magnet module 416 is displaceable along the linear axis 412 relative to the first magnet module 414. The first magnet module 414 is arranged on the clutch surface, and the second magnet module 416 is arranged above the first magnet module 412. For better clarity, the first magnet module 414 and the second magnet module 416 are shown side by side in Fig. 8.

[0064] The first magnet module 414 has a functional group 418 with two coupling elements 420, 422 arranged at a distance from one another, a functional group 424 with two coupling elements 426, 428 arranged at a distance from one another and a permanent magnet 430 arranged between the coupling elements, and a functional group 432 with two coupling elements 434, 436 arranged at a distance from one another and a permanent magnet 438 arranged between the coupling elements. The permanent magnet 430 is arranged with its south pole on the coupling element 426 and with its north pole on the coupling element 428. The permanent magnet 438 is arranged with its north pole on the coupling element 434 and with its south pole on the coupling element 436.

[0065] The second magnet module 416 has a functional group 440 with two coupling elements 442, 444 arranged at a distance from one another and a permanent magnet 446 arranged between the coupling elements, a functional group 448 with two coupling elements 450, 452 arranged at a distance from one another and a permanent magnet 454 arranged between the coupling elements, and a functional group 456 with two coupling elements 458, 460 arranged at a distance from one another. The permanent magnet 446 is arranged with its north pole on the coupling element 442 and with its south pole on the coupling element 444. The permanent magnet 454 is arranged with its south pole on the coupling element 450 and with its north pole on the coupling element 452.

[0066] The coupling elements 420, 422, 426, 428, 434, 436, 442, 444, 450, 452, 458, and 560 each have a circular-cylindrical shape, are made of a ferrous alloy, and are secured by adhesive and / or fixing pins. The permanent magnets 430, 438, 446, and 454 are made of a neodymium-iron-boron alloy.

[0067] In the inserted position, the switching element 410 is switched to a first switching position and the magnet assembly 408 is switched to a first switching position. In the extended position, the switching element 410 is switched to a second switching position and the magnet assembly 408 is switched to a second switching position. Fig. Fig. 9 shows the coupling element 400 and the magnet arrangement 408 in the first switching position, Fig. 10 shows the coupling element 400 and the magnet arrangement 408 in the second switching position.

[0068] In the first switching position shown in Fig. 9, the functional groups 418, 440, the functional groups 424, 448 and the functional groups 432, 456 are arranged one above the other. A magnetic field of the permanent magnet 446 is directed to the coupling surface and outwards via the coupling elements 442, 420 and the coupling elements 444, 422. A magnetic field of the permanent magnet 430 is directed to the coupling surface and outwards via the coupling element 426 and the coupling element 428. A magnetic field of the permanent magnet 454 is directed to the coupling surface and outwards via the coupling elements 450, 426 and the coupling elements 452, 428 are directed to the coupling surface and outwards. A magnetic field of the permanent magnet 438 is directed to the coupling surface and outwards via the coupling element 434 and the coupling element 436. In the first switching position, the magnetic forces of the permanent magnets 430, 438, 446, 454 are available at the coupling surface to connect and / or hold the coupling module 400 and a gripper finger connected thereto, such as gripper finger 100 according to Fig. 1 and Fig. 2 or gripper fingers 204, 206 according to Fig. 3, to a receiving surface of a gripper base module, such as gripper base module 202 according to Fig. 3.The magnetic force between the coupling elements 420, 422 and the coupling elements 442, 444 and the magnetic force between the coupling elements 434, 436 and the coupling elements 458, 460 counteracts a repulsive magnetic force between the coupling elements 426, 428 and the coupling elements 450, 452 and thus stabilizes a connecting and / or holding force of the magnet arrangement 408.

[0069] In the second switching position shown in Fig. 10, the functional group 418 and the functional group 456 are magnet-free, and the functional groups 424, 440 and the functional groups 432, 448 are arranged one above the other. A magnetic flux path of the permanent magnets 430, 446 and the permanent magnets 438, 454 is closed internally within the coupling, so that the magnetic forces of the permanent magnets 430, 438, 446, 454 are ineffective to the outside, and the coupling module 400 and a gripper finger connected thereto can be freely positioned or removed from a receiving surface of a gripper base module.

[0070] Using the coupling module 400, a gripper finger can be detachably attached, freely positioned, and / or fixed to a gripper base module without the need for tools. The arrangement of gripper fingers can thus be changed with little or no effort to test a gripper in different configurations.

[0071] "May" refers in particular to optional features of the invention. Accordingly, there are also further developments and / or embodiments of the invention that additionally or alternatively have the respective feature or features.

[0072] If necessary, features can also be selected from the combinations of features disclosed in the description and used alone or in combination with other features to define the subject matter of the claim, dissolving any structural and / or functional connection that may exist between the features. Reference numerals 00 Gripper finger 02 Actuator module 04 Finger module 06 Kinematic element 08 Kinematic element 10 Kinematic element 12 Kinematic element 14 Finger base 16 Finger phalanx 18 Finger phalanx 20 Finger end phalanx 22 Finger joint 24 Finger joint 26 Finger joint 28 Finger tip 30 Active element 32 Active element 34 Active element 36 Actuator housing 38 Power and / or signal interface 40 Sensor 42 Cable feedthrough 44 Cable receptacle 46 Cable feedthrough 48 Cable receptacle 50 Cable feedthrough 52 Sensor connection cable 00 Gripper 02 Gripper base module gripping fingers gripping fingers Actuator module Actuator module Finger module Finger module Recording area Coupling module Coupling module gripper Gripper base module gripping fingers gripping fingers gripping fingers Actuator module Actuator module Actuator module Finger module Finger module Finger module Clutch module first clutch section second clutch section clutch housing magnet arrangement switching element Linear axis first magnet module second magnet module functional group Coupling element Coupling element Functional group Coupling element Coupling element Permanent magnet Functional group Coupling element Coupling element Permanent magnet Functional group Coupling element Coupling element Permanent magnet Functional group Coupling element Coupling element Permanent magnet functional group coupling element coupling element

Claims

Patent claims 1 . Modular gripper finger system for a robot, the gripper finger system comprising at least one universal actuator module type and different kinematic element types for assembling finger modules (104, 212, 214, 316, 318, 320), wherein actuator modules (102, 208, 210, 310, 312, 314) of the at least one universal actuator module type can be coupled to finger modules (104, 212, 214, 316, 318, 320) assembled from kinematic elements (106, 108, 110, 112) to form complete actuated gripper fingers (100, 204, 206, 304, 306, 308).

2. Gripping finger system according to claim 1, characterized in that actuator modules (102, 208, 210, 310, 312, 314) of the at least one universal actuator module type each have a drive device with at least one motor, at least one sensor, an electronic control device for controlling the at least one motor taking into account signals from the at least one sensor and an electrical power and / or signal interface (138).

3. Gripping finger system according to at least one of the preceding claims, characterized in that kinematic elements (106, 108, 110, 112) of different kinematic element types differ with regard to kinematically relevant features.

4. Gripping finger system according to at least one of the preceding claims, characterized in that at least one kinematic element type is designed and / or can be arranged to represent a cable feedthrough (142, 146) coaxial with a finger joint axis.

5. Gripping finger system according to at least one of the preceding claims, characterized in that kinematic elements (106, 108, 110, 112) of at least one kinematic element type have sensor interfaces for the exchangeable reception of sensors (140).

6. Gripping finger system according to at least one of the preceding claims, characterized in that kinematic elements (106, 108, 110, 112) of at least one kinematic element type are designed as a finger end member (120) with an interchangeable fingertip.

7. Gripping finger (100, 204, 206, 304, 306, 308) for a robot, characterized in that the gripping finger (100, 204, 206, 304, 306, 308) comprises an actuator module (102, 208, 210, 310, 312, 314) of the at least one universal actuator module type of a gripping finger system according to at least one of claims 1 to 6 and a finger module composed of kinematic elements (106, 108, 110, 112) of the different kinematic element types of a gripping finger system according to at least one of claims 1 to 6 (104, 212, 214, 316, 318, 320).

8. Gripping finger (100, 204, 206, 304, 306, 308) according to claim 7, characterized in that the gripping finger (100, 204, 206, 304, 306, 308) is assembled taking into account specific requirements.

9. Modular gripper system for a robot, characterized in that the gripper system has a gripper finger system according to at least one of claims 1 to 6 and different gripper base module types for arranging at least one gripper finger (100, 204, 206, 304, 306, 308).

10. Gripper system according to claim 9, characterized in that the gripper system has at least one gripper base module type for the variable arrangement of at least one gripper finger (100, 204, 206, 304, 306, 308). 1 1. Gripper system according to at least one of claims 9 to 10, characterized in that the gripper system has at least one coupling module type for the variable arrangement of at least one gripper finger (100, 204, 206, 304, 306, 308).

12. Gripper system according to claim 1 1, characterized in that Coupling modules (218, 220, 400) of the at least one coupling module type each have a first coupling section (402) associated with a gripping finger, a second clutch portion (404) and a switchable magnet arrangement (408).

13. Gripper system according to claim 12, characterized in that the magnet arrangement (408) has at least one permanent magnet (430, 438, 446, 454) and is switchable between a first switching position, in which a magnetic field of the at least one permanent magnet (430, 438, 446, 454) is directed outwards via the coupling surface, and a second switching position, in which a magnetic flux path of the at least one permanent magnet (430, 438, 446, 454) is closed internally within the coupling.

14. Gripper system according to at least one of claims 12 to 13, characterized in that the magnet arrangement (408) has a first magnet module (414) with at least one permanent magnet (430, 438) and a second magnet module (416) with at least one permanent magnet (446, 454), wherein the first magnet module (414) and the second magnet module (416) are displaceable relative to one another.

15. Gripper system according to claim 14, characterized in that coupling modules (218, 220, 400) of the at least one coupling module type each have a coupling housing (406) and a switching element (410) which is displaceable relative to the coupling housing (406), wherein the first magnet module (414) is arranged on the coupling housing (406) and the second magnet module (416) is arranged on the switching element (410).

16. Gripper system according to at least one of claims 9 to 15, characterized in that the gripper system has at least one gripper base module type for the fixed arrangement of at least one gripper finger (100, 204, 206, 304, 306, 308). 1 7. Gripper (200, 300) for a robot, characterized in that the gripper (200, 300) comprises a gripper base module (202, 302) of the at least one gripper base module type of a gripper system according to at least one of claims 9 to 16 and at least one on the gripper base module (202, 302) arranged gripping fingers (100, 204, 206, 304, 306, 308) according to at least one of claims 7 to 8.

18. Gripper (200) according to claim 1 7, characterized in that the gripper (200) has a coupling module (218, 220, 400) of the at least one coupling module type of a gripper system according to at least one of claims 1 1 to 15.

19. Gripper (200, 300) according to at least one of claims 1 7 to 18, characterized in that the gripper (200, 300) is assembled taking into account specific requirements.

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