Gripper module for improved object gripping

Abstract

The present invention relates to a gripper module for improving gripping of an object, the gripper module comprising: a base member; and at least two fingers, each finger comprising at least two phalanges, a first phalange and a second phalange, two adjacent phalanges rotatably connected to each other by a joint, the phalanges each comprising a rigid phalange base and a deformable gripping section attached to the rigid phalange base, the deformable gripping sections each comprising a flexible outer layer and particles, the particles movably disposed within the gripping section to enable geometric adjustment of the gripping section to enhance gripping of an object. The present invention also relates to a robot comprising such a gripper module.

Description

[Technical Field]

[0001] The present invention relates to a gripper module for improving the gripping of an object, the gripper module comprising a base member and at least two fingers. Additionally, the present invention relates to a robot comprising such a gripper module. [Background technology]

[0002] The increasing automation level of industrial processes has led to the introduction of an ever-increasing number of robots, which are used for a variety of purposes. In particular, grippers or gripper modules with specific designs are required to meet technical requirements, especially for grasping and transporting objects in production environments. For example, under high-speed or vibration conditions, a sufficiently large clamping force must be ensured between the gripper and the object. At the same time, the clamping force must not exceed a certain value so as not to deform, destroy, or otherwise damage the object. Furthermore, objects may have different geometric shapes, which may necessitate a gripper design that can adapt to the object's geometry, at least to some extent. Furthermore, mechanical properties of objects, such as softness, may also vary and therefore must be taken into account during the gripper design process. Furthermore, the physical properties of objects may vary, such as whether they are wet or dry, heavy or light, conductive or dielectric, etc.

[0003] State-of-the-art grippers typically include fingers that at least partially mimic the human hand. However, prior art fingers have traditionally been rigid, one-piece, and generally leave little or no room for geometric adjustment, particularly to the object, and to the object's mechanical, physical, chemical, etc. properties. Also, while grippers are suitable for specific requirements, such as exerting a high clamping force in one direction to carry a heavy object, they may be inadequate to cover a wide range of requirements. Summary of the Invention [Problem to be solved by the invention]

[0004] Against this background, the problem to be solved is to provide a gripper with improved gripping capabilities, which in particular meets the wide range of requirements mentioned above. [Means for solving the problem]

[0005] To solve the problem, the present invention provides a gripper module for improving gripping of an object, the gripper module comprising: a base member; and at least two fingers; each finger comprises at least two phalanges, a first phalange and a second phalange, two adjacent phalanges being rotatably connected to each other by a joint; The gripper module relates to a phalange, wherein the phalanges each comprise a rigid phalange base and a deformable gripping section attached to the rigid phalange base, the deformable gripping sections each comprise a flexible outer layer and particles, the particles being movably disposed within the gripping section to enable geometric adjustment of the gripping section to enhance gripping of an object.

[0006] The gripper module of the present invention comprises at least two fingers that perform the actual gripping or grasping or holding of an object. The two fingers may be pincers shaped and configured to be movable towards each other to allow for clamping an object between the fingers. The gripper module further comprises a base member to which the fingers can be connected, preferably rotatably. The base member may be plate-shaped or cube-shaped.

[0007] Each finger includes at least two phalanges. The first phalange may be the proximal phalange, and the second phalange may be the distal phalange. Adjacent phalanges are rotatably connected to each other by a joint, allowing relative movement between the phalanges and forming an angle other than 180 degrees between two adjacent phalanges. In other words, the fingers may be formed straight or curved. Fingers with a bent or curved shape allow for better geometric adjustment to an object and also allow for the application of forces in more than one direction, for example, first applying a clamping force in one direction and then applying a holding force perpendicular to the clamping force. In other words, lateral and vertical forces can be applied to an object. As a result, the stability of the grasped object can be increased during transportation. The joint may be formed to allow movement around one axis.

[0008] Each phalange comprises a rigid phalange base that provides mechanical stability—similar to the bones of a human finger—and therefore geometric stability as well. Each phalange further comprises a deformable gripping section attached to the rigid phalange base. The deformable gripping section can advantageously be formed between the fingers and can enhance the grip between the fingers and an object.

[0009] Each deformable gripping section comprises a flexible outer layer and particles. The particles are movably disposed within the gripping section. The particles of each phalange can advantageously be disposed within a non-constant volume bounded on one side by the flexible outer layer and on a second side by the rigid phalange base. The deformability of the phalange, at least partially supported and maintained by the mobility of the particles, allows the shape and rigidity of the phalange to adapt to various objects. The deformable gripping section can act as a shock pad when clamping an object, thus avoiding or at least reducing damage to the object being gripped and transported.

[0010] The subject matter of the present invention has the advantage of covering a wide range of different purposes, in particular sufficient stability to grip heavy objects, sufficient gripping to transport wet objects, deformability to accommodate various object geometries, and avoidance of damage, etc. Thus, by combining several advantageous properties, an enhanced and versatile gripper module is provided.

[0011] According to one advantageous embodiment of the invention, the gripper module is detachably connectable by the base member to another device, preferably a robot or a drone. Connectivity to multiple devices diversifies the gripper module and allows it to be used in multiple applications, such as medical, agricultural, aeronautical, or military applications, as well as manufacturing.

[0012] According to a preferred embodiment of the present invention, the gripper module is provided with exactly three fingers rotatably connected to a base member. The base member may include a first lateral surface and a second lateral surface. The two lateral surfaces may be parallel to each other and may be formed on two opposite sides of the base member. Two of the three fingers may be located on the first lateral surface, and the third finger may be located on the second lateral surface. The fingers may also be connected to the base member on a distal surface of the base member. Each finger may be rotatably connected to the base member by a joint connecting the phalanges or another form of joint.

[0013] In a preferred embodiment of the invention, at least one of the fingers comprises at least one third phalange rotatably connected to a second phalange by a joint. Each finger can comprise four, five, six, or more phalanges, with two adjacent phalanges rotatably connected to each other by a joint. Increasing the number of phalanges per finger improves the finger's adaptability to the geometry of an object.

[0014] According to an advantageous embodiment of the invention, the flexible outer layer is a membrane, in particular made of silicone rubber. Membranes have the advantage of simple deformability and therefore better geometrical adaptability. Silicone rubber can increase the friction between the fingers and the object, thereby enhancing gripping, stability, and safety. All or part of the flexible outer layer of the gripper module can be silicone rubber. Furthermore, silicone rubber can reduce the risk of structural and superficial damage—internal and external—to the object, in particular scratches and dents. In addition, silicone rubber can electrically insulate the object from the gripper module.

[0015] In a preferred embodiment of the present invention, the surface of the flexible outer layer comprises at least one of a textured portion and a suction cup that protrudes toward the object or away from the rigid phalange base. The textured portion, the suction cup, or a combination thereof can enhance adhesion and / or clamping between the object and the finger, which can increase stability and safety. The textured portion can include a plurality of linear, wavy, or dot-shaped protrusions.

[0016] In one advantageous embodiment of the present invention, a pneumatic system is provided that includes gas supply conduits, each of which is fluidly connected to a deformable gripping section to control at least one of the volume and stiffness of the deformable gripping section, and which can pump gas into or out of the deformable gripping section. The volume and stiffness of the deformable gripping section can be configured to achieve a soft contact between the fingers and the grasped object. The volume and stiffness can be controlled, in particular by air, by drawing a vacuum on the gripping section or by pumping air into the gripping section. Each gas supply conduit can be directly connected to the gripping section by passing through an opening formed in each rigid phalange base or by surrounding the corresponding rigid phalange base.

[0017] According to a preferred embodiment of the present invention, the gripper module is provided with a cable system, in which each finger (5) of at least two fingers comprises at least one first cable for contracting or closing the finger and one second cable for extending or opening the finger. The cables may be Kevlar cables and can maintain tension on the finger. The first cable can be advantageously arranged on the inside of the finger facing the flexible outer layer or between the rigid phalange base and the gripping section. The second cable can be advantageously arranged on the outside of the finger facing the rigid phalange base, away from the gripping section. The cables can be passed through one or many tunnel elements or supported by one or many, particularly spherical protrusions, or a combination thereof. The tunnel elements and spherical protrusions can be formed in one or many phalanges. They can be formed monolithically with the corresponding rigid phalange base. The distal end of the first cable and the distal end of the second cable of each finger can be attached to the distal-most phalange of the corresponding finger.

[0018] In a preferred embodiment of the present invention, the first and second cables are connected to and controllable by servo motors, which can be attached to a base member. The proximal end of the first cable and the proximal end of the second cable of each finger can be attached to the servo motor or to a shaft of the servo motor. The servo motor can control the opening / extension and / or closing / retraction of the fingers. The servo motor can also control the velocity and acceleration of the fingers while opening and closing. Furthermore, the servo motor can control the clamping force exerted by the fingers on an object by modifying the torque. The servo motor can be mounted to the base member, which can result in a compact gripper module.

[0019] Another subject of the present invention is a robot comprising a gripper module according to one of the above-described embodiments of the present invention. The same technical effects and advantages as those mentioned within the framework of the above-described embodiments also apply to the robot of the present invention.

[0020] These and other characteristics, features, and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the invention. This description is given for purposes of example only, without limiting the scope of the invention. The reference figures quoted below refer to the attached drawings. [Brief explanation of the drawings]

[0021] [Figure 1] 1 shows a cross-sectional view of a first embodiment of a gripper module of the present invention having two fingers. [Figure 2] FIG. 10 shows a perspective view of a second embodiment of a gripper module of the present invention having three fingers. DETAILED DESCRIPTION OF THE INVENTION

[0022] The present invention will be described with respect to particular embodiments and with reference to two drawings but the invention is not limited thereto but only by the claims. The drawings described are schematic only and are not limiting of the invention. In the drawings, the size of some of the elements may be exaggerated and not drawn to scale for illustrative purposes.

[0023] Where an indefinite or definite article, e.g., "a," "an," or "the," is used when referring to a singular noun, the plural of that noun is also included unless specifically stated otherwise. Furthermore, the terms first, second, third, etc. in the description and claims are used to distinguish between similar elements and not necessarily to describe a sequential or chronological order. It should be understood that such terms, used interchangeably under appropriate circumstances, and that the embodiments of the invention described herein can operate in sequences other than those described or illustrated herein. Furthermore, the terms top, bottom, above, below, etc. in the description and claims are used for the purpose of description and do not necessarily describe relative positions. It should be understood that such terms, used interchangeably under appropriate circumstances, and that the embodiments of the invention described herein can operate in orientations other than those described or illustrated herein. It should be noted that the term "comprising," as used in the present description and claims, should not be interpreted as being limited to the means listed below or excluding other elements or steps. Therefore, the scope of the expression "a device comprising means A and B" should not be limited to a device consisting only of components A and B. This means that, in the context of the present invention, the only relevant components of the device are A and B.

[0024] 1 is a cross-sectional view that schematically illustrates a first embodiment of a gripper module 1 of the present invention for improved gripping of an object 2. The gripper module 1 comprises a base member 3 and at least two fingers 5 for gripping the object 2. The object 2 is illustratively shaped as an ellipsoid to illustrate that the gripper module 1 has the ability to grip and transport objects 2 that have no edges or corners that are easier to hold.

[0025] Each finger 5 includes a first phalange 7.1, a second phalange 7.2, and a third phalange 7.3. The first phalange 7.1 is disposed proximally, the second phalange 7.2 is disposed medially, and the third phalange 7.3 is disposed distally relative to the base member 3. The first phalange 7.1 and the second phalange 7.2 of each finger 5 are rotatably connected to one another by a joint 9. The second phalange 7.2 and the third phalange 7.3 of each finger 5 are also rotatably connected to one another by a further joint 9. Furthermore, each finger 5 is rotatably connected to the base member 3 by the first phalange 7.1 of the finger 5 via the joint 9. This finger 5 configuration allows the gripper module 1 to "bend" the finger 5 to grasp the object 2 in a geometrically enhanced manner, as the fingers 5 can adapt their shape to the object 2.

[0026] Each phalange 7.1, 7.2, 7.3 comprises a rigid phalange base 7' and a deformable gripping section 7". Each deformable gripping section 7" is attached to its corresponding rigid phalange base 7' and includes a flexible outer layer 7'" and particles 7"". The particles 7"" are movably disposed within the gripping sections 7" to allow geometric adjustment of the gripping sections 7" to enhance gripping of the object 2. The flexible outer layer 7"' is formed as a membrane made of silicone rubber to optimize / increase friction between the fingers 5 and the object 2. The curvature of the fingers 5 can be interpreted as a first-degree geometric conformance, while the deformability of the gripping sections 7" can be considered a second-degree conformance, both of which enhance gripping and transporting the object 2 due to increased stability and safety.

[0027] 1, the gripper module 1 further comprises a pneumatic system 10. The pneumatic system 10 comprises a vacuum pump 11 and six gas supply pipes 12. Each gas supply pipe 12 passes through a phalange 7.1, 7.2, 7.3 and is arranged such that the vacuum pump 11 can pump air into and out of the deformable gripping section 7'' to control the volume and stiffness of the gripping section 7''.

[0028] Additionally, the gripper module 1 includes a cable system 20 having a servo motor 23 mounted on the base member 3. The servo motor 23 controls a first cable 21 and a second cable 22 in each finger 5. The first cable 21 is disposed between the gripping section 7'' and the rigid phalange base 7'. The second cable 22 is formed on the outside of the finger 5, away from the gripping section 7'' and the object 2. The second cable 22 is partially supported by a spherical protrusion 22'. The first cable 21 and the second cable 22 are attached at one end to the third phalange 7.3 for opening and closing the finger 5. The first cable 21 and the second cable 22 are connected at their opposite ends to the servo motor 23.

[0029] A second embodiment of the present invention is shown in a schematic perspective view in Figure 2, in which the gripper module 1 comprises three fingers 5. Two of the fingers 5 are arranged on one side of the base member 3 and one finger 5 is arranged on a second, opposite side of the base member 3. Each finger 5 comprises a first phalange 7.1, a second phalange 7.2 and a third phalange 7.3. Rotation of the phalanges 7.1, 7.2, 7.3 can be performed around a rotor axis 9' shown in Figure 2.

[0030] As the phalanges 7.1, 7.2, 7.3 rotate around the rotor axis 9', each finger 5 can move along a corresponding plane E1, E2, or E3. The planes E1, E2, and E3 are arranged parallel to one another or are coplanar. Furthermore, the planes E1, E2, and E3 are sufficiently offset so that potential collisions of the fingers 5 are always avoided while opening and closing the fingers 5. [Explanation of symbols]

[0031] 1 Gripper Module 2 objects 3 Base member 5 fingers 7 phalanges 7.1 First phalange 7.2 Second phalange 7.3 Third phalange 7' rigid phalangeal base 7'' deformable gripping section 7'' flexible outer layer 7'''' particles 9 Joint 9' joint axis 10. Pneumatic System 11 Vacuum pump 12 Gas supply pipe 20 Cable Systems 21 First Cable 22 Second Cable 22' protrusion 23 Servo motor E1 First plane E2 Second Plane E3 Third Plane

Claims

1. A gripper module (1) for improving the grip of an object, said gripper module (1) comprising a base member (3) and at least two fingers (5), Each finger (5) comprises at least two phalanges (7), a first phalange (7.1) and a second phalange (7.2), two adjacent phalanges (7) being rotatably connected to each other by a joint (9); said phalanges (7) each comprising a rigid phalange base (7') and a deformable gripping section (7'') attached to said rigid phalange base (7'); The gripper module (1) includes a flexible outer layer (7''') and particles (7'''') that are movably disposed within the gripping section (7'') to enable geometric adjustment of the gripping section (7'') to enhance gripping of the object.

2. 2. Gripper module (1) according to claim 1, characterized in that the gripper module (1) is detachably connectable by the base member (3) to another device, preferably a robot or a drone.

3. Gripper module (1) according to claim 1 or 2, characterized by exactly three fingers (5) rotatably connected to the base member (3).

4. 4. Gripper module (1) according to any one of claims 1 to 3, characterized in that at least one of the fingers (5) comprises at least one third phalange (7.3) rotatably connected to the second phalange (7.2) by a joint (9).

5. Gripper module (1) according to any one of claims 1 to 4, characterized in that the flexible outer layer (7''') is a membrane made of silicone rubber.

6. 6. The gripper module (1) according to any one of claims 1 to 5, characterized in that the surface of the flexible outer layer (7''') comprises at least one of a textured portion and a suction cup that protrudes towards the object or away from the rigid phalange base (7').

7. 7. The gripper module (1) according to claim 1, characterized in that the pneumatic system (10) comprises gas supply pipes (12), each of which is fluidly connected to a deformable gripping section (7'') to control at least one of the volume and stiffness of the deformable gripping section (7''), and is capable of pumping gas into or out of the deformable gripping section (7'').

8. 8. The gripper module (1) according to claim 1, characterized in that the cable system (20) comprises at least one of a first cable (21) for contracting or closing the finger (5) and a second cable (22) for extending or opening the finger (5).

9. 9. The gripper module (1) according to claim 8, characterized in that the first cable (21) and the second cable (22) are connected to and controllable by a servo motor (23), and the servo motor (23) is attachable to the base member (3).

10. A robot (100) comprising a gripper module (1) according to any one of claims 1 to 9.

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