CN115210050A

CN115210050A - Robot hand

Info

Publication number: CN115210050A
Application number: CN202180016283.7A
Authority: CN
Inventors: A.肖
Original assignee: Dyson Technology Ltd
Current assignee: Dyson Technology Ltd
Priority date: 2020-02-27
Filing date: 2021-02-24
Publication date: 2022-10-18
Also published as: GB202002777D0; GB2592410A; GB2592410B; WO2021171008A1

Abstract

A robot gripper, comprising: a base; a first finger comprising a proximal phalanx articulated to a base; a second finger comprising a proximal phalanx connected to a base by an articulation, the first and second fingers being opposable to one another; wherein the base comprises a suction cup arranged to allow the gripper to interact with the object by suction.

Description

Robot hand

Technical Field

The present invention relates to a robot hand. Aspects of the invention relate to a robot gripper, a robot comprising a robot gripper and a method of operating a robot gripper.

Background

In industries such as manufacturing, robotic equipment comprising a robotic hand and a gripper device (also referred to herein as a robot or robotic gripper) is known. A key capability of such robotic devices is often their ability to manipulate a series of objects. However, known robotic grippers capable of manipulating and picking up objects from a flat surface tend to be complex in their construction, particularly where such grippers are designed to closely mimic a human hand.

It is an object of the present invention to provide a robot gripper that alleviates or substantially alleviates the above problems.

Disclosure of Invention

According to an aspect of the present invention, there is provided a robot gripper comprising: a base; a first finger comprising a proximal phalanx articulated to a base; a second finger comprising a proximal phalanx connected to the base by an articulation, the first and second fingers being opposable to one another; wherein the base comprises a suction cup arranged to allow the gripper to interact with the object by suction.

The present invention provides a robotic gripper that advantageously includes a suction cup and allows the gripper to manipulate a second object (e.g., open a door or drawer without having to put the first object down) when the gripper has gripped the first object.

The suction cup may comprise a vacuum pump. The suction cup may be associated with a vacuum pump, allowing the vacuum to be conveniently generated and controlled. The vacuum pump may be located within the base.

The suction cup may be a passive suction cup configured to be activated when the suction cup is pushed towards an object. As an alternative to a vacuum chuck, a passive chuck may be used, which results in an arrangement with fewer components compared to the vacuum option. Such a passive suction cup device will also save space, since fewer parts need to be loaded into the body of the gripper (or associated robot).

The base may include a palm surface, a back surface, and a side surface, the suction cup being located on one of the palm surface, the back surface, or the side surface.

The robotic gripper may comprise one or more suction cups located on the same surface of the base. If one suction cup does not properly form a seal (e.g., due to surface features on the second object), additional suction cups may be provided to provide a better seal or to compensate.

The robotic gripper may comprise one or more suction cups located on different surfaces of the base. Providing suction cups on different surfaces of the base allows greater flexibility and reduces the need to rotate or realign the gripper in order to use the suction cups.

According to an aspect of the invention, there is provided a robot comprising a robot gripper according to the above aspect of the invention.

Where the robot gripper is configured to comprise a suction cup, the robot may comprise a robot body connected to the robot gripper, wherein the suction cup may comprise a vacuum pump located within the robot body.

According to an aspect of the invention, where the robot gripper is configured to comprise a suction cup, there is provided a method of operating the robot gripper or robot according to the above aspect of the invention, comprising: manipulating the first and second fingers to grip the first object; moving the gripper such that the suction cup contacts the second object; forming a vacuum seal between the suction cup and the second object; moving the gripper to manipulate the second object; breaking the vacuum seal with the second object; the first object is released.

Where the second object is a drawer or door, the method may further comprise moving the robot gripper while the vacuum seal is in place, so as to open the drawer or door.

Forming the vacuum seal may include moving the robot gripper such that the suction cup is urged toward the second object.

Breaking the vacuum seal may include moving the robotic gripper such that the suction cup twists relative to the second object.

Forming the vacuum seal may include moving the robot gripper such that the suction cup contacts the second object and activating a vacuum pump connected to the suction cup.

It is noted that the order of steps in the above-described methods according to the present disclosure may vary somewhat depending on the particular implementation of the method, e.g., some steps may occur together or in a different order than described above.

The robot gripper may include: a base; a first finger connected to the base by a base joint and comprising n phalanges; a second finger connected to the base by a base joint and comprising n + m phalanges, each phalange of the second finger being connected to an adjacent phalange by a phalange joint, and the first and second fingers being opposed to each other; wherein n and m are positive integers.

The robot gripper may be configured such that the fingers have an asymmetric arrangement. This arrangement advantageously provides the ability to grip objects and manipulate them, for example by rolling the object between two fingers). This arrangement also allows the gripper to be manual.

In one arrangement of the robotic gripper, the values of n and m may both be set equal to 1 such that the first finger comprises a first phalanx connected to the base by a pivotable joint, the second finger comprises a first phalanx and a second phalanx, and the second finger comprises a pivotable joint between the base and the first phalanx and between the first and second phalanx. This arrangement conveniently provides a robot gripper that is compact (comprising a total of three phalanges) and capable of gripping and rolling objects.

The base may include a surface extending between base joints, the distance between the base joints being substantially the same as the length of the first phalanx of the second finger, such that the first and second fingers may be parallel to each other, such that the first phalanx of the first finger is adjacent to the second phalanx of the second finger. The component parts of the robot gripper may conveniently be dimensioned so that the two fingers can be brought together so that their tips meet. This makes it easier for the robot gripper to pick up the object.

Each joint may rotate about an axis, and the axes of all joints within the robot gripper may be parallel to each other.

Each joint may include a motor. In this way, the gripper can be fully actuated, which allows full control of the fingers of the robot gripper. This contributes to the gripping position that the robot gripper may occupy.

A motor associated with the first phalanx may be located within the base. A motor associated with the second phalanx may be located within the finger. In case the motor is located in the finger, this provides a gripper where all control elements are integrated in the gripper itself, which allows the replacement gripper to be attached to the robot with minimal difficulty, e.g. by a wrist connection.

The gripper may further comprise an arm rotatably connected to the base by a wrist connection, and each motor may be located in the wrist remote from the joint, each motor being connected to the joint by a tendon link. As an alternative to incorporating the motor within the holder, this arrangement provides a holder in which the volume of the holder is reduced, as there is no need to integrate the motor therein.

Each finger may include a tip portion, and the fingers may be configured to move between an open configuration and a clamped configuration in which the tip portions of each finger contact. The gripper may advantageously assume a range of open configurations, which allow gripping of objects of many different sizes.

The first and second fingers may include nail protrusions. Providing a nail projection allows for easier pick up of objects.

The gripper may comprise further fingers opposite the first finger, each further finger comprising n + m phalanges.

The robot gripper may include: a base; a first finger comprising a first phalanx connected to the base by an articulation and a tip portion distal to the base; a second finger comprising a first phalanx connected to the base by an articulation and a tip portion distal from the base, wherein the first and second fingers are opposed to each other, the first finger comprising an inner surface facing the second finger, the second finger comprising an inner surface facing the first finger; the tip portion of one of the fingers includes a nail protuberance that is expandable between an expanded configuration and an unexpanded configuration.

The robot gripper may be configured such that at least one finger includes a nail projection that is deployable between a deployed configuration and an undeployed configuration. The nail protrusions advantageously aid in picking up and gripping objects, especially small flat objects on a surface.

The tip portion of the first finger may include a nail projection, and the tip portion of the second finger may include a nail projection, each nail projection may be deployed between an expanded configuration and an unexpanded configuration, the nail projections of the first and second fingers opposing each other in their expanded configurations. Preferably, both fingers include a fingernail feature to help grip the object. In this arrangement, two nails may be engaged on either side of the object.

In the undeployed configuration, the nail protrusions may be flush with the inner surface of the finger, or may be recessed within the finger. In some configurations, the nail protrusions may be configured to be flush with the finger surface or even recessed within the finger when in an undeployed configuration.

In the deployed configuration, the nail protrusions may protrude further beyond the inner surface of the finger than in the undeployed configuration. In some configurations, the nail protrusions may not be flush with or recessed within the finger in the undeployed configuration, in which case when the nail is deployed, it is arranged to protrude further beyond the inner surface of the finger than in the undeployed configuration.

The at least one finger may include a first phalanx and a second phalanx, and the tip portion may be integrated in the second phalanx. In case the finger comprises more than one phalange, the nail elevation is advantageously located at the tip portion of the last phalange.

The inner surface of the or each finger including the nail protuberance may be movable between an undeformed configuration and a deformed configuration, and may be configured such that moving the inner surface to a deformed position causes the nail protuberance to be deployed. Conveniently, a fingernail arrangement may be provided in which the inner surface of the moving finger exposes a fingernail protuberance. In one form of such a nail arrangement, the finger may be designed to deform when in contact with an object to expose the nail protrusions, thereby eliminating the need for mechanical parts.

The or each finger comprising the nail-lift may comprise a cam mechanism configured to extend the nail-lift of the or each finger when the robotic gripper interacts with the object.

The cam mechanism may be located on the inner surface of the or each finger. The cam mechanism for the or each finger may be located at the base of the robot gripper.

In an alternative configuration, the or each finger comprising a nail projection may comprise a recess within which the nail projection is arranged to move, the holder comprising a linear actuator for each nail projection arranged to move each nail projection between the deployed and undeployed configurations.

The gripper may comprise a further finger opposite the first finger, and each finger may comprise a nail projection.

Within the scope of the present application, it is clear that the various aspects, embodiments, examples and alternatives set forth in the preceding paragraphs, in the claims and/or in the following description and drawings, in particular individual features thereof, may be employed individually or in any combination. That is, features of all embodiments and/or any embodiment may be combined in any manner and/or combination unless such features are incompatible. The applicant reserves the right to alter any originally filed claim or to file any new claim accordingly, including the right to modify any originally filed claim to depend from and/or incorporate any feature of any other claim, even though not originally claimed in such a manner.

Drawings

One or more embodiments of the present disclosure will now be described, by way of example only, with reference to the accompanying drawings, in which:

FIG. 1 shows a perspective view of a robot gripper according to an embodiment of the invention;

figure 2 shows a plan view of the robot gripper of figure 1 in an open configuration;

FIG. 3 shows a plan view of the robot gripper of FIG. 1 in a closed configuration;

figure 4 shows a plan view of the robot gripper of figure 1 in a further open configuration;

figure 5 shows a cross-section of the robot gripper of figure 1;

FIG. 6 shows a close-up view of a tip portion of a finger of the robot gripper of FIG. 1;

FIG. 7 shows a side view of a modified design of a robotic gripper with a three-part phalange;

figure 8 shows the phalanges of the robotic gripper of figure 7;

figures 9 to 14 show various configurations of the robot gripper of figure 1 and gripping different objects;

FIG. 15 shows a phalanx including a nail projection for a finger of the robotic gripper in an undeployed configuration, according to an embodiment of the invention;

FIG. 16 shows the phalanges of FIG. 15 in a deployed configuration;

FIG. 17 shows a plan view of a robot gripper with nail protrusions according to an embodiment of the present invention;

FIG. 18 shows the gripper of FIG. 17 when the gripper is closed;

FIG. 19 shows the gripper of FIG. 17 while holding an object;

figures 20 to 21 show the gripper of figure 17 holding another object;

FIG. 22 shows a plan view of a robot gripper with nail protrusions according to an embodiment of the present invention;

FIG. 23 shows a plan view of a robot gripper with a passive suction cup according to an embodiment of the present invention;

FIG. 24 shows a plan view of a robot gripper with a vacuum chuck in accordance with an embodiment of the present invention;

FIG. 25 shows a side view of the holder of FIG. 23 or 24;

fig. 26 shows a holder according to fig. 23 or 24 interacting with a cabinet door;

FIG. 27 is a flow chart showing how the gripper according to FIG. 23 or 24 operates;

figure 28 shows a robot comprising a robot gripper according to an embodiment of the invention.

Detailed Description

General and specific embodiments of the present disclosure will be described below with reference to the accompanying drawings. In the drawings, like numerals are used to indicate like features.

Fig. 1 shows a perspective view of a robot gripper 10 according to an embodiment of the invention. The holder 10 includes a base 12, a first finger 14, and a second finger 16.

The first finger 14 includes a first or proximal phalanx 18 that is connected to the base 12 by a joint 20. The second finger 14 includes a first (proximal) phalanx 22 that is connected to the base 12 by a (base) joint 24. The second finger 16 also includes a second (distal) phalanx 26 that is connected to the adjacent proximal phalanx 22 by a (phalangeal) joint 28. The first and second fingers (14, 16) are opposite each other.

For the robotic gripper 10 shown in fig. 1, there is an odd number of joints (in this case 3 joints) and an odd number of phalanges. The presence of a hand with an odd number of phalanges in the opposing fingers results in a "manual" gripper 10 that enables the fingers of the gripper to perform gripping and clamping actions as well as more complex actions, such as rolling an object between two opposing fingers.

In a more general form, a robot gripper according to an embodiment of the invention comprises a first finger comprising n phalanges and a second finger having n + m phalanges, wherein n and m are positive integers. In the example of fig. 1, n =1,m =1, but it should be understood that other arrangements are possible (e.g., when n =2,m =1, a first finger would have two (proximal and distal) phalanges and a second finger would have three (proximal, middle and distal) phalanges). In this respect, the robot gripper is asymmetric.

As shown in fig. 1, the inner surface 30 of the finger includes a textured surface to assist in gripping objects. The surface may for example comprise a rubber material. The robot gripper additionally comprises a wrist connection 32 to enable the gripper 10 to be connected to a robot arm (not shown in fig. 1).

Fig. 2 shows the clamp 10 of fig. 1 in a side view in an open "clamped" configuration. In fig. 2, gripper 10 is also shown connected to arm 34 by wrist connection 32, arm 34 and connection 32 defining an axis 38.

The base 12 includes a "palm" portion 36 that includes a surface 40 of the base 12 extending between the first finger/base joint 20 and the second finger/base joint 24.

As can be seen in fig. 2, the surface 40 of the palm portion 26 defines a plane that is at an angle θ to the axis 38. In an embodiment, the angle θ is 15 degrees, or about 15 degrees, which allows the robot gripper to effectively grip and clamp the object.

Each joint (20, 24, 28) is rotatable about an axis. As shown in fig. 2, the axes of each joint (20, 24, 28) are parallel to each other and perpendicular to the plane of the drawing. Each joint includes its own motor so that the robotic gripper is fully actuated, thereby facilitating the gripping position that the gripper can assume.

The motor of each joint may be directly associated with the joint (as shown in fig. 5 below). Such an arrangement would facilitate replacement of a gripper connected to the wrist with a replacement gripper (in the event of damage) or a replacement robotic manipulator.

Alternatively, the motor for each joint may be located remotely from the gripper 10 (e.g., within the arm 34) and may be connected to the joint by a suitable mechanical or hydraulic tendon system. This arrangement allows the design of the holder to be less bulky than positioning the motor and each joint directly within the holder.

The gripper may be rotatable about the wrist joint to enable the gripper to move between a first manual position and a second manual position.

Turning to fig. 3, the gripper of fig. 1 and 2 is shown in a closed configuration ("gripping" configuration) in which the first and second fingers (14, 16) are arranged parallel to each other.

Note that the distance (labeled "a" in fig. 3) between the proximal joints (20, 24) of the first and second fingers (14, 16) on the base 12 is substantially the same as the length of the proximal phalanx 22 of the second finger 16, so that the first and second fingers can be parallel to each other, such that the proximal phalanx 18 of the first finger 14 is adjacent the distal phalanx 26 of the second finger 16.

Further, the distance of the first phalange 18 of the first finger 14 is substantially the same as the length of the distal phalange 26 of the second finger 16 (labeled "b" in fig. 3). As a result, the tip portion 42 of the first finger 14 and the tip portion 44 of the second finger 16 come together.

Fig. 4 shows the holder 10 in a fully open configuration, wherein the surface 40 of the base 12 and the surface 30 of the first finger 14 define a straight line. Further, the first and second phalanges (22, 26) of the second finger 16 define a straight line. As shown in fig. 4, the first finger 14/base 12 is at about 90 degrees to the second finger 16.

Fig. 5 shows a cross section of the robotic gripper 10, wherein the motors (46, 48, 50) and the control unit 52 are arranged within the structure of the gripper 10. Each joint of the gripper includes its own motor (joint 20 is actuated by motor 46; joint 24 is actuated by motor 48; and joint 28 is actuated by motor 50). The control unit 52 is configured to send control signals to each motor to control the operation of the gripper 10.

The holder 10 comprises a metal (e.g. aluminium) frame within which the motor and control unit are mounted. The metal frame may be coated with any suitable material to form holder 10 (e.g., a plastic outer body with rubber grips on the surfaces (30, 40)).

The motors (46, 48, 50) may be configured to measure torque applied to the joint. Sensors may be provided in the contact surfaces (30, 40) to detect the position of contact with an object manipulated by the gripper 10. The control unit 52 may determine the force applied to the gripped object from the torque and the sensor data.

Fig. 6 shows in more detail the tip portions (42, 44) of the fingers (14, 16) shown in fig. 3 and 5 ("clamped" configuration). Note that the phalanges 18 of the first finger 14 include protrusions 54 ("fingernail" protrusions) disposed on the inner surface of the phalanges 18 and protruding toward the other finger 16. Similarly, the distal phalanx 26 of the second finger 16 includes a protrusion 56 disposed on an inner surface of the phalanx 26 and protruding toward the finger 14.

The two protrusions (54, 56) generally provide a pointed tip to facilitate picking up objects from a flat surface. In particular, the provision of such nail protrusions allows the robot gripper to more easily pick up low profile objects, such as coins, pieces of material, which might otherwise not be able to obtain sufficient gripping force on such objects.

Figures 7 and 8 show a modified design of the holder 10 in which the distal phalanx 26 of the finger 16 is divided into three parts-a central phalanx part 26a and side parts (26 b, 26 c). The phalanges 26 include a base 58 that contains the joint 28. The central portion 26a is fixed relative to the base 58. The side portions (26 b, 26 c) spring up via the spring member 60 so that they are biased towards the opposite finger 14.

Note that fig. 7 and 8 show a three-pronged variant design on finger 16. Those skilled in the art will appreciate that a three-prong arrangement may alternatively be used on the phalanges 18 of the first finger 14. Alternatively, the two

fingers

14, 16 may incorporate the arrangement shown.

The resilient side portions (26 b, 26 c) facilitate gripping of an object.

Fig. 9 shows a first perspective view of the gripper 10 according to fig. 1 to 6 gripping an object (cup 62), the finger 16 being in front of the image. Fig. 10 shows the same interaction from above the gripper 10.

Fig. 11 shows a second perspective view of the gripper with the finger 14 in front of the image. It can be seen that the clamp 10 is in the general clamping configuration shown in figures 1 and 2.

Fig. 12 shows a plan view of the gripper 10 according to fig. 1 to 6 gripping another object, namely a pen 64. It can be seen that the clamp 10 is in the clamped configuration shown in figures 3 and 5. Fig. 13 shows a first perspective view of the gripper 10 with the finger 14 in front of the image. Fig. 14 shows a second perspective view of the gripper with the finger 16 in front of the image. The robotic gripper allows the second finger 16 to flex through the phalangeal joint 28 so that the second phalanx 26 can roll the pen along the phalanx 18 of the first finger.

Figures 15 and 16 show a configuration of a phalanx 70 of a finger for a robot gripper, the finger including a fingernail protrusion that is deployable from an undeployed configuration (shown in figure 15) to a deployed configuration (shown in figure 16), according to an embodiment of the invention. As described below, the nail relief arrangement shown in fig. 15 and 16 is a passive arrangement in which the nail moves from an undeployed configuration to a deployed configuration upon contact with an object. This is in contrast to the active nail protuberance arrangement shown in fig. 17-22, in which a cam device or linear actuator arrangement is used to deploy the nail protuberances.

Returning to fig. 15 and 16, the phalanges 70 include a base 72, with a joint 74 disposed within the base 72. Note that the phalanges 70 of fig. 15 and 16 may be incorporated into one or more fingers of a robotic gripper. For example, the phalanges 70 may be incorporated into one or both of the

phalanges

18 or 26 described above.

The phalanges 70 include an inner surface 76, which inner surface 76 faces the other finger on the gripper when the phalanges 70 are disposed on the finger of the robot gripper. The inner surface 76 includes a deformable portion 78. A deformable portion 78 is disposed at the distal end of the joint 74.

The phalange 70 also includes a tip portion 80 that includes a nail projection 82, the nail projection 82 projecting toward another finger on the holder when the phalange 70 is disposed on a finger of the robotic holder.

In fig. 15, the phalanges 70 are in an undeployed configuration, in which the nail protrusions 82 do not substantially protrude beyond the inner surface 76 of the phalanges.

In fig. 16, the phalanges are shown in a deployed configuration. When the phalanges 70/holder 10 are in contact with an object (not shown), the phalanges 70 can expand into an expanded configuration. When an object contacts the deformable portion 78, the deformable portion 78 deflects into the cavity 84 within the body of the phalanx 70. The previous position of the inner surface of the deformable portion 78 is shown by the dashed line 86 in fig. 16. It can be seen that in the expanded configuration, the nail protrusions 82 now protrude further beyond the inner surface of the portion 78 and can be used to assist in picking up small objects (especially on flat surfaces) and improve grip.

The nail construction shown in fig. 15 and 16 advantageously provides improved gripping capability without the need for an additional motor or other mechanical actuation device, as the nail is provided by the deformable portion 78 of the finger.

Fig. 17-21 illustrate another configuration of a finger of a robotic gripper according to an embodiment of the present invention, the finger including a nail projection that is deployable from an undeployed configuration to a deployed configuration. As described below, the nail protuberance arrangement shown in fig. 17-21 is a "positive" arrangement in which the nail is moved from an undeployed configuration to a deployed configuration in response to movement of a cam device connected to the nail protuberance. This is in contrast to the passive nail projection arrangement shown in fig. 15 and 16 above, in which contact with an object is used to deform a finger to spread the nail projections.

For ease of reference, the nail projection arrangement according to fig. 17 to 21 is shown incorporated into the robot gripper 10 of fig. 1 to 14. However, it should be noted that the nail projection arrangement may be incorporated into any suitable robot gripper. It should also be noted that both fingers (14, 16) in fig. 17 to 21 are shown as including a fingernail projection arrangement, but those skilled in the art will appreciate that this arrangement may exist on only one or the other finger.

As shown in fig. 17, the finger 14 includes a nail projection 90 in the tip portion 42 of the phalanx 18. The nail projections 90 are connected to a cam device 94. The cam device is mounted on a pivot 96.

Also shown in fig. 17 is another nail projection 92 in the tip portion 44 of the phalanx 26 of the finger 16. The nail projections 92 are connected to a cam arrangement 98 mounted on a pivot 100.

The nail protrusions 90 and cam device 94 are shown in the expanded configuration, and it can be seen that the inner surface 102 of the cam (the "object contacting" side) is substantially flush with the inner surface 30 of the phalanx 18. In the deployed configuration, the nail protrusions 90 protrude beyond the inner surface 30 of the phalanges 18.

The nail protrusions 92 and cam device 98 are shown in an undeployed configuration. In this configuration, the nail protrusions do not substantially protrude beyond the inner surface 30 of the phalanges 26 (and may be completely recessed within the body of the phalanges 26). The inner surface 104 of the cam device 98 is raised above the inner surface 30 of the phalanges 26.

The

cam devices

94 and 98 may be biased about their respective pivots (96, 100) toward an undeployed configuration, the cam devices (94, 98) being configured to move to their respective deployed configurations when an object is in contact with the cam devices. [ note: in fig. 17, the cam device 94 is shown in the deployed configuration, but for clarity, the object in contact with the cam device is not shown. ]

As shown in fig. 18, when the

fingers

14 and 16 are in the "pinched" configuration shown in fig. 18 (and fig. 3), the

cam devices

94 and 98 may be actuated by each other to spread the

nail projections

90 and 92 apart.

As shown in fig. 19, the cam devices (94, 98) have been activated to spread the

nail projections

90, 92 when the

fingers

14, 16 grip the object (pen) 62.

Fig. 20 and 21 show plan and perspective views, respectively, of the nail relief arrangement of fig. 17 and 18, when the holder 10 is holding a larger object, namely a cup 62.

FIG. 22 illustrates another "active" nail projection arrangement in which a linear actuator is used to deploy finger projections, according to an embodiment of the invention.

For ease of reference, the nail projection apparatus according to fig. 22 is shown incorporated into the robot gripper 10 of fig. 1 to 14. However, it should be noted that the nail projection arrangement may be incorporated into any suitable robot gripper. It should also be noted that both fingers (14, 16) in fig. 22 are shown as including a fingernail projection arrangement, but those skilled in the art will appreciate that this arrangement may exist on only one or the other finger.

In fig. 22, the phalanges 18 of the finger 14 include recesses 106 in the phalange body. The nail protrusions 108 are located within the grooves 106 and are movable between an undeployed configuration in which the nail protrusions 108 are recessed within the grooves 106 and a deployed configuration in which the nail protrusions 108 protrude beyond the inner surface 30 of the phalanges 18. The nail protrusions 108 are deployed by a linear actuator 110 located within the phalanges 18. The linear actuator 110 may in turn be controlled by a control signal received from a control unit, such as the control unit 52 shown in fig. 5.

The finger 16 shown in fig. 22 shows the corresponding nail protrusions 112 within the groove 114 of the phalanx 26. The linear actuator 116 is configured to deploy the nail projections 112 between the deployed configuration and the undeployed configuration.

Fig. 23 to 26 show a gripper including a suction cup according to an embodiment of the present invention. For ease of reference, the suction cups according to fig. 23 to 26 are shown incorporated into the robot gripper 10 of fig. 1 to 14. It should be noted, however, that the suction cups may be incorporated into any suitable robot gripper.

Fig. 23 shows the gripper 10 described above with respect to fig. 1 to 14. Further, the base 12 includes a suction cup 120 mounted thereon. As previously described, the base 12 includes a palm portion 36. Further, it should be noted that the base includes side surfaces 122 and 124 (surface 122 is shown in fig. 23,

surfaces

122 and 124 are shown in fig. 25) and a back surface 126. As shown in fig. 23, the suction cup 120 is mounted on a back surface 126 of the base 12.

Although a single suction cup 120 is shown in fig. 23 to 26, it will be appreciated by those skilled in the art that a plurality of suction cups may be mounted on the holder. In addition, one or more suction cups may be provided on other surfaces of the holder 10, such as the side surfaces 122, 124.

The suction cup 120 shown in fig. 23 is a passive suction cup that is activated when the suction cup is pushed against an object.

Fig. 24 shows an example of a vacuum chuck 128 connected to a vacuum pump 130 by a conduit 132. Note that the vacuum pump may be located within the robot gripper 10 or remote from the gripper 10 (e.g., within the robot arm 34 as shown in fig. 2 or at any suitable location within a robot including the robot gripper as shown in fig. 24).

As shown in fig. 26,

suction cups

120, 128 according to embodiments of the invention can be used to interact with an object, such as a door 134, when the holder 10 is holding an item (e.g., cup 62 shown in fig. 26). In this manner, the gripper 10 can accomplish tasks such as placing items into a cabinet (e.g., gripping items, engaging suction cups with the door 134, opening the door, placing items into a cabinet) in a single sequence, rather than having to drop items in order to open the door using the

gripper fingers

14, 16.

Fig. 27 is a flow chart of a method of using the gripper 10 shown in fig. 23 to 26. At step 200, the first and second fingers (14, 16) are manipulated to grip the first object. Once the first object is grasped by the gripper 10, the gripper is moved so that the suction cup contacts the second object at step 202.

At step 204, a vacuum seal is formed between the suction cup (120, 128) and the second object. The vacuum seal may be formed by pressing the suction cup against the second object (in the case of a passive suction cup) or by using a vacuum pump 130 to create a vacuum between the suction cup and the second object.

At step 206, the gripper 10 may be moved in order to manipulate the second object. For example, if the second object is a drawer or a cabinet door, the holder may be moved to open or close the drawer/door.

At step 208, the vacuum seal is broken. This can be achieved by turning off the vacuum pump or by controlling the gripper to twist relative to the second object (or a combination of both).

At step 210, a first object may be placed and then released.

Fig. 28 shows a robot 140 comprising an arm 24 and a robot gripper 10 according to any of the above-described fig. 1 to 26.

Many modifications may be made to the examples described above without departing from the scope of the present disclosure, which is defined by the following claims.

Claims

1. A robot gripper, comprising:

a base;

a first finger comprising a proximal phalanx articulated to a base;

a second finger comprising a proximal phalanx connected to the base by an articulation, the first and second fingers being opposable to one another;

wherein the base comprises a suction cup arranged to allow the gripper to interact with the object by suction.

2. The robot gripper of claim 1, wherein said suction cup comprises a vacuum pump.

3. The robot gripper of claim 2, wherein said vacuum pump is located within said base.

4. The robotic gripper of claim 1, wherein the suction cup is a passive suction cup configured to be activated when the suction cup is pushed against an object.

5. The robot gripper of any of the preceding claims, wherein the base comprises a palm surface, a back surface, and a side surface, the suction cup being located on one of the palm surface, the back surface, and the side surface.

6. The robot gripper of claim 5, comprising one or more suction cups located on the same surface of the base.

7. The robot gripper of claim 5 or 6, comprising one or more suction cups located on different surfaces of the base.

8. A robot comprising a robot gripper according to any of claims 1 to 7.

9. The robot of claim 8, comprising a robot body coupled to the robot gripper, wherein the suction cup comprises a vacuum pump located within the robot body.

10. A method of operating the robot gripper of any of claims 1 to 7 or the robot of claim 8 or 9, comprising:

manipulating the first and second fingers to grip the first object;

moving the gripper such that the suction cup contacts the second object;

forming a vacuum seal between the suction cup and the second object;

moving the gripper to manipulate a second object;

breaking the vacuum seal with the second object;

the first object is released.

11. The method of claim 10, wherein the second object is a drawer or door, and the method further comprises moving the robot gripper while the vacuum seal is in place, so as to open the drawer or door.

12. The method of claim 10 or 11, wherein forming a vacuum seal comprises moving the robotic gripper such that the suction cup is urged against a second object.

13. The method of claim 12, wherein breaking the vacuum seal comprises moving the robotic gripper such that the suction cup twists relative to the second object.

14. The method of claim 10 or 11, wherein forming a vacuum seal comprises moving the robotic gripper such that the suction cup contacts a second object and activating a vacuum pump connected to the suction cup.