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WO2024155621A1 - Main robotique - Google Patents

Main robotique Download PDF

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Publication number
WO2024155621A1
WO2024155621A1 PCT/US2024/011672 US2024011672W WO2024155621A1 WO 2024155621 A1 WO2024155621 A1 WO 2024155621A1 US 2024011672 W US2024011672 W US 2024011672W WO 2024155621 A1 WO2024155621 A1 WO 2024155621A1
Authority
WO
WIPO (PCT)
Prior art keywords
hand
rotary
fingers
carrier elements
driven gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2024/011672
Other languages
English (en)
Inventor
Jonathan Gilmore
Bao Do
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Human Mode LLC
Original Assignee
Human Mode LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Human Mode LLC filed Critical Human Mode LLC
Publication of WO2024155621A1 publication Critical patent/WO2024155621A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/106—Gripping heads and other end effectors having finger members with three or more finger members moving in parallel relationship

Definitions

  • This invention relates generally to the field of robotics and more particularly, but not by way of limitation, to a robotic hand.
  • Robots are employed in a variety of fields for commercial, research, military, and other purposes.
  • industries such as manufacturing and commercial food processing have increasingly relied upon robotic mechanisms to automate processes with greater precision and speed than is possible by human workers alone.
  • the field of robotics has provided mechanisms for grasping and moving objects, either based on the real-time instructions of a manual operator or based upon pre-set programming.
  • Some existing robots employ a clamp claw with fingers that use a pinching action to engage and pick up objects.
  • Other robots use jointed appendages to wrap around an object and create an encompassing grip thereon.
  • FIG. 1 depicts a mobile robot with a mechanical hand supported by an articulating arm.
  • FIG. 2 depicts a stationary robot with a with a mechanical hand supported by an articulating arm.
  • FIGS. 3-4 provide first and second perspective views of the mechanical hand constructed in accordance with a first embodiment.
  • FIG. 5 provides a depiction of the carrier gears and fingers of the mechanical hand of FIGS. 3 and 4.
  • FIGS. 6-7 depict the approximation of the fingers of the mechanical hand of FIGS. 3-5 around an object.
  • FIGS. 8-9 provide first and second perspective views of the mechanical hand constructed in accordance with a second embodiment.
  • FIGS. 10-11 depict the approximation of the fingers of the mechanical hand of FIGS. 8-9 around an object.
  • a robot 100 is depicted in accordance with an exemplary 7 embodiment.
  • the robot 100 includes a body 102 and a mobility system 104 attached to or integrated with the body 102 to permit the robot 100 to move from one location to another.
  • the mobility 7 system 104 may employ a track system (as shown), wheels, legs, propellers, or other mobility 7 mechanisms.
  • the robot 100 operates from a stationary 7 position (e.g., in an assembly line) and does not include the mobility 7 system 104.
  • the robot 100 further includes a plurality 7 of sensors 106 which may include navigational and positioning sensors, velocity 7 sensors, acceleration sensors, motor torque sensors, cameras, light sensors, range sensors, sound sensors, proximity sensors, tactile sensors, and temperature sensors.
  • the robot 100 includes an arm 108 and a hand 110 supported by the arm 108.
  • the arm 108 can include articulating, extensible and retractable joints that permit the arm 108 to position the hand 110 in an operative position to grasp an object 200.
  • the hand 110 can be affixed directly 7 to the body 102 of the robot 100.
  • the robot 100 of FIG. 1 further includes an integrated electronic control system 112 which is configured to control the operation of the robot 100, including the mobility system 104 (if so equipped), the arms 108, and hands 110.
  • the control system 1 12 may control the speed and direction of movements made by the arms 108 and hands 110.
  • the control system 112 of the robot 100 is pre-programmed to execute one or more specific actions in response to input received from the sensors 106.
  • visual input from camera sensors 106 can be used by the control system 112 to position the hand 110 directly over the object 200.
  • an operator may access the control system 112 locally or remotely to provide real-time instructions for the robot 100 to perform certain actions.
  • FIGS. 3-7 depict the hand 110 constructed in accordance wi th a first embodiment.
  • the hand 110 includes a base 114, a plurality of rotary 7 carrier elements 116, at least one drive motor 118, and a plurality 7 of fingers 120.
  • the rotary 7 carrier elements 116 are configured as intermeshing gears, with one or more driven gears 122 and one or more passive gears 124.
  • a single drive motor 118 is connected to a single driven gear 124, which is intermeshed with one or more passive gears 124. In this way, the single drive motor 118 can impart rotary' motion to each of the intermeshed passive gears 124 through the single driven gear 122.
  • the hand 110 can include 2, 3, 4, 5, 6, 7, 8, 9 and 10 rotary 7 carrier elements 116 that are driven by one or more drive motors 118.
  • the drive motor 118 can be an electric motor that transfers torque to the corresponding driven gear 122 through a rotating motor shaft (not separately designated).
  • the drive motor 118 is supported by the base 114.
  • the drive motor 118 is configured to rotate the driven gear 122 in both directions at constant or variably controlled rotational speeds in response to a command signal from the control system 112.
  • a single drive motor 118 is depicted in FIGS. 3-5, it will be appreciated that multiple drive motors 118 can also be used.
  • the fingers 120 extend away from the rotary carrier elements 116. In some embodiments, the fingers are connected directly to the driven and passive gears 122, 124. In other embodiments, the fingers 120 are connected to the rotary carrier element 116 with an intervening support between the finger 120 and the corresponding driven or passive gear 122, 124. In some embodiments, two or more fingers 120 are attached to a single rotary carrier element 116.
  • each finger 120 is configured as an elongated cylinder. It is appreciated, however, that the fingers 120 may be configured in a variety of other shapes. Fingers 120 of different lengths and widths may also be used with the hand 110. In most embodiments, each finger 120 is of the same size, length, and width. In other embodiments, the sizes, lengths, and widths of the fingers 120 are not uniformly the same.
  • the hand 110 can include fingers 120 that are rigid or flexible, or a combination of rigid and flexible fingers 120. In some embodiments, one or more of the fingers 120 on the hand 110 are curved. In some embodiments, one or more of the fingers 120 includes an exterior coating, sleeve or layer that is rubberized or provided with another grippy material or surface preparation to increase the frictional contact between the fingers 120 and the object 200.
  • each finger 120 is attached to its corresponding rotary carrier element 116 in a position that is radially offset from the center of rotation of the rotary carrier element 116. In this configuration, the rotation of each rotary carrier element 116 causes the corresponding finger 120 to move toward or away from the center of the hand 110.
  • the hand 110 can be used to grasp and move the object 200.
  • the hand 110 is first positioned a small distance from the object 200.
  • the drive motor 118 has rotated the fingers 120 into an “open” position in which the fingers 120 are located at a spaced-apart distance from the object 200, as depicted in FIG. 6.
  • the hand 100 is moved closer to the object 200 such that the object 200 is located within a grasping radius defined by the outer periphery of the fingers 120.
  • the drive motor 118 then rotates the rotary carrier elements 116 to approximate the fingers 120 toward the object 200, as depicted in FIG. 7.
  • the rotation of the driven gear 122 in a first direction causes the adjacent passive gears 124 to rotate in an opposite, second direction.
  • the third passive gear 124 is intermeshed with at least one of the passive gears 124 intermeshed with the driven gear 122, which causes the third passive gear to rotate in the same direction as the driven gear 122. In this way, as the driven gear 122 turns, the intermeshed passive gears 124 turn either clockwise or counterclockwise based on their position relative to the active driven gear 122.
  • the fingers 120 have been rotated into contact with the object 200 and are applying a clamping force to the object 200 that is sufficient to lift, move, tilt, or rotate the object 200.
  • the extent of the clamping force applied by the fingers 120 to the object 200 can be controlled by monitoring the electrical current (load) on the drive motor 118. In other embodiments, separate force sensors can be used to detect the extent of lateral force applied by the fingers 200 to the object 200.
  • the motor 118 turns the driven gear 122 in a second direction, which is either clockwise or counterclockwise but is the opposite direction than w as used when establishing the grip.
  • This rotation causes the passive gears 124 to also turn in the direction opposite to what w as used when establishing the grip.
  • the rotation of the rotary carrier elements 1 16 causes the fingers 122 to move away from the object 120, thereby releasing the grasp of the hand 110 on the object 200.
  • the hand 110 is supported by the arm 108 in a manner that permits the hand 110 to self-center over the object 200 as the fingers 120 are approximated during a grasping action. If. for example, the hand 110 is not centered over the object 200 before the grasping action is initiated, some fingers 120 will arrive at the object 200 before other fingers 120. As the fingers 120 continue to rotate into a closed position around the object 200, the early contact by some of the fingers 120 will pull the hand 110 into a central alignment over the object 200. In this way, the rotational approximation of the fingers 120 provides a self-centering function that reduces the need to precisely align the hand 110 over the object 200. This presents a significant advantage over conventional pincher-type mechanisms that must be precisely aligned to ensure a successful grasping operation.
  • the hand 110 includes a plurality 7 of drive motors 118 mounted on the base 114.
  • Each drive motor 118 is connected to a corresponding rotary' carrier element 116, which can be configured as a rotatable cam member 126 that supports a corresponding finger 120.
  • Each cam member 126 includes a proximal end secured to the rotatable shaft of the drive motor 118 and a distal end that supports the finger 120.
  • each finger 120 is supported by the corresponding cam member 126 such that the finger 120 is radially offset from the axis of rotation of the corresponding drive motor 118.
  • the rotation of the cam member 126 causes the lateral position of the corresponding finger 120 to move toward or away from the center of the hand 110.
  • the rotary carrier element 116 can be a disc or other platform that supports the finger 120 in a radially offset position from the rotational axis of the rotary carrier element 1 16 (discs are depicted in FIGS. 10- 1 1 ). Although four rotary carrier elements 116 (cam members 126) are depicted, it will be appreciated that fewer or greater numbers of rotary carrier elements 116 are contemplated within exemplary embodiments.
  • the hand 1 10 can include 2, 3, 4, 5, 6, 7, 8, 9 and 10 rotary' carrier elements 116 that are each driven by a corresponding designated drive motor 1 18.
  • the hand 110 constructed in accordance with the second embodiment includes fingers 120 that are independently controllable by selectively actuating the designated drive motor 118. As best illustrated in
  • FIGS. 10-11. the rotary’ carrier elements 116 are independently rotated in response to a control scheme and command signal from the control system 112 to approximate the fingers 120 around the object 200.
  • the hand 110 can be used to grasp and move the object 200. To do so, the hand 110 is first positioned above the object 200, such that the object 200 is located within a grasping radius defined by the outer periphery' of the fingers 120 on the rotary' carrier elements 116. Each drive motor 118 then rotates the corresponding finger 120 into an "open" position in which the fingers 120 are located at a spaced-apart distance from the object 200. FIG. 10 depicts the fingers 120 in a suitable open position. In response to appropriate command signals, the drive motors 118 then rotate the rotary' carrier elements 116 to approximate the fingers 120 toward the object 200, as depicted in FIG. 11.
  • the rotary carrier elements 116 (e.g., cam members 126) are independently driven and controlled, the rotary carrier elements 116 can be rotated in different directions to approximate the fingers 120 around the object 200.
  • the fingers 120 apply a clamping force to the object 200 that is sufficient to lift, move, tilt, or rotate the object 200.
  • the extent of the clamping force applied by the fingers 120 to the object 200 can be controlled by monitoring the electrical current (load) on the drive motors 118. In other embodiments, separate force sensors can be used to detect the extent of lateral force applied by the fingers 200 to the object 200.
  • one or more of the drive motors 118 rotate the rotary carrier elements 116 to move the fingers 120 away from the object 200, thereby releasing the grasp of the hand 1 10 on the object 200.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention propose une main mécanique destinée à être utilisée pour saisir un objet. Dans certains modes de réalisation, la main comprend une base; un moteur; une pluralité d'engrenages de verrouillage fixés à la base, chaque engrenage ayant un axe de rotation individuel; et une pluralité de doigts, chaque doigt étant fixé à un engrenage correspondant. Dans d'autres modes de réalisation, la main comprend une base; une pluralité de cames fixées à la base, chaque came ayant un axe de rotation individuel; une pluralité de moteurs, chaque moteur étant configuré pour alimenter une came correspondante; et une pluralité de doigts, chaque doigt étant fixé à une came correspondante. Selon un autre aspect, l'invention propose un robot destiné à être utilisé pour saisir et déplacer un objet. Dans certains modes de réalisation, le robot comprend un corps; une pluralité de capteurs intégrés dans le corps; un système de commande; un bras; et une main. Dans plusieurs modes de réalisation, le robot comprend une main selon le premier ensemble de modes de réalisation ci-dessus, utilisant une pluralité d'engrenages de verrouillage. Dans d'autres modes de réalisation, le robot comprend une main selon le second ensemble de modes de réalisation ci-dessus, utilisant une pluralité de cames.
PCT/US2024/011672 2023-01-16 2024-01-16 Main robotique Ceased WO2024155621A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202363439177P 2023-01-16 2023-01-16
US63/439,177 2023-01-16

Publications (1)

Publication Number Publication Date
WO2024155621A1 true WO2024155621A1 (fr) 2024-07-25

Family

ID=91956473

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2024/011672 Ceased WO2024155621A1 (fr) 2023-01-16 2024-01-16 Main robotique

Country Status (1)

Country Link
WO (1) WO2024155621A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8910985B2 (en) * 2009-10-20 2014-12-16 Brooks Automation, Inc. Gripper apparatus and method for containers of different sizes
US20190202070A1 (en) * 2017-12-28 2019-07-04 Fanuc Corporation Gripping hand
CN113370245A (zh) * 2021-07-07 2021-09-10 北京理工大学 一种可自动弯曲回位的机械臂夹持器
CN115284265A (zh) * 2022-09-29 2022-11-04 深圳市恒润鑫五金有限公司 一种大负载全能型机械手

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8910985B2 (en) * 2009-10-20 2014-12-16 Brooks Automation, Inc. Gripper apparatus and method for containers of different sizes
US20190202070A1 (en) * 2017-12-28 2019-07-04 Fanuc Corporation Gripping hand
CN113370245A (zh) * 2021-07-07 2021-09-10 北京理工大学 一种可自动弯曲回位的机械臂夹持器
CN115284265A (zh) * 2022-09-29 2022-11-04 深圳市恒润鑫五金有限公司 一种大负载全能型机械手

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