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An Object Gripper with Distance, Pressure Sensing, and Jam Protection

A technology of locked-rotor protection and grippers, which is applied in the direction of chucks, manufacturing tools, manipulators, etc., can solve problems such as loss, damage to the gripper, and reduce the life of the gripper to achieve the effect of prolonging the service life

Active Publication Date: 2020-01-31
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Conventional object holders generally have no distance sensor, which will result in that when the height of the object is different, the holder terminal cannot conveniently adjust the holding position
Moreover, they do not have pressure sensors, which are more destructive to fragile and easily damaged objects
At the same time, since the motors do not have stall protection, they will always be in a stalled state after they grab objects. In this state, a huge current may be generated. If they are in this state for a long time, the life of the gripper will be reduced, and even in serious cases. Damage the holder and cause a large loss

Method used

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  • An Object Gripper with Distance, Pressure Sensing, and Jam Protection
  • An Object Gripper with Distance, Pressure Sensing, and Jam Protection
  • An Object Gripper with Distance, Pressure Sensing, and Jam Protection

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Embodiment Construction

[0010] The object holder proposed by the present invention has distance, pressure detection and stall protection functions, and its structural diagram is as follows figure 1 As shown, it includes a left claw 5 , a right claw 10 , a main control box 7 , a main control board 21 , a distance sensor, a camera 16 , a motor 17 and a communication interface board 22 . The main control box 7 has a U-shaped box cover, and the U-shaped box cover is fixed on the main control box 7 through the box cover fixing hole 8 . The left claw 5 and the right claw 10 are arranged on the cover side plate 6 of the U-shaped box cover of the main control box 7, and the inner surface of the left claw 5 and the inner surface of the right claw 10 are respectively processed with anti-skid grooves 14, and the lower end of the left claw 5 passes through the left Claw rotation pin 13 is placed on the box cover side plate 6 of the U-shaped box cover of main control box, and the lower end of right claw 10 is con...

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Abstract

The invention relates to an object gripper with distance and pressure sensors and a rotation-clogging protection function, and belongs to the technical field of robot operation. The object gripper comprises a main control box, the pressure sensor, the distance sensor, a rotation-clogging protection circuit, rubber with an anti-slip function, and a camera. When the object gripper is used for grabbing an object, the type of the object can be recognized by the camera, whether the grabbed object is in the grabbing range or not can be detected by the distance sensor at the same time, and a grabbing signal is provided at the same time. The pressure sensor can be squeezed when the object is grabbed, and a corresponding grabbed signal is given out. When the object is grabbed without squeezing the pressure sensor, whether a motor is in a rotation-clogging state or not can be detected by the rotation-clogging protection circuit; and if the motor is in the rotation-clogging state, the motor can be adjusted to the normal state automatically, and a stable grabbing signal is provided through a communication interface. The object gripper designed by the invention is elaborate and simple in design and high in reliability, the life of the motor can be effectively guaranteed, and meanwhile, loss caused by misoperation of a machine can be reduced.

Description

technical field [0001] The invention relates to an object holder with the functions of distance and pressure detection and blocking protection, and belongs to the technical field of robot operation. Background technique [0002] In industrial operation and grasping, in order to avoid damage to the operating object, there may be many fine requirements for the shape and force of the object. Conventional object holders generally have no distance sensor, which will result in that when the height of the object is different, the end of the holder cannot conveniently adjust the holding position. Moreover, they do not have pressure sensors, which are more destructive to relatively fragile and easily damaged objects. At the same time, since the motors do not have stall protection, they will always be in a stalled state after they grab objects. In this state, a huge current may be generated. If they stay in this state for a long time, the life of the gripper will be reduced, and even...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/08B25J13/08B25J19/06
CPCB25J13/085B25J13/086B25J15/08B25J19/06
Inventor 孙富春方斌黄铸栋张文亮高春乐荆明轩刘华平郭迪
Owner TSINGHUA UNIV
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