Torque-sensing bionic gripper

Abstract

Disclose a kind of torque perception bionics gripper, in torque perception bionics gripper, left gripper skeleton is movably connected base, left gripper skeleton includes first left groove and second left groove in the side towards right paw, left sensor quick release connector is detachably connected first left groove, left torque measurement sensor is installed on left sensor quick release connector, left flexible pad quick release connector is detachably connected second left groove, left flexible pad is installed on left flexible pad quick release connector;Right torque measurement sensor is installed on right sensor quick release connector and relative to left torque measurement sensor, right flexible pad is installed on right flexible pad quick release connector and relative to left flexible pad;Left paw and right paw gripper object, left torque measurement sensor and right torque measurement sensor detect the torsion data of object and left flexible pad, right flexible pad and left torque measurement sensor, right torque measurement sensor form lever.

Description

Technical Field

[0001] This invention relates to the field of robotic gripper technology, and in particular to a torque-sensing bionic gripper. Background Technology

[0002] In today's society, food processing has become an indispensable part of people's daily lives. Cutting vegetables is an essential step in food processing. However, traditional cutting methods often require precise control of the human hand. Existing mechanical grippers struggle to hold and sense the cutting tool, thus failing to truly master the technique. Furthermore, mechanical grippers lack torque sensing capabilities, preventing them from assessing the state of the object being cut and hindering intelligent cutting. Biomimetic grippers with torque sensing capabilities, capable of holding the tool and providing sufficient clamping force and torsional resistance, promise to bring convenience and comfort to people's lives, improving the efficiency and safety of food processing.

[0003] The information disclosed in the background section is only intended to enhance the understanding of the background of the present invention, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] To address the shortcomings or defects of the existing technology, a torque-sensing bionic gripper is provided. An internal motor drives the gripper skeleton within the parallel gripper base to move horizontally, enabling tool grasping. The introduction of a torque sensor endows the mechanical gripper with torque and clamping pressure sensing capabilities. The inclusion of a flexible pad increases the torque that the tool can withstand.

[0005] The objective of this invention is achieved through the following technical solutions.

[0006] A torque-sensing bionic gripper, comprising,

[0007] Base

[0008] A left claw, movably connected to the base, the left claw comprising,

[0009] A left gripper frame, movably connected to the base, the left gripper frame including a first left groove and a second left groove on the side facing the right gripper.

[0010] The left sensor quick-release connector is detachably connected to the first left groove.

[0011] The left torque measurement sensor is mounted on the left sensor quick-release connector.

[0012] The left flexible gasket quick-release connector is detachably connected to the second left groove.

[0013] A left flexible pad, which is mounted on the left flexible pad quick-release connector;

[0014] A right claw, movably connected to the base and spaced parallel to the left claw, the right claw comprising...

[0015] A right gripper skeleton, movably connected to the base, the right gripper skeleton including a first right groove and a second right groove on the side facing the left gripper.

[0016] The right sensor quick-release connector is detachably connected to the first right groove.

[0017] A right torque measurement sensor is mounted on the right sensor quick-release connector and is positioned relative to the left torque measurement sensor.

[0018] The right flexible gasket quick-release connector is detachably connected to the second right groove.

[0019] A right flexible pad, which is mounted on the right flexible pad quick-release connector and is relative to the left flexible pad;

[0020] After the left and right claws grip the object, the left and right torque measurement sensors detect the torsion data of the object, and the left and right flexible pads form a lever with the left and right torque measurement sensors.

[0021] In the aforementioned torque-sensing bionic gripper, both the second left groove and the second right groove have notches.

[0022] In the aforementioned torque-sensing bionic gripper, both the first left groove and the first right groove are provided with snap-fit ​​protrusions.

[0023] In the aforementioned 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.

[0024] In the aforementioned 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.

[0025] In the aforementioned torque-sensing bionic gripper, both the left gripper skeleton and the right gripper skeleton are L-shaped structures.

[0026] The torque-sensing bionic gripper described above has an L-shaped structure with reinforcing ribs.

[0027] In the aforementioned torque-sensing bionic gripper, the reinforcing ribs are triangular ribs.

[0028] In the aforementioned torque-sensing bionic gripper, the left gripper skeleton and the right gripper skeleton are slidably connected to the base via a lead screw.

[0029] In the aforementioned torque-sensing bionic gripper, the torque-sensing bionic gripper has a symmetrical structure.

[0030] Compared with the prior art, the beneficial effects of this invention are as follows:

[0031] This invention can adapt to knives or other objects of various sizes, has a wide range of applications, and is low in cost. Based on its ability to detect the torsion of the knife in a plane, the mechanical gripper can effectively perform various tasks in the home. The combination of an electric lead screw and a torque sensor ensures that the mechanical gripper remains stable and controllable during the cutting process.

[0032] The description provided is merely an overview of the technical solution of this invention. In order to make the technical means of this invention clearer and more understandable, so that those skilled in the art can implement it according to the contents of the specification, and to make the described and other objects, features and advantages of this invention more obvious and understandable, specific embodiments of this invention are described below. Attached Figure Description

[0033] Various other advantages and benefits of the present invention will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0034] In the attached diagram:

[0035] Figure 1 This is an exploded schematic diagram of the torque-sensing bionic gripper structure of the present invention;

[0036] Figure 2 This is a front view schematic diagram of the torque-sensing bionic gripper of the present invention;

[0037] Figure 3 This is a right-side schematic diagram of the torque-sensing bionic gripper of the present invention;

[0038] Figure 4 This is a top view schematic diagram of the torque-sensing bionic gripper of the present invention;

[0039] Figure 5 This is a slanted view of the torque-sensing bionic gripper of the present invention.

[0040] The present invention will be further explained below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0041] Specific embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While specific embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the invention and to fully convey the scope of the invention to those skilled in the art.

[0042] It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art will understand that different terms may be used to refer to the same component. This specification and claims do not distinguish components based on differences in terminology, but rather on differences in function. The terms "comprising" or "including" used throughout the specification and claims are open-ended and should be interpreted as "comprising but not limited to." The following descriptions are preferred embodiments for carrying out the invention; however, these descriptions are for the purpose of understanding the general principles of the specification and are not intended to limit the scope of the invention. The scope of protection of this invention is determined by the appended claims.

[0043] To facilitate understanding of the embodiments of the present invention, the following will provide further explanation and description with reference to the accompanying drawings and several specific embodiments, and the accompanying drawings do not constitute a limitation on the embodiments of the present invention.

[0044] To better understand, such as Figures 1 to 5 As shown, a torque-sensing bionic gripper includes,

[0045] Base 1,

[0046] A left claw, movably connected to the base 1, the left claw comprising,

[0047] The left gripper frame 5 is movably connected to the base 1. The left gripper frame 5 includes a first left groove and a second left groove on the side facing the right gripper.

[0048] The left sensor quick-release connector 4 is detachably connected to the first left groove.

[0049] The left torque measuring sensor 3 is mounted on the left sensor quick-release connector 4.

[0050] The left flexible gasket quick-release connector 6 is detachably connected to the second left groove.

[0051] Left flexible pad 7, which is mounted on the left flexible pad quick-release connector 6;

[0052] A right claw, movably connected to the base 1 and spaced parallel to the left claw, the right claw comprising:

[0053] The right gripper skeleton 10 is movably connected to the base 1. The right gripper skeleton 10 includes a first right groove and a second right groove on the side facing the left gripper.

[0054] The right sensor quick-release connector 11 is detachably connected to the first right groove.

[0055] The right torque measuring sensor 2 is mounted on the right sensor quick-release connector 11 and is positioned relative to the left torque measuring sensor 3.

[0056] The right flexible gasket quick-release connector 9 is detachably connected to the second right groove.

[0057] Right flexible pad 8, which is mounted on the right flexible pad quick-release connector 9 and is relative to the left flexible pad 7;

[0058] After the left and right jaws grip an object, the left torque measurement sensor 3 and the right torque measurement sensor 2 detect the torsional data of the object, and the left flexible pad 7 and the right flexible pad 8 form a lever with the left torque measurement sensor 3 and the right torque measurement sensor 2. When the jaws grip an object such as a knife, the rear end of the knife contacts the torque measurement sensor, and the middle of the knife contacts the flexible pad. When the front end of the knife is subjected to an external force, the entire knife will rotate around the torque measurement sensor as a fulcrum. The torque measurement sensor and the flexible pad form a lever effect while providing resistance to the external force that causes the knife to rotate. The left flexible pad and the left torque measurement sensor form a lever on one side, and the right flexible pad and the right torque measurement sensor form a lever on the other side.

[0059] In a preferred embodiment of the torque-sensing bionic gripper, both the second left groove and the second right groove are provided with notches.

[0060] In a preferred embodiment of the torque-sensing bionic gripper, both the first left groove and the first right groove are provided with snap-fit ​​protrusions.

[0061] 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.

[0062] 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.

[0063] In a preferred embodiment of the torque-sensing bionic gripper, both the left gripper skeleton 5 and the right gripper skeleton 10 are L-shaped structures.

[0064] In a preferred embodiment of the torque-sensing bionic gripper, the L-shaped structure is provided with reinforcing ribs.

[0065] In a preferred embodiment of the torque-sensing bionic gripper, the reinforcing rib is a triangular rib.

[0066] In a preferred embodiment of the torque-sensing bionic gripper, the left gripper skeleton 5 and the right gripper skeleton 10 are slidably connected to the base 1 via a lead screw.

[0067] In a preferred embodiment of the torque-sensing bionic gripper, the torque-sensing bionic gripper has a symmetrical structure.

[0068] In one embodiment, the base 1 has a range of 80 mm, the left gripper skeleton and the right gripper skeleton are arranged in a mirror image on the base, the left flexible pad is installed on the left gripper skeleton on the side away from the base, the left torque sensor is installed on the left gripper skeleton on the side close to the base, the right torque sensor is installed on the right gripper skeleton on the side close to the base, and the right flexible pad is installed on the right gripper skeleton on the side away from the base.

[0069] In one embodiment, the base has a movable platform with threaded holes. The gripper skeleton is connected to this movable platform by bolts.

[0070] The sensor quick-release connector is anchored to the gripper frame via a snap-fit ​​structure. The left flexible pad quick-release connector is connected to the left gripper frame via an interference fit. The right flexible pad quick-release connector is connected to the right gripper frame via an interference fit.

[0071] Preferably, the first left groove of the left gripper skeleton and the protrusion of the left sensor quick-release connector are mutually positioned and engaged. The first right groove of the right gripper skeleton and the protrusion of the right sensor quick-release connector are mutually positioned and engaged.

[0072] Preferably, the gripper skeleton groove and the flexible quick-release connector have grooves on both sides. Preferably, the sensor base protrusion and the sensor quick-release connector groove cooperate with each other.

[0073] In one embodiment, such as 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 has a first left groove for quick positioning, allowing the left sensor quick-release connector 4 to be positioned and engaged with it. The left gripper frame 5 also has a second left groove for easy installation of the left flexible pad quick-release connector 6, with notches on both sides to facilitate replacement of the left flexible pad quick-release connector 6. The left sensor quick-release connector 4 has a left positioning groove that positions the left torque measuring sensor 3 and allows for engagement between the two. The left flexible pad quick-release connector 6 has a square groove that engages with the left flexible pad 7, the depth of which is half the thickness of the left flexible pad 7. The left and right gripper frames are arranged opposite each other on the base, and both grippers have identical components. When using the grippers, the motor is started. The base pushes the gripper frames to move relative to each other, thus gripping the tool or other object. After the object is gripped, the sensor interface and flexible pad are tightly connected to the contacting object. The torque measurement sensor detects the torsion of the gripped object on the robot arm. The flexible pad and the torque measurement sensor form a lever, greatly increasing the overall torsional resistance of the robot arm. When the tool's torsion angle is too large or the tool slips significantly, the gripping force is readjusted, and the operation is repeated until the tool does not slip significantly or deflect at a large angle when the robot arm is operating it.

[0074] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0075] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A torque-sensing bionic gripper, characterized in that, It includes, Base A left claw, movably connected to the base, the left claw comprising, A left gripper frame, movably connected to the base, the left gripper frame including a first left groove and a second left groove on the side facing the right gripper. The left sensor quick-release connector is detachably connected to the first left groove. The left torque measurement sensor is mounted on the left sensor quick-release connector. The left flexible gasket quick-release connector is detachably connected to the second left groove. A left flexible pad, which is mounted on the left flexible pad quick-release connector; A right claw, movably connected to the base and spaced parallel to the left claw, the right claw comprising... A right gripper skeleton, movably connected to the base, the right gripper skeleton including a first right groove and a second right groove on the side facing the left gripper. The right sensor quick-release connector is detachably connected to the first right groove. A right torque measurement sensor is mounted on the right sensor quick-release connector and is positioned relative to the left torque measurement sensor. The right flexible gasket quick-release connector is detachably connected to the second right groove. A right flexible pad, which is mounted on the right flexible pad quick-release connector and is relative to the left flexible pad; After the left and right claws grip the object, the left and right torque measurement sensors detect the torsion data of the object, and the left and right flexible pads form a lever with the left and right torque measurement sensors.

2. The torque-sensing bionic gripper as described in claim 1, characterized in that, Both the second left groove and the second right groove have notches.

3. The torque-sensing bionic gripper as described in claim 2, characterized in that, Both the first left groove and the first right groove are provided with snap-fit ​​protrusions.

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

5. The torque-sensing bionic gripper as described in claim 1, characterized in that, 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.

6. The torque-sensing bionic gripper as described in claim 1, characterized in that, Both the left and right gripper skeletons are L-shaped structures.

7. The torque-sensing bionic gripper as described in claim 6, characterized in that, The L-shaped structure is equipped with reinforcing ribs.

8. The torque-sensing bionic gripper as described in claim 7, characterized in that, The reinforcing rib is a triangular rib.

9. The torque-sensing bionic gripper as described in claim 1, characterized in that, The left and right gripper frames are slidably connected to the base via a lead screw.

10. The torque-sensing bionic gripper as described in claim 1, characterized in that, The torque-sensing bionic gripper has a symmetrical structure.

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