Air bag holder with three-dimensional force and force position feedback

Abstract

The invention relates to the technical field of clamping devices, and particularly discloses an air bag clamping device with three-dimensional force and force position feedback, which comprises an end cover and a plurality of three-dimensional force and force position feedback flexible air bag modules, the multiple three-dimensional force and force position feedback dexterous air bag modules are used for clamping an object and detecting three-dimensional force and force position information of the clamped object; the end cover is used for carrying the three-dimensional force and force position feedback flexible airbag module; according to the air bag clamping device with the three-dimensional force and force position feedback, the air bag is matched with the three-dimensional force sensor module, and accurate detection of the three-dimensional force and the contact force position can be achieved; the structure is simple, the overall size is small, and operation is convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of grippers, and particularly to a pneumatic gripper with three-dimensional force and force-position feedback. Background Art

[0002] Traditional gripping technologies mainly include rigid mechanical jaws, adsorption grippers, and electromagnetic grippers. These methods perform well in specific tasks, but they do not perform well in scenarios that require safe interaction, flexibility, and high adaptability, such as food processing, biomedical, and electronics manufacturing, which has given rise to the development of pneumatic flexible grippers.

[0003] Existing pneumatic grippers have been widely used in fields such as food processing and agricultural automation, intelligent logistics, and automatic sorting. They have good adaptability and compliance. For example, a fixture based on a micro-action airbag with the patent number CN106976029B is a fixture with a simple structure, capable of gripping objects of various sizes and shapes, strong gripping stability, and high compliance. However, although it has strong adaptability, it lacks force feedback and cannot sense the magnitude of the gripping force in real time. It may cause the object to slip due to too small a gripping force, or damage fragile objects due to too large a gripping force. It is difficult to adjust the position and force of the gripper when grasping heterogeneous objects, resulting in grasping failure or unstable grasping. Therefore, there is an urgent need to design a dexterous pneumatic gripper with the ability to detect three-dimensional force and force-position. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a pneumatic gripper with three-dimensional force and force-position feedback, which can achieve flexible gripping and provide accurate force information, thereby enhancing the perception ability, control accuracy, and adaptability of robots or automation systems.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A pneumatic gripper with three-dimensional force and force-position feedback includes: an end cap and a plurality of three-dimensional force and force-position feedback dexterous airbag modules.

[0007] The three-dimensional force and force-position feedback dexterous airbag module is used to grip an object and detect the three-dimensional force and force-position information of the gripped object.

[0008] The end cap is used to carry the three-dimensional force and force-position feedback dexterous airbag module.

[0009] The three-dimensional force and force-position feedback dexterous airbag module includes: a base, a fixing plate, a substrate, an airbag, and a plurality of the three-dimensional force sensor modules.

[0010] The base is disposed on the end cap.

[0011] The substrate is fixedly disposed on the base.

[0012] The airbag is fixedly disposed on the fixed plate, and an air chamber is formed between the airbag and the fixed plate.

[0013] An air passage is provided on the airbag or the fixed plate, and the air passage is communicated with the air chamber.

[0014] A plurality of the three-dimensional force sensor modules are fixedly disposed between the substrate and the fixed plate.

[0015] In the airbag gripper with three-dimensional force and force-position feedback provided by at least one embodiment of the present disclosure, the three-dimensional force sensor module includes: a rocker and a detection circuit assembly.

[0016] The detection circuit assembly is configured to detect the deformation of the rocker and decompose the single-point force into three-dimensional forces according to the detection signal.

[0017] The detection circuit assembly is fixedly connected to one end of the rocker.

[0018] In the airbag gripper with three-dimensional force and force-position feedback provided by at least one embodiment of the present disclosure, an adjustment structure is provided between the end cap and the base.

[0019] The position of the base on the end cap is adjusted by the adjustment structure.

[0020] In the airbag gripper with three-dimensional force and force-position feedback provided by at least one embodiment of the present disclosure, a plurality of the three-dimensional force and force-position feedback flexible airbag modules are distributed in a circular array.

[0021] In the airbag gripper with three-dimensional force and force-position feedback provided by at least one embodiment of the present disclosure, an embedding groove is provided on the fixed plate.

[0022] The other end of the rocker is embedded in the embedding groove.

[0023] In the airbag gripper with three-dimensional force and force-position feedback provided by at least one embodiment of the present disclosure, a plurality of connecting columns are provided on the three-dimensional force sensor module.

[0024] A plurality of connecting holes paired with the connecting columns are provided on the substrate.

[0025] The three-dimensional force sensor module and the substrate are connected by the connecting columns and the connecting holes.

[0026] In the airbag gripper with three-dimensional force and force-position feedback provided by at least one embodiment of the present disclosure, it further includes: a pneumatic pressure regulating mechanism.

[0027] The pneumatic pressure regulating mechanism is configured to be communicated with the air passage.

[0028] The air pressure regulating mechanism is used to control the inflation and deflation of the airbag.

[0029] In the airbag gripper with three-dimensional force and force-position feedback provided by at least one embodiment of the present disclosure, the airbag is an elastic airbag.

[0030] In the airbag gripper with three-dimensional force and force-position feedback provided by at least one embodiment of the present disclosure, the airbag is arranged in a hemispherical shape.

[0031] The beneficial effects of the present invention are as follows:

[0032] 1) The present invention uses an airbag in cooperation with a three-dimensional force and force-position feedback flexible airbag module, which can accurately detect three-dimensional force and the position of the contact force; at the same time, the structure is simple, the overall volume is small, and the operation is convenient.

[0033] 2) By detecting the three-dimensional force, the present invention can dynamically adjust the pressure of the airbag during the gripping process to ensure firm gripping without excessive force application.

[0034] 3) By detecting the change in the position of the force application point during the gripping process, the present invention can optimize the inflation and deflation process of the airbag and improve the gripping stability.

[0035] 4) Through the detection of three-dimensional force and the force application position, the present invention can sense the geometric shape of the object and automatically adjust the gripping posture according to the force conditions at different positions to achieve more stable gripping. Description of the Drawings

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 It is a schematic diagram of the overall structure of an airbag gripper with three-dimensional force and force-position feedback according to the present invention.

[0038] Figure 2 It is a top view of the three-dimensional force and force-position feedback flexible airbag module.

[0039] Figure 3 It is a partial sectional view of the three-dimensional force and force-position feedback flexible airbag module.

[0040] Figure 4 It is an assembly diagram of the rocker and the detection circuit component.

[0041] Figure 5 It is a distribution diagram of the connecting columns.

[0042] Figure 6 It is a schematic assembly diagram of a substrate and a three-dimensional force sensor module.

[0043] Figure 7 It is a schematic distribution diagram of connection holes.

[0044] Figure 8 It is a schematic distribution diagram of embedding grooves.

[0045] In the figure:

[0046] 10. End cover; 11. Sliding groove;

[0047] 20. Three-dimensional force and force-position feedback flexible airbag module; 21. Base; 22. Fixed plate; 23. Substrate; 24. Airbag; 25. Three-dimensional force sensor module; 26. Air cavity; 27. Air passage; 28. Connection column; 251. Rocker; 252. Detection circuit component; 221. Embedding groove; 231. Connection hole; 211. Perforation; 241. Clamping part. Specific implementation mode

[0048] Next, the technical solutions in the embodiments will be clearly and completely described in conjunction with the accompanying drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0049] Embodiment

[0050] As Figures 1 to 8 shown, this embodiment provides an airbag gripper with three-dimensional force and force-position feedback, including: an end cover 10 and a plurality of three-dimensional force and force-position feedback flexible airbag modules 20.

[0051] Specifically, the three-dimensional force and force-position feedback flexible airbag module 20 is used to grip an object and detect the three-dimensional force and force-position information of the gripped object. The plurality of three-dimensional force and force-position feedback flexible airbag modules 20 are distributed in a circular array.

[0052] Exemplarily, four three-dimensional force and force-position feedback flexible airbag modules 20 are provided, and the four three-dimensional force and force-position feedback flexible airbag modules 20 are arranged in a square; the four three-dimensional force and force-position feedback flexible airbag modules 20 detect the force generated during gripping, and calculate the position of the force application point and the magnitude of the three-dimensional force by analyzing the signals of the four three-dimensional force sensors.

[0053] Specifically, the end cover 10 is used to carry the three-dimensional force and force-position feedback flexible airbag module 20.

[0054] In this embodiment, the three-dimensional force and force-position feedback flexible airbag module 20 includes: a base 21, a fixed plate 22, a substrate 23, an airbag 24, and a plurality of three-dimensional force sensor modules 25.

[0055] Specifically, the base 21 is disposed on the end cap 10, and the substrate 23 is fixedly disposed on the base 21. The airbag 24 is fixedly disposed on the fixing plate 22, and an air chamber 26 is formed between the airbag 24 and the fixing plate 22; the airbag 24 is an elastic airbag 24, and the airbag 24 is arranged in a hemispherical shape.

[0056] Exemplarily, the airbag is made of a silicone-based elastic material and is bonded to the fixing plate using a silicone-based adhesive.

[0057] Exemplarily, a clamping portion 241 is designed at the bottom of the airbag 24, and a clamping groove corresponding to the clamping portion is provided on the fixing plate 22. The airbag 24 and the fixing plate 22 are made to be more tightly connected through the clamping portion 241 and the clamping groove, and the silicone-based adhesive is coated in the clamping groove.

[0058] Specifically, an air passage 27 is provided on the fixing plate 22, and the air passage 27 communicates with the air chamber 26.

[0059] Specifically, a plurality of three-dimensional force sensor modules 25 are fixedly disposed between the substrate 23 and the fixing plate 22.

[0060] Specifically, a plurality of connecting columns 28 are provided on the three-dimensional force sensor module 25; a plurality of connecting holes 231 paired with the connecting columns 28 are provided on the substrate 23.

[0061] The three-dimensional force sensor module 25 and the substrate 23 are connected through the connecting columns 28 and the connecting holes 231.

[0062] During use, when the airbag 24 on the three-dimensional force and force-position feedback dexterous airbag module 20 comes into contact with the surface of the object to be clamped in the inflated state, the airbag 24 will deform and generate a squeezing force. The three-dimensional force sensor module 25 will detect the three-dimensional force and the position of the force applied by the object to be clamped on the base and the substrate; by detecting the three-dimensional force and the force position information, the gripper can be controlled to perform a more precise clamping; through the detection of the normal force, tangential force, and contact position by the three-dimensional force sensor module 25, it is possible to achieve the grasping of unknown weight and heterogeneous objects with the minimum grasping pressure.

[0063] In this embodiment, the three-dimensional force sensor module 25 includes: a rocker 251 and a detection circuit assembly 252.

[0064] Specifically, the detection circuit assembly 252 is used to detect the deformation of the rocker 251 and decompose the single-point force into three-dimensional forces according to the detection signal. The detection circuit assembly 252 is fixedly connected to one end of the rocker 251.

[0065] Exemplarily, the detection circuit assembly 252 is fixed to the rocker 251 with glue.

[0066] In terms of the three-dimensional force sensor module 25 sensing three-dimensional forces, the detection circuit component 252 relies on the force applied to the induction rocker 251. Since this force can be orthogonally decomposed into three-dimensional forces parallel to the normal vectors of the cube, and the circuit includes three groups of strain gauges (not shown), each group of strain gauges measures the force corresponding to one dimension, enabling the detection circuit component 252 to accurately detect three-dimensional force data. Secondly, in terms of the force position detection of the gripper, four three-dimensional force sensor modules 25 are used to specifically detect the force condition of the airbag. Since the signals of each three-dimensional force sensor module 25 are different, these different signals are comprehensively analyzed to obtain the specific position information of the force.

[0067] Specifically, an embedding groove 221 is provided on the fixing plate 22; the other end of the rocker 251 is embedded in the embedding groove 221.

[0068] In some embodiments, an adjusting structure is provided between the end cap 10 and the base 21. The base 21 adjusts its position on the end cap 10 through the adjusting structure.

[0069] Specifically, the adjusting structure includes a bolt (not shown) and a nut (not shown). A sliding groove 11 is provided on the end cap 10, and a through hole (not shown) is provided on the base 21. The bolt passes through the through hole (not shown) and the sliding groove 11 in sequence, and the bolt is connected to the nut.

[0070] Specifically, there are four sliding grooves 11, and the four sliding grooves are also distributed in a circular array.

[0071] In some embodiments not shown, the airbag gripper with three-dimensional force and force position feedback further includes: a pneumatic adjustment mechanism (not shown).

[0072] Specifically, the pneumatic adjustment mechanism is connected to the air passage 27 through a hose (not shown). The pneumatic adjustment mechanism is used to control the expansion and contraction of the airbag 24.

[0073] Exemplarily, the pneumatic adjustment mechanism uses an air pump.

[0074] In some embodiments not shown, the adjusting structure uses an electric guide rail, and the slider of the electric guide rail is fixedly connected to the base.

[0075] In some embodiments not shown, an air passage is only provided on the airbag, and the air passage uses a PVC air nozzle.

[0076] Although the embodiments of the present application have been shown and described above, the protection scope of the present invention is not limited thereto. Any change or replacement that can be thought of without creative labor should be covered within the protection scope of the present invention; unless otherwise clearly stated, any element, action, or instruction used in this article should not be construed as critical or necessary.

Claims

1. An airbag clamp with three-dimensional force and force-position feedback, characterized in that: include: Multiple three-dimensional force and force position feedback smart airbag modules are used to clamp objects and detect the three-dimensional force and force position information of the clamped objects; as well as An end cap, used for carrying the three-dimensional force and force-position feedback smart airbag module; Wherein, the three-dimensional force and force position feedback smart airbag module includes: A base, configured on the end cover; Fixed plate; A substrate, fixedly arranged on the base; an airbag fixedly disposed on the fixing plate, with an air cavity formed between the airbag and the fixing plate; and A plurality of three-dimensional force sensor modules are fixedly arranged between the substrate and the fixing plate; The airbag or the fixing plate is provided with an air passage, and the air passage is communicated with the air cavity.

2. The airbag clamp with three-dimensional force and force-position feedback according to claim 1, characterized in that: The three-dimensional force sensor module comprises: Joystick; and A detection circuit component, used for detecting the deformation of the rocker and decomposing the single-point force into three-dimensional forces according to the detection signal; Wherein, the detection circuit component is fixedly connected to one end of the rocker.

3. The airbag clamp with three-dimensional force and force-position feedback according to claim 2, characterized in that: An adjustment structure is provided between the end cover and the base; The position of the base on the end cover is adjusted by the adjustment structure.

4. The airbag clamp with three-dimensional force and force-position feedback according to claim 1, characterized in that: The plurality of three-dimensional force and force-position feedback smart airbag modules are distributed in a circular array.

5. The airbag clamp with three-dimensional force and force-position feedback according to claim 2, characterized in that: The fixing plate is provided with an embedding groove; The other end of the rocker is embedded in the embedding groove.

6. The airbag clamp with three-dimensional force and force-position feedback according to claim 1, characterized in that: The three-dimensional force sensor module is provided with a plurality of connecting columns; The substrate is provided with a plurality of connection holes matched with the connection pillars; The three-dimensional force sensor module and the substrate are connected via connecting columns and connecting holes.

7. The airbag clamp with three-dimensional force and force-position feedback according to claim 1, characterized in that: Also includes: an air pressure regulating mechanism configured to communicate with the airway; The air pressure regulating mechanism is used to control the expansion and contraction of the airbag.

8. The airbag clamp with three-dimensional force and force-position feedback according to claim 1, characterized in that: The airbag is an elastic airbag.

9. The airbag clamp with three-dimensional force and force-position feedback according to claim 1, characterized in that: The airbag is arranged in a hemispherical shape.

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