Torque sensing bionic clamping jaw

Abstract

According to the torque sensing bionic clamping jaw, a left clamping jaw framework is movably connected with a base and comprises a first left groove and a second left groove which are formed in the side, facing a right jaw, of the left clamping jaw framework, a left sensor quick-release connecting piece is detachably connected with the first left groove, and a right sensor quick-release connecting piece is detachably connected with the second left groove. The left torque measuring sensor is installed on the left sensor quick-release connecting piece, the left flexible gasket quick-release connecting piece is detachably connected with the second left groove, and the left flexible gasket is installed on the left flexible gasket quick-release connecting piece; the right torque measuring sensor is mounted on the right sensor quick-release connecting piece and is opposite to the left torque measuring sensor; the right flexible gasket is mounted on the right flexible gasket quick-release connecting piece and is opposite to the left flexible gasket; after the left claw and the right claw clamp an object, the left torque measuring sensor and the right torque measuring sensor detect torsion data of the object, and the left flexible gasket, the right flexible gasket, the left torque measuring sensor and the right torque measuring sensor form a lever.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical grippers, in particular to a torque-sensing bionic gripper. Background Art

[0002] In today's society, food processing has become an indispensable part of people's daily lives. In the process of food processing, cutting vegetables is an indispensable link. However, the traditional way of cutting vegetables often requires precise control of human hands. Existing mechanical grippers have difficulty in clamping the knife and sensing the clamped knife, and thus cannot truly learn the technique of cutting vegetables. In addition, the mechanical gripper lacks the torque sensing function, which makes it impossible for the mechanical gripper to judge the state of the cutting object when using the knife, and cannot achieve intelligent vegetable cutting. The bionic gripper with torque sensing function, capable of clamping the knife, and providing sufficient holding force and anti-twist ability is expected to bring convenience and comfort to people's lives and improve the efficiency and safety of food processing.

[0003] The information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the invention

[0004] In view of the shortcomings or defects of the prior art, a torque sensing bionic gripper is provided. The motor inside the parallel gripper base drives the gripper frame to move horizontally to achieve tool grasping. The introduction of the torque sensor enables the mechanical gripper to have torque sensing function and clamping pressure sensing function. The introduction of the flexible pad increases the torque that the tool can withstand.

[0005] The purpose of the present invention is achieved through the following technical solutions.

[0006] A torque sensing bionic gripper, comprising: Base, A left claw, which is movably connected to the base, and the left claw comprises, a left clamping jaw frame, which is movably connected to the base, and the left clamping jaw frame includes a first left groove and a second left groove on a side facing the right jaw, A left sensor quick-release connector, which is detachably connected to the first left groove, The left torque measuring sensor is mounted on the left sensor quick-release connector. A left flexible pad quick-release connector, which is detachably connected to the second left groove, A left flexible pad installed on the left flexible pad quick-release connector; A right claw, which is movably connected to the base and spaced parallel to the left claw, the right claw comprising: a right clamping jaw frame, which is movably connected to the base, and the right clamping jaw frame includes a first right groove and a second right groove on a side facing the left jaw, a right sensor quick-release connector, which is detachably connected to the first right groove, a right torque measuring sensor, which is mounted on the right sensor quick-release connector and opposite to the left torque measuring sensor, a right flexible pad quick-release connector, which is detachably connected to the second right groove, a right flexible pad, mounted on the right flexible pad quick-release connector and opposite to the left flexible pad; After the left claw and the right claw clamp the object, the left torque measuring sensor and the right torque measuring sensor detect the torsion data of the object and the left flexible pad and the right flexible pad form a lever with the left torque measuring sensor and the right torque measuring sensor.

[0007] In the torque-sensing bionic clamp, both the second left groove and the second right groove are provided with notches.

[0008] In the torque-sensing bionic clamp, both the first left groove and the first right groove are provided with a clamping protrusion.

[0009] In the torque sensing bionic gripper, the left sensor quick-release connector is provided with a left positioning groove for positioning the left torque measuring sensor, and the right sensor quick-release connector is provided with a right positioning groove for positioning the right torque measuring sensor.

[0010] In the torque-sensing bionic gripper, the depth of the second left groove is half the thickness of the left flexible pad, and the depth of the second right groove is half the thickness of the right flexible pad.

[0011] In the torque-sensing bionic gripper, both the left gripper frame and the right gripper frame are L-shaped structures.

[0012] In the torque-sensing bionic gripper, the L-shaped structure is provided with reinforcing ribs.

[0013] In the torque-sensing bionic gripper, the reinforcing rib is a triangular rib.

[0014] In the torque-sensing bionic gripper, a left gripper frame and a right gripper frame are slidably connected to the base via a screw rod.

[0015] In the torque-sensing bionic gripper, the torque-sensing bionic gripper has a symmetrical structure.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention can adapt to knives or other objects of various sizes, has a wide range of applications and is low in cost. Based on the ability to detect the torsion of the knife in a plane, the mechanical gripper can well complete various tasks in the field of home life. The combination of the electric screw and the torque sensor allows the mechanical gripper to remain stable and controllable during the vegetable cutting process.

[0017] The above description is only an overview of the technical solution of the present invention. In order to make the technical means of the present invention clearer and to achieve the extent that those skilled in the art can implement it according to the contents of the specification, and in order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are exemplified below. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] By reading the detailed description of the preferred specific embodiments below, various other advantages and benefits of the present invention will become clear to those of ordinary skill in the art. The drawings in the specification are only for the purpose of illustrating the preferred embodiments and are not considered to be limitations of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work. Moreover, the same reference numerals are used to represent the same components throughout the drawings.

[0019] In the attached picture: Figure 1 is an exploded schematic diagram of the torque sensing bionic gripper structure of the present invention; Figure 2 is a front view schematic diagram of the torque sensing bionic gripper of the present invention; Figure 3 is a right side schematic diagram of the torque sensing bionic gripper of the present invention; Figure 4 is a schematic top view of the torque sensing bionic gripper of the present invention; Figure 5 is an oblique schematic diagram of the torque-sensing bionic gripper of the present invention.

[0020] The present invention is further explained below in conjunction with the accompanying drawings and embodiments. DETAILED DESCRIPTION

[0021] The specific embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the specific embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0022] It should be noted that certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that technicians may use different nouns to refer to the same component. This specification and claims do not use the difference in nouns as a way to distinguish components, but use the difference in the functions of the components as the criterion for distinction. As mentioned throughout the specification and claims, "including" or "comprising" is an open term, so it should be interpreted as "including but not limited to". The subsequent description of the specification is a preferred embodiment of the present invention, but the description is based on the general principles of the specification and is not intended to limit the scope of the present invention. The scope of protection of the present invention shall be determined by the attached claims.

[0023] To facilitate understanding of the embodiments of the present invention, several specific embodiments will be further explained below with reference to the accompanying drawings, and each of the accompanying drawings does not constitute a limitation on the embodiments of the present invention.

[0024] For a better understanding, Figures 1 to 5 As shown, a torque sensing bionic gripper comprises: Base 1, A left claw, which is movably connected to the base 1, and the left claw comprises: A left clamping jaw frame 5 is movably connected to the base 1, and the left clamping jaw frame 5 includes a first left groove and a second left groove on a side facing the right clamping jaw. The left sensor quick-release connector 4 is detachably connected to the first left groove. The left torque measuring sensor 3 is mounted on the left sensor quick-release connector 4. The left flexible pad quick-release connector 6 is detachably connected to the second left groove. A left flexible pad 7, which is mounted on the left flexible pad quick-release connector 6; A right claw, which is movably connected to the base 1 and spaced parallel to the left claw, comprises: A right clamping jaw frame 10 is movably connected to the base 1, and the right clamping jaw frame 10 includes a first right groove and a second right groove on a side facing the left clamping jaw, The right sensor quick-release connector 11 is detachably connected to the first right groove. The right torque measuring sensor 2 is mounted on the right sensor quick-release connector 11 and is opposite to the left torque measuring sensor 3. The right flexible pad quick-release connector 9 is detachably connected to the second right groove. a right flexible pad 8, which is mounted on the right flexible pad quick-release connector 9 and is opposite to the left flexible pad 7; After the left and right jaws clamp the object, the left torque measuring sensor 3 and the right torque measuring sensor 2 detect the torsion data of the object and the left flexible pad 7 and the right flexible pad 8 form a lever with the left torque measuring sensor 3 and the right torque measuring sensor 2. When the jaws clamp an object such as a tool, the rear end of the tool contacts the torque measuring sensor and the middle of the tool contacts the flexible pad. When the front end of the tool is subjected to external force, the entire tool will rotate with the torque measuring sensor as the fulcrum. The torque measuring sensor and the flexible pad form a lever and provide resistance to the external force that rotates the tool. The left flexible pad forms a lever with the left torque measuring sensor on one side, and the right flexible pad forms a lever with the right torque measuring sensor on one side.

[0025] In a preferred embodiment of the torque-sensing bionic gripper, both the second left groove and the second right groove are provided with notches.

[0026] In a preferred embodiment of the torque-sensing bionic gripper, both the first left groove and the first right groove are provided with a clamping protrusion.

[0027] In a preferred embodiment of the torque sensing bionic gripper, the left sensor quick-release connector 4 is provided with a left positioning groove for positioning the left torque measuring sensor 3 , and the right sensor quick-release connector 11 is provided with a right positioning groove for positioning the right torque measuring sensor 2 .

[0028] In a preferred embodiment of the torque-sensing bionic gripper, the depth of the second left groove is half the thickness of the left flexible pad 7 , and the depth of the second right groove is half the thickness of the right flexible pad 8 .

[0029] In the preferred embodiment of the torque-sensing bionic gripper, the left gripper frame 5 and the right gripper frame 10 are both L-shaped structures.

[0030] In a preferred embodiment of the torque-sensing bionic gripper, the L-shaped structure is provided with reinforcing ribs.

[0031] In a preferred embodiment of the torque-sensing bionic gripper, the reinforcing ribs are triangular ribs.

[0032] In a preferred embodiment of the torque-sensing bionic gripper, the left gripper frame 5 and the right gripper frame 10 are slidably connected to the base 1 via a screw rod.

[0033] In a preferred embodiment of the torque-sensing bionic gripper, the torque-sensing bionic gripper is a symmetrical structure.

[0034] In one embodiment, the measuring range of the base 1 is 80 mm, the left jaw frame and the right jaw frame are arranged in a mirror image on the base, the left flexible pad is installed on the side of the left jaw frame away from the base, the left torque sensor is installed on the side of the left jaw frame close to the base, the right torque sensor is installed on the side of the right jaw frame close to the base, and the right flexible pad is installed on the side of the right jaw frame away from the base.

[0035] In one embodiment, a movable platform is provided on the base, and a threaded hole is provided on the movable platform. The clamping jaw frame is connected to the movable platform by bolts.

[0036] The sensor quick-release connector is anchored to the clamp frame through a snap-on structure. The left flexible pad quick-release connector is connected to the left clamp frame through an interference fit. The right flexible pad quick-release connector is connected to the right clamp frame through an interference fit.

[0037] Preferably, the first left groove of the left clamping jaw frame and the protrusion of the left sensor quick-release connector are positioned and matched with each other. The first right groove of the right clamping jaw frame and the protrusion of the right sensor quick-release connector are positioned and matched with each other.

[0038] Preferably, grooves are provided on both sides of the jaw frame groove and the flexible quick-release connector. Preferably, the sensor base protrusion and the sensor quick-release connector groove cooperate with each other.

[0039] In one embodiment, Figure 1As shown, a torque sensing bionic gripper includes a base 1, a right torque measuring sensor 2, a left torque measuring sensor 3, a left sensor quick-release connector 4, a left gripper frame 5, a left flexible pad quick-release connector 6, a left flexible pad 7, a right flexible pad 8, a right flexible pad quick-release connector 9, a right gripper frame 10, and a right sensor quick-release connector 11. The left gripper frame 5 is provided with a first left groove for quick positioning, allowing the left sensor quick-release connector 4 to be positioned and matched therewith. The left gripper frame 5 is provided with a second left groove for facilitating the installation of the left flexible pad quick-release connector 6, and notches are provided on both sides of the second left groove for facilitating the replacement of the left flexible pad quick-release connector 6. The left sensor quick-release connector 4 is provided with a left positioning groove, which can locate the left torque measuring sensor 3 and realize the matching of the two at the same time. The left flexible pad quick-release connector 6 is designed with a square groove, which matches the left flexible pad 7, and the depth of the groove is equivalent to half the thickness of the left flexible pad 7. The left and right jaw frames are arranged on the base relative to each other, and the accessories on the two jaws are the same. When the jaws are used, the motor is started. The base pushes the jaw frames to move relative to each other to clamp the tool or other objects. After the object is clamped, the sensor interface and the flexible pad can be closely connected to the contact object. The torque measurement sensor can detect the torsion of the clamped object on the manipulator. The flexible pad and the torque measurement sensor form a lever, which greatly increases the overall torsion resistance of the manipulator. When the tool is twisted too much or the tool slips significantly, the clamping force is readjusted and the operation is performed again until the tool does not slip significantly or deflect at a large angle when the manipulator is operating the tool.

[0040] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0041] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A torque sensing bionic gripper, characterized in that: These include, Base, A left claw, which is movably connected to the base, and the left claw comprises, a left clamping jaw frame, which is movably connected to the base, and the left clamping jaw frame includes a first left groove and a second left groove on a side facing the right jaw, A left sensor quick-release connector, which is detachably connected to the first left groove, The left torque measuring sensor is mounted on the left sensor quick-release connector. A left flexible pad quick-release connector, which is detachably connected to the second left groove, A left flexible pad installed on the left flexible pad quick-release connector; A right claw, which is movably connected to the base and spaced parallel to the left claw, the right claw comprising: a right clamping jaw frame, which is movably connected to the base, and the right clamping jaw frame includes a first right groove and a second right groove on a side facing the left jaw, a right sensor quick-release connector, which is detachably connected to the first right groove, a right torque measuring sensor, which is mounted on the right sensor quick-release connector and opposite to the left torque measuring sensor, a right flexible pad quick-release connector, which is detachably connected to the second right groove, a right flexible pad, mounted on the right flexible pad quick-release connector and opposite to the left flexible pad; After the left claw and the right claw clamp the object, the left torque measuring sensor and the right torque measuring sensor detect the torsion data of the object and the left flexible pad and the right flexible pad form a lever with the left torque measuring sensor and the right torque measuring sensor.

2. The torque sensing bionic gripper according to claim 1, characterized in that: Preferably, the second left groove and the second right groove are both provided with notches.

3. The torque sensing bionic gripper according to claim 2, characterized in that: The first left groove and the first right groove are both provided with a clamping protrusion.

4. The torque sensing bionic gripper according to claim 1, characterized in that: The left sensor quick-release connector is provided with a left positioning groove for positioning the left torque measuring sensor, and the right sensor quick-release connector is provided with a right positioning groove for positioning the right torque measuring sensor.

5. The torque sensing bionic gripper according to claim 1, characterized in that: The depth of the second left groove is half of the thickness of the left flexible pad, and the depth of the second right groove is half of the thickness of the right flexible pad.

6. The torque sensing bionic gripper according to claim 1, characterized in that: The left clamping jaw frame and the right clamping jaw frame are both L-shaped structures.

7. The torque sensing bionic gripper according to claim 6, characterized in that: The L-shaped structure is provided with reinforcing ribs.

8. The torque sensing bionic gripper according to claim 7, characterized in that: The reinforcing rib is a triangular rib.

9. The torque sensing bionic gripper according to claim 1, characterized in that: The left clamping jaw frame and the right clamping jaw frame are slidably connected to the base via a screw rod.

10. The torque sensing bionic gripper according to claim 1, characterized in that: The torque-sensing bionic gripper has a symmetrical structure.

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