Flexible clamping jaw-shaped force detection equipment

Abstract

The invention relates to the technical field of flexible clamping jaws, in particular to flexible clamping jaw shape force detection equipment, which comprises a support frame, a clamping assembly, an image acquisition assembly, a force measurement assembly and a transmission mechanism, and is characterized in that the clamping assembly is arranged on the support frame and is used for clamping a to-be-detected clamping jaw; the image acquisition assembly is arranged on the support frame, and the acquisition direction is parallel to the working surface of the to-be-detected clamping jaw; the force measuring assembly is arranged on the support frame and is opposite to the working surface of the clamping jaw to be measured; the transmission mechanism is arranged on the supporting frame and can drive the clamping assembly to move to the image collecting assembly and the force measuring assembly. The clamping jaw in different states is photographed through the image acquisition assembly, the positive and negative pressure deformation quantity is recognized according to the photographed clamping jaw image, the actual clamping process is simulated through the force measurement assembly, the shape force in the clamping process of the clamping jaw is measured, the measurement precision is high, the automation degree is high, deformation and thrust measurement are integrated into one device, and the measurement efficiency is high. And the deformation and the thrust of the product can be automatically measured only through one-step operation.

Description

Technical Field

[0001] This application relates to the technical field of flexible grippers, and particularly to a flexible gripper shape and force detection device. Background Art

[0002] With the continuous development of industrial automation technology, labor-intensive enterprises are using mechanical automation equipment to replace traditional manual labor. Using mechanical automation equipment to complete complex, periodic, repetitive, and high-intensity work is one of the symbols of today's industrial modernization. As a key end effector of these automation devices, the gripper is crucial for achieving various action functions. Compared with traditional rigid grippers, flexible grippers exhibit higher safety, easier control, lower weight, and lower cost during robot interaction. At the same time, it can effectively handle objects with irregular shapes or fragile objects, so it has been widely used in many fields and scenarios such as biomedicine, disaster rescue, scientific exploration, aerospace, and wearable devices.

[0003] As one of the key components of automation equipment, the performance of the flexible gripper itself has a decisive impact on the working ability of the automation equipment. Therefore, it is very necessary to detect the product performance of the flexible gripper. Summary of the Invention

[0004] This application provides a flexible gripper shape and force detection device to solve the problem of detecting the product performance of flexible grippers in the prior art.

[0005] This application provides a flexible gripper shape and force detection device, including: A support frame; A clamping assembly, arranged on the support frame, for clamping the gripper to be tested; An image acquisition assembly, arranged on the support frame, with the acquisition direction parallel to the working surface of the gripper to be tested; A force measurement assembly, arranged on the support frame, opposite to the working surface of the gripper to be tested; A transmission mechanism, arranged on the support frame, capable of driving the clamping assembly to move to the image acquisition assembly and the force measurement assembly respectively.

[0006] In a possible design, the image acquisition assembly includes: A camera, arranged on one side of the clamping assembly; A background board, arranged on the other side of the clamping assembly, opposite to the camera, and a light source is arranged on the background board.

[0007] In a possible design, the force measurement assembly includes: A blocking member, opposite to the working surface of the gripper to be tested; A force measurement member, arranged on the blocking member, for detecting the shape and force generated during the mutual extrusion of the gripper to be tested and the blocking member.

[0008] In a possible design, the force measuring member is a force sensor or a strain gauge.

[0009] In a possible design, the blocking member includes a fixing plate and a plurality of movable plates. The plurality of movable plates are uniformly arranged on one side of the fixing plate close to the jaw to be measured, and springs are respectively arranged between each movable plate and the fixing plate.

[0010] In a possible design, the transmission mechanism includes a guide rail and a driver. The guide rail is arranged on the support frame, and the driver can drive the clamping assembly to move along the guide rail to the image acquisition assembly and the force measuring assembly in sequence.

[0011] In a possible design, the clamping assembly includes: A base, arranged on the guide rail, connected to the driver, capable of moving along the guide rail, and formed with a reference plate; A push plate, arranged on the base, and the push plate can approach / away from the reference plate to clamp / loosen the jaw to be measured.

[0012] In a possible design, it further includes: A first limiter, arranged at the starting end of the guide rail; A second limiter, arranged at the position on the guide rail corresponding to the image acquisition assembly; A third limiter, arranged at the position on the guide rail corresponding to the force measuring assembly.

[0013] In a possible design, it further includes a drag chain. An air pipe is arranged in the drag chain. One end of the air pipe is communicated with a pneumatic pump, and the other end is communicated with the inner cavity of the jaw to be measured.

[0014] In a possible design, it further includes a display, which is arranged on the support frame and electrically connected to the camera, and is used for displaying the image of the jaw to be measured taken by the camera.

[0015] The beneficial effects of this application are as follows: The flexible jaw shape force detection device of this application takes pictures of the jaws in different states through the image acquisition assembly, identifies the positive and negative pressure deformation amounts according to the captured jaw images, simulates the actual clamping process through the force measuring assembly, and measures the shape force during the clamping process of the jaws. It has high measurement accuracy, wide applicability, simple operation, high automation degree, integrates deformation and thrust measurement into one device, can automatically measure the deformation and thrust of the product with only one-step operation, has good compatibility, and does not require adjusting the device for the same product with different sizes. Description of the Drawings

[0016] To more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 Structural schematic diagram of the flexible jaw-shaped force detection device provided by the embodiment of the present application; Figure 2 Top view of the flexible jaw-shaped force detection device provided by the embodiment of the present application; Figure 3 Schematic diagram of the deformation detection process of the flexible jaw-shaped force detection device provided by the embodiment of the present application; Figure 4 Schematic diagram of the force and deformation detection process of the flexible jaw-shaped force detection device provided by the embodiment of the present application; Figure 5 Schematic diagram of the deformation of the jaw to be measured in the positive pressure state; Figure 6 Schematic diagram of the deformation of the jaw to be measured in the negative pressure state; Figure 7 Structural schematic diagram of the force measuring component of the flexible jaw-shaped force detection device provided by the embodiment of the present application; Figure 8 Structural schematic diagram of the movable plate; Figure 9 Structural schematic diagram of the elastic net and the strain gauge.

[0018] Reference numerals: 100, support frame; 110, control box; 120, operation button; 130, electrical control module; 200, clamping assembly; 210, base; 211, reference plate; 220, push plate; 230, cylinder; 300, image acquisition assembly; 310, camera; 311, lens; 312, limit collar; 320, background plate; 400, force measuring component; 410, blocking member; 411, fixing plate; 412, movable plate; 413, spring; 420, force measuring member; 430, elastic net; 500, transmission mechanism; 510, guide rail; 520, driver; 600, jaw to be measured; 710, first limiter; 720, second limiter; 730, third limiter; 800, drag chain; 900, display. Detailed embodiments

[0019] The following will clearly and completely describe the technical solutions of this application in conjunction with the embodiments. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0020] The following combination Figures 1-9 , describing the flexible clamping claw force detection device provided in an embodiment of the present application.

[0021] Reference Figure 1 、 Figure 2 As shown, an embodiment of the present application provides a flexible jaw force detection device, comprising a support frame 100, a clamping assembly 200, an image acquisition assembly 300, a force measurement assembly 400, and a transmission mechanism 500. The support frame 100 is a rectangular frame, within which the clamping assembly 200, the image acquisition assembly 300, the force measurement assembly 400, and the transmission mechanism 500 are mounted. The clamping assembly 200 is used to clamp the jaw 600 to be tested.

[0022] The image acquisition component 300 is used to capture the shape of the clamping jaw 600 to be tested in the positive pressure clamping state and the negative pressure release state, wherein the shooting direction of the image acquisition component 300 is the acquisition direction, and the acquisition direction is parallel to the working surface of the clamping jaw 600 to be tested, so that a side view of the clamping jaw 600 to be tested can be captured to facilitate the measurement of the deformation of the clamping jaw 600 to be tested.

[0023] The force measuring assembly 400 is used to measure the form force generated by the clamping jaw 600 to be tested under positive pressure clamping state. The force measuring assembly 400 is arranged relative to the working surface of the clamping jaw 600 to be tested, so that the clamping jaw 600 to be tested can be pressed against the force measuring assembly 400 under positive pressure clamping state to generate deformation and form force.

[0024] The transmission mechanism 500 is used to drive the clamping assembly 200 to move, thereby driving the clamping jaws 600 to be measured on the clamping assembly 200 to move to the image acquisition assembly 300 and the force measurement assembly 400 respectively.

[0025] Reference Figure 3As shown, in some specific embodiments, the image acquisition component 300 includes a camera 310 and a background plate 320. The camera 310 is disposed on the left side of the clamping component 200. A limit collar 312 is also installed on the support frame 100, and the lens 311 of the camera 310 protrudes from the limit collar 312. The background plate 320 is disposed on the right side of the clamping component 200. The background plate 320 is disposed opposite to the camera 310, and a light source is arranged on the background plate 320. In this way, when photographing the to-be-tested jaw 600, the light source on the background plate 320 can emit backlight, which is beneficial to making the edge of the image of the to-be-tested jaw 600 taken clearer, and facilitating the calculation of the deformation amount of the to-be-tested jaw 600 in the positive pressure clamping state and the negative pressure releasing state. Among them Figure 5 is a schematic diagram of the deformation of the to-be-tested jaw 600 in the positive pressure state, Figure 6 is a schematic diagram of the deformation of the to-be-tested jaw 600 in the negative pressure state.

[0026] Referring to Figure 4 As shown, in some embodiments of the present application, the force measuring component 400 includes a blocking member 410 and a force measuring member 420. For example, the blocking member 410 is a plate-like structure. The blocking member 410 is disposed opposite to the working surface of the to-be-tested jaw 600. The force measuring member 420 is disposed on the blocking member 410. The force measuring member 420 is a force sensor or a strain gauge, and the force measuring member 420 is used to detect the form force generated by the to-be-tested jaw 600 during the process of mutual extrusion between the to-be-tested jaw 600 and the blocking member 410.

[0027] Referring to Figure 7 、 Figure 8 As shown, in some of these specific embodiments, the blocking member 410 includes a fixing plate 411 and a plurality of movable plates 412. The fixing plate 411 is installed on the support frame 100. The plurality of movable plates 412 are distributed in a rectangular array on the side of the fixing plate 411 close to the to-be-tested jaw 600. A spring 413 is respectively arranged between each movable plate 412 and the fixing plate 411. The left end of the spring 413 is riveted to the fixing plate 411, and the right end of the spring 413 is riveted to the corresponding movable plate 412. In this way, the movable plate 412 can simulate the process of deformation generated when the object to be clamped is squeezed by the to-be-tested jaw 600. When the to-be-tested jaw 600 is in the positive pressure clamping state and squeezes the movable plate 412, since the shape of the to-be-tested jaw 600 is not fixed, the extrusion forces received by the movable plates 412 at different positions are different, so that the magnitude of the form force generated at different positions of the to-be-tested jaw 600 can be measured.

[0028] Referring to Figure 8 、 Figure 9As shown, in some of the specific embodiments, an elastic net 430 is further provided on the side of the movable plate 412 close to the jaw 600 to be measured. The elastic net 430 is woven with elastic ropes. The four corners of the elastic net 430 are respectively fixed to the edges of the corresponding movable plate 412. A plurality of strain gauges are pasted on the elastic net 430. For example, each strain gauge corresponds to a movable plate 412. Thus, when the jaw 600 to be measured is in the positive-pressure clamping state and presses the movable plate 412, since the shape of the jaw 600 to be measured is affected by the pressure distribution, the jaw 600 to be measured can push the movable plates 412 at different positions to move backward by different distances respectively. At the same time, the elastic net 430 deforms, causing the corresponding strain gauges to also move backward by different distances. Due to the constraint of the elastic net 430, the strain gauges can be in full contact with the jaw 600 to be measured, thereby ensuring that the shape force measured by the strain gauges is more accurate.

[0029] Referring to Figures 1-4 As shown, in some of the specific embodiments, the transmission mechanism 500 includes a guide rail 510 and a driver 520. The guide rail 510 is provided on the support frame 100. The driver 520 is a motor. The output end of the motor is connected to a lead screw. A slider is threadedly sleeved on the lead screw. The other end of the slider is slidably matched with the guide rail 510. The motor can drive the lead screw to rotate, thereby causing the slider to slide along the guide rail 510. The clamping assembly 200 is installed on the slider. Thus, the motor can drive the clamping assembly 200 to move along the guide rail 510 to the image acquisition assembly 300 and the force measurement assembly 400 in sequence.

[0030] In some of the specific embodiments, the clamping assembly 200 includes a base 210 and a push plate 220. The base 210 is installed on the slider. When the slider moves along the guide rail 510, it drives the base 210 to move along the guide rail 510. A reference plate 211 is formed on the base 210. The push plate 220 is slidably disposed on the base 210. A clamping space is formed between the reference plate 211 and the push plate 220 for accommodating the jaw 600 to be measured. The push plate 220 is connected to the output end of the cylinder 230. The cylinder 230 can drive the push plate 220 to approach / away from the reference plate 211 to clamp / loosen the jaw 600 to be measured.

[0031] In some of the specific embodiments, a first limiter 710, a second limiter 720, and a third limiter 730 are further included. The first limiter 710 is disposed at the starting end of the guide rail 510; the second limiter 720 is disposed at the position on the guide rail 510 corresponding to the image acquisition assembly 300; the third limiter 730 is disposed at the position on the guide rail 510 corresponding to the force measurement assembly 400. The first limiter 710, the second limiter 720, and the third limiter 730 respectively adopt laser limiters for detecting the position of the jaw 600 to be measured.

[0032] A drag chain 800 is also provided on the support frame 100. An air pipe is arranged in the drag chain 800. One end of the air pipe is communicated with a pneumatic pump, and the other end is communicated with the inner cavity of the gripper 600 to be measured. During the movement of the gripper 600 to be measured along the guide rail 510, the drag chain 800 drives the air pipe to move synchronously. The pneumatic pump can transport the compressed air in the air source to the gripper to realize inflating gas to open or close the gripper; at the same time, the gas in the gripper can also be extracted through reverse operation to realize deflation.

[0033] A display 900 is also provided on the support frame 100. The display 900 is electrically connected to the camera 310 and is used to display the image of the gripper 600 to be measured taken by the camera 310.

[0034] A control box 110 is also provided on the support frame 100. The input ends of the control modules in the control box 110 are respectively electrically connected to the first limiter 710, the second limiter 720, and the third limiter 730, and the output ends of the control modules are respectively electrically connected to the driver 520, the camera 310, and the pneumatic pump. An operation button 120 is also provided on the support frame 100, specifically including a start / stop button, a clamp / loosen button, and a reset button.

[0035] The working principle of the flexible gripper-shaped force detection device of the present application: When measuring the parameters of the gripper 600 to be measured, first confirm whether the base 210 is at the origin position through the first limiter 710. If not, the reset button can be pressed to reset it. After confirming that the base 210 is in place, after connecting the air pipe to the gripper 600 to be measured, place it between the reference plate 211 and the push plate 220, and press the "clamp / loosen" button to make the electrical control system control the cylinder 230 to push the push plate 220 to clamp the gripper 600 to be measured. Then press the "start / stop" button, and the stepping motor drives the base 210 to move on the guide rail 510. When the second limiter 720 detects that the gripper 600 to be measured moves between the lens 311 of the camera 310 and the background plate 320, the stepping motor stops working, as Figure 3 shown. At this time, the light source controller controls the background plate 320 to emit light to improve the background brightness of the product during photographing, so that the camera 310 can clearly capture the contour shape of the gripper 600 to be measured. The electrical control module 130 changes the state of the gripper by controlling the air pressure introduced into the gripper. At the same time, the camera 310 takes pictures of the gripper in different states and transmits the image data to the control box 110. The control box 110 identifies the finger size and its positive and negative pressure deformation amounts according to the gripper image obtained by photographing, as Figure 5 、 Figure 6 shown.

[0036] After the photographing is completed, the light source controller controls the light source of the background board 320 to go out, and the stepping motor continues to drive the base 210 to move along the guide rail 510. When the third limiter 730 detects that the gripper 600 to be measured moves in front of the blocking member 410, the stepping motor stops moving. At this time, the working surface of the gripper just contacts the strain gauge, as Figure 4 shown. The electrical control module 130 controls the air pressure introduced into the gripper. The movable plates 412 at different positions are squeezed by different extrusion forces to squeeze the springs 413 to generate different displacements. Correspondingly, the strain gauge can measure the forming forces generated at different positions of the gripper. After the force measurement is completed, the stepping motor drives the base 210 to reset, completing the entire measurement process. The measurement results will be displayed on the display 900. During the detection process, the "Start / Stop" button can be pressed at any time to abort the detection process, and the detection can be restarted after pressing the reset button.

[0037] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present application.

[0038] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0039] In the present application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, or communicable with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0040] In this application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0041] Although the embodiments of this application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting this application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A flexible jaw-shaped force detection device, characterized in that, Comprising: Support frame; Clamping assembly, arranged on the support frame and used for clamping the jaw to be measured; Image acquisition assembly, arranged on the support frame, and the acquisition direction is parallel to the working surface of the jaw to be measured; Force measuring assembly, arranged on the support frame and oppositely arranged with the working surface of the jaw to be measured; Transmission mechanism, arranged on the support frame and capable of driving the clamping assembly to move to the image acquisition assembly and the force measuring assembly respectively.

2. The flexible jaw-shaped force detection device according to claim 1, characterized in that, The image acquisition assembly includes: Camera, arranged on one side of the clamping assembly; Background plate, arranged on the other side of the clamping assembly, opposite to the camera, and a light source is arranged on the background plate.

3. The flexible jaw-shaped force detection device according to claim 1, wherein The force measuring assembly includes: Blocking member, oppositely arranged with the working surface of the jaw to be measured; Force measuring member, arranged on the blocking member and used for detecting the forming force generated during the mutual extrusion of the jaw to be measured and the blocking member.

4. The flexible jaw-shaped force detection device according to claim 3, wherein: The force measuring member is a force sensor or a strain gauge.

5. The flexible jaw-shaped force detection device according to claim 3, characterized in that: The blocking member includes a fixed plate and a plurality of movable plates. The plurality of movable plates are uniformly arranged on the side of the fixed plate close to the jaw to be measured, and a spring is respectively arranged between each movable plate and the fixed plate.

6. The flexible jaw-shaped force detection device according to claim 1, characterized in that: The transmission mechanism includes a guide rail and a driver. The guide rail is arranged on the support frame, and the driver can drive the clamping assembly to move along the guide rail to the image acquisition assembly and the force measuring assembly in sequence.

7. The flexible jaw-shaped force detection device according to claim 6, characterized in that The clamping assembly includes: Base, arranged on the guide rail, connected to the driver and capable of moving along the guide rail, and a reference plate is formed; Pusher plate, arranged on the base, and the pusher plate can approach / away from the reference plate to clamp / loosen the jaw to be measured.

8. The flexible jaw-shaped force detection device according to claim 7, characterized in that, Further comprising: First limiter, arranged at the starting end of the guide rail; Second limiter, arranged at the position on the guide rail corresponding to the image acquisition assembly; Third limiter, arranged at the position on the guide rail corresponding to the force measuring assembly.

9. The flexible jaw-shaped force detection device according to claim 1, characterized in that: Further comprising a drag chain, and an air pipe is arranged in the drag chain. One end of the air pipe is communicated with an air pump, and the other end is communicated with the inner cavity of the jaw to be measured.

10. The flexible jaw-shaped force detection device according to claim 2, wherein: Further comprising a display, which is arranged on the support frame and electrically connected to the camera, and is used for displaying the image of the jaw to be measured taken by the camera.

Images