Robot Gripper With Independent Finger Rotation
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Solution Overview
Problem
Existing robot grippers are limited in their ability to securely grip a wide variety of objects due to fixed configurations and coupled movements of gripper fingers, which restrict their adaptability and versatility.
Innovation Solution
A robot gripper design featuring a gripper base body with a connecting flange for attachment to a robot arm, incorporating a base member and gripper fingers that can be independently adjusted by drive motors via swivel joints, allowing for rotational movement and individual positioning of each finger, enabling secure gripping of diverse objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If gripper fingers are coupled together to move simultaneously, then the device structure is simplified, but the adaptability to grip different objects is reduced
Solution Approach 1:
The gripper is divided into modular components: a base body, a base member with first rotary joint, and multiple finger carriers with second rotary joints. Each finger carrier can be independently positioned, allowing the gripper to adapt to various object shapes and sizes while maintaining a relatively simple overall structure through standardized modular elements.
2Device complexity
If gripper fingers are fixed in position, then the device complexity is reduced, but the versatility to handle different objects is limited
Solution Approach 1:
The gripper employs two rotary joints (first and second rotary joints) that enable dynamic positioning of the base member and finger carriers. This dynamic configuration allows the gripper fingers to assume multiple positions and orientations, providing universal freedom of movement to securely grip diverse objects while maintaining a compact and relatively simple mechanical structure.
3Adaptability or versatility
If multiple rotary joints with independent adjustment are implemented, then the gripping versatility is improved, but the device complexity increases
Solution Approach 1:
The first and second rotary joints are designed with universal functionality, where the first rotary joint positions the base member and the second rotary joints position multiple finger carriers. This multi-functional design allows a single joint mechanism to serve multiple purposes, achieving high gripper flexibility and adaptability while avoiding the need for separate complex mechanisms for each degree of freedom.
Data Source
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AI summary
The invention relates to a robot gripper (11) comprising: a main gripper body (12) that has a connection flange (13) designed to secure the rotational gripper (11) to a tool flange (8) of a robotic arm (2); also a base element (14) that is mounted on said main gripper body (12) such that it can rotate about a first rotational axis (D1) by means of a first rotational joint (15.1) able to be adjusted automatically by a first drive motor (A1); and a first gripper finger (16.1) mounted such that it can rotate about a second rotational axis (D2) aligned parallel to the first rotational axis (D1), relative to the base element (14), by means of a second rotational joint (15.2) which can be adjusted automatically by a second drive motor (A2); as well as at least one additional gripper finger (16.2, 16.3), said second rotational joint (15.2) being designed to adjust the first gripper finger (16.1) individually, using the second drive motor (A2), independently of said at least one additional gripper finger (16.2, 16.3).