Friction type force feedback clamp holder

Abstract

The friction type force feedback clamp holder comprises a shell, and the shell comprises a front cover and a fixing base; the rotating assembly comprises a rotating disc, a coupler, a first limiting piece, a second limiting piece, a first clamping piece and a second clamping piece, and the clamping assembly comprises a connecting sleeve, a first clamping arm, a second clamping arm and a feedback steering engine. The device has the beneficial effects that when the coupler rotates, the first clamping piece and the second clamping piece in the rotating assembly are driven to slide on the first limiting piece and the second limiting piece to achieve clamping opening and closing of the clamping jaw, and the friction disc is driven to rotate in the clamping opening and closing process; the first clamping arm and the second clamping arm drive the second rotating gear to rotate through the feedback steering engine, finally, the first clamping plate and the second clamping plate clamp, open and close the friction disc, and when the first clamping piece and the second clamping piece remotely control the clamping jaw, the stress condition of the clamping jaw can be sensed through the clamping tightness degree of the friction disc clamped by the first clamping plate and the second clamping plate.

Description

Technical Field

[0001] This invention relates to the field of remote sensing robot technology, and in particular to a friction-type force feedback gripper. Background Technology

[0002] With the rapid development of robotics technology, both teleoperation and machine learning are being used more and more widely. However, most current teleoperation technologies lack precise force feedback signals, making it difficult for operators to feel the real-time status of the driven gripper. This often leads to damage to the grasped objects during tasks such as remotely grasping fragile or soft items. Even though existing force feedback systems can monitor the force signal of the driven end effector in real time through sensors, they still have some limitations, such as the inability to subjectively feel the force, difficulty in capturing minute forces, and difficulty in detecting slippage. The mainstream methods for achieving force feedback currently include, but are not limited to, the following:

[0003] 1. Direct feedback based on force sensors: Contact force is detected in real time using a six-dimensional force sensor installed on the robot's end effector or gripper, and the feedback force is adjusted using PID control or fuzzy algorithms. Alternatively, torque sensors can be installed at the robot joints to detect changes in torque at the reducer output and infer the external force. These methods often rely on complex systems, are costly, and are susceptible to electromagnetic interference.

[0004] 2. Motor-driven force feedback: This type of force feedback directly outputs torque through a high-precision servo motor. However, it can only provide a single torque and cannot achieve the function of a matrix sensor from point to surface.

[0005] 3. Electrical stimulation force feedback: Applying current to the skin through electrodes to simulate pressure sensation, but it can only reproduce static force perception in the range of 0.1 to 10N. The accuracy of dynamic force feedback is limited, and prolonged use may cause a burning sensation on the skin.

[0006] 4. Passive compliant force feedback: This method achieves sensorless constant force output by using mechanical structures such as springs, which have the flexibility of their own. However, this method is suitable for tasks with low force control accuracy requirements. It cannot adjust the robot's movements through feedback signals, and components such as springs and dampers are prone to fatigue or failure after long-term use. Summary of the Invention

[0007] Therefore, the technical problem to be solved by the present invention is that when remotely grasping fragile or soft objects, the object being grasped is often damaged. Existing technologies cannot subjectively perceive the damage, it is difficult to capture minute forces, and it is difficult to detect slippage.

[0008] The above-mentioned technical problems are solved by the following technical solution: The present invention proposes a friction force feedback clamp, which includes a housing, the housing including a front cover and a fixed base, the front cover being movably connected to the fixed base;

[0009] The rotating assembly includes a rotating disk rotatably mounted on the fixed base and a coupling, a first limiting member and a second limiting member mounted on the fixed base, the first limiting member and the second limiting member being symmetrically arranged on both sides of the rotating disk, and a first clamping member and a second clamping member, the first clamping member being movably connected to the first limiting member, and the second clamping member being movably connected to the second limiting member.

[0010] The clamping assembly includes an ∞-shaped connecting sleeve, a first clamping arm and a second clamping arm rotatably disposed on the fixed base, the connecting sleeve being respectively sleeved on the first clamping arm and the second clamping arm, and a feedback servo motor movably connected to the first clamping arm.

[0011] In a preferred embodiment of the friction force feedback clamp of the present invention: the rotating disk includes a rotating shaft rotatably disposed on the fixed base, a first rotating gear disposed on the rotating shaft, and a friction disk disposed on one side of the first rotating gear.

[0012] In a preferred embodiment of the friction force feedback clamp of the present invention: the first clamping member includes a first rack and a clamp disposed on the first rack. The first clamping handle is shaped like an I-beam, and the first rack is slidably disposed on the first limiting member shaped like an I-beam.

[0013] The second clamping member includes a second rack and a clamp disposed on the second rack. The second clamping handle is shaped like a second clamping handle, and the first clamping handle is arranged opposite to the second clamping handle. The second rack is slidably disposed on the I-shaped second limiting member.

[0014] In a preferred embodiment of the friction force feedback clamp of the present invention: the first rack and the second rack are meshed with the first rotating gear.

[0015] In a preferred embodiment of the friction force feedback clamp of the present invention: the connecting sleeve includes a first cylinder and a second cylinder, and the first clamping arm and the second clamping arm are respectively disposed through the first cylinder and the second cylinder.

[0016] In a preferred embodiment of the friction-type force feedback clamp of the present invention: the first cylinder includes a first through hole and a first limiting groove, the first through hole is disposed on the side opposite to the opening of the first cylinder, and the first limiting groove is disposed through the cylinder wall of the first cylinder.

[0017] The second cylinder includes a second through hole and a second limiting groove. The second through hole is located on the side opposite to the opening of the second cylinder, and the second limiting groove is disposed through the wall of the first cylinder.

[0018] In a preferred embodiment of the friction-type force feedback clamp of the present invention: the first clamping arm includes a first rotating cylinder rotatably mounted on the fixed base, a first elastic element disposed between a first elastic element sleeve and the first rotating cylinder, a first connecting member further disposed inside the first elastic element sleeve, a first pin disposed between the first rotating cylinder, the first elastic element sleeve and the first connecting member, and the first elastic element sleeve is also connected to the first connecting member via a tension spring, and a first clamping plate is connected to the end of the first elastic element sleeve away from the first rotating cylinder.

[0019] The second clamping arm includes a second rotating cylinder rotatably mounted on the fixed base, a second elastic element disposed between the second elastic element sleeve and the second rotating cylinder, a second connecting element disposed inside the second elastic element sleeve, a second pin disposed between the second rotating cylinder, the second elastic element sleeve and the second connecting element, and the second elastic element sleeve is also connected to the second connecting element via a compression spring, and a second clamping plate is connected to the end of the second elastic element sleeve away from the second rotating cylinder.

[0020] In a preferred embodiment of the friction-type force feedback clamp of the present invention: the first rotating cylinder includes a second rotating gear and a first threaded sleeve, a first threaded groove is provided through the side wall of the first threaded sleeve, and the first pin is disposed through the first threaded groove, the first connecting member, and the first elastic sleeve.

[0021] The second rotating cylinder includes a third rotating gear and a second threaded sleeve. A second threaded groove is provided through the side wall of the second threaded sleeve, and the second pin is provided through the second threaded groove, the second connecting member and the second elastic sleeve.

[0022] In a preferred embodiment of the friction-type force feedback clamp of the present invention: the first elastic sleeve includes a first positioning groove, which is disposed through the side wall of the first elastic sleeve.

[0023] The second elastic sleeve includes a second positioning groove, which is disposed through the side wall of the second elastic sleeve.

[0024] In a preferred embodiment of the friction-type force feedback clamp of the present invention: the first connecting member includes a first positioning shaft, the first positioning shaft is symmetrically disposed on the side wall of the first connecting member, and the first positioning shaft is slidably connected to the first positioning groove.

[0025] The second connector includes a second positioning shaft, which is symmetrically arranged on the side wall of the second connector and is slidably connected to the second positioning groove.

[0026] The beneficial effects of the present invention are as follows: when the coupling rotates, it drives the first clamping member and the second clamping member in the rotating assembly to slide on the first limiting member and the second limiting member to realize the clamping opening and closing of the gripper. During the clamping opening and closing process, it drives the friction disk to rotate. When the first clamping arm and the second clamping arm drive the second rotating gear to rotate through the feedback servo motor, and the second rotating gear drives the third rotating gear, it finally causes the first clamping plate and the second clamping plate to clamp the friction disk to open and close. When the first clamping member and the second clamping member remotely operate the gripper, they can feel the force on the gripper through the tightness of the friction disk being clamped by the first clamping plate and the second clamping plate. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Wherein:

[0028] Figure 1 A schematic diagram of the overall structure of a friction-type force feedback clamp is shown.

[0029] Figure 2 A schematic diagram of a friction-type force feedback gripper for removing the front cover is shown.

[0030] Figure 3 A structural diagram of the clamping assembly is shown;

[0031] Figure 4 A diagram illustrating the structure of the clamping assembly with the connecting sleeve removed is shown.

[0032] Figure 5 A schematic diagram of a friction-type force feedback gripper with a fixed base removal structure is shown.

[0033] Figure 6 A structural diagram of the connecting sleeve is shown;

[0034] Figure 7 A partially enlarged view of the clamping assembly is shown;

[0035] Figure 8 An exploded view of the clamping assembly is shown;

[0036] Figure 9 A cross-sectional view of the clamping assembly is shown;

[0037] Figure 10 The diagram illustrates a usage scenario for a friction-based force feedback gripper. Detailed Implementation

[0038] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0039] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0040] Example 1

[0041] Reference Figures 1-2 This embodiment provides a friction force feedback gripper, including a housing 11, a rotating assembly 12, and a gripping assembly 13.

[0042] Specifically, the housing 11 includes a front cover 111 and a mounting base 112. The front cover 111 and the mounting base 112 are movably connected. The front cover 111 and the mounting base 112 can be connected by screws, buckles, etc. In this embodiment, the connection method is not specifically limited. The rear end of the mounting base 112 is connected to the remote sensing arm.

[0043] Specifically, the rotating assembly 12 includes a rotating disk 121 and a coupling 126 rotatably mounted on a fixed base 112, a first limiting member 122 and a second limiting member 124 mounted on the fixed base 112, the first limiting member 122 and the second limiting member 124 being symmetrically arranged on both sides of the rotating disk 121, and a first clamping member 123 and a second clamping member 125. The first clamping member 123 is movably connected to the first limiting member 122, and the second clamping member 125 is movably connected to the second limiting member 124. The coupling 126 is mounted on the remote sensing arm, and the operator opens and closes the first clamping member 123 and the second clamping member 125 using their thumb and forefinger.

[0044] Specifically, the clamping assembly 13 includes an ∞-shaped connecting sleeve 131, a first clamping arm 132 and a second clamping arm 133 rotatably mounted on the fixed base 112, the connecting sleeve 131 being respectively sleeved on the first clamping arm 132 and the second clamping arm 133, and a feedback servo motor 134 movably connected to the first clamping arm 132. The feedback servo motor 134 can rotate at different angles based on the different pressures from the sensors on the grippers. In this embodiment, a multi-position control system for the ADC servo motor is designed, based on an analog-to-digital converter (ADC). The STM32 peripheral servo multi-position control system linearly maps the ADC input signal (1000~4100) to the servo rotation angle (200°~20°) to achieve 10 evenly distributed control positions. The system adopts an inverse linear relationship model to ensure that the smaller the ADC value, the larger the corresponding servo rotation angle (the sensor output logic is that the greater the pressure, the smaller the voltage). Each position corresponds to a fixed angle change of 20°, θ=200-20n, where n is the position, and there are ten positions in total. The maximum angle of the servo is 200°.

[0045] In use, the housing 11 is mounted on the remote sensing arm. The operator opens and closes the first gripper 123 and the second gripper 125 using their thumb and forefinger. During the opening and closing of the first gripper 123 and the second gripper 125, the rotating disk 121 rotates, which in turn drives the coupling 126 to rotate. After the first coupling 126 rotates, the active robotic arm servo connected to it rotates. At the same time, the rotation angle of the active robotic arm servo is mapped to the driven robotic arm servo, causing it to rotate at the same angle, thereby driving the gripper connected to the driven robotic arm servo to close. After the gripper 132 and the second gripper 133 of the gripping assembly 13 grip the object, the pressure sensor on the surface of the gripper sends the pressure value back through the rotation of the feedback servo 134. When the feedback servo 134 rotates, it drives the first gripper 132 and the second gripper 133 to clamp the rotating disk 121, so that the operator can feel the degree of clamping of the object by the gripper surface using their thumb and forefinger.

[0046] Example 2

[0047] Reference Figures 3-4 As an optional embodiment, the rotating disk 121 includes a rotating shaft 1211 rotatably mounted on the fixed base 112, a first rotating gear 1212 mounted on the rotating shaft 1211, and a friction disk 1213 mounted on one side of the first rotating gear 1212. The rotating shaft 1211 is connected to the coupling 126.

[0048] Preferably, the first clamping member 123 includes a first rack 1231 and a clamping device disposed on the first rack 1231. The first clamping handle 1232 and the first rack 1231 are slidably disposed on the I-shaped first limiting member 122.

[0049] The second clamping member 125 includes a second rack 1251 and a clamping element disposed on the second rack 1251. A second clamping handle 1252 is formed, and a first clamping handle 1232 is arranged opposite to the second clamping handle 1252. A second rack 1251 is slidably disposed on an I-shaped second limiting member 124. In this embodiment, the first limiting member 122 is disposed above the rotating shaft 1211, and the second limiting member 124 is disposed below the rotating shaft 1211. The first limiting member 122 and the second limiting member 124 are symmetrically arranged. The first clamping handle 1232 and The second clamping handle 1252 is set in opposite directions.

[0050] Furthermore, the first clamping handle 1232 includes a first connecting portion 12321 and a first hook-shaped portion 12322. The first connecting portion 12321 is disposed at the end of the first rack 1231 away from the clamping assembly 13. The second clamping handle 1252 includes a second connecting portion 12521 and a second hook-shaped portion 12522. The second connecting portion 12521 is disposed at the end of the second rack 1251 near the clamping assembly 13. The first hook-shaped portion 12322 and the second hook-shaped portion 12522 are mirror symmetrical. The operator slides the first clamping member 123 and the second clamping member 125 on the first limiting member 122 and the second limiting member 124 by inserting the thumb and index finger into the first hook-shaped portion 12322 and the second hook-shaped portion 12522.

[0051] Furthermore, the first rack 1231 and the second rack 1251 are meshed with the first rotating gear 1212. That is, when the first clamping member 123 and the second clamping member 125 slide on the first limiting member 122 and the second limiting member 124, they will drive the first rotating gear 1212 to rotate. When the first rotating gear 1212 rotates, the rotating shaft 1211 and the friction disk 1213 set at both ends of the first rotating gear 1212 also rotate. The rotation of the rotating shaft 1211 drives the coupling 126 to rotate, causing the gripper to clamp or loosen.

[0052] In use, the operator inserts their thumb and forefinger into the first hook-shaped part 12322 and the second hook-shaped part 12522, causing the first clamping member 123 and the second clamping member 125 to slide on the first limiting member 122 and the second limiting member 124, thereby driving the first rotating gear 1212 to rotate. When the first rotating gear 1212 rotates, the rotating shaft 1211 and the friction disk 1213 located at both ends of the first rotating gear 1212 also rotate. The rotation of the rotating shaft 1211 drives the coupling 126 to rotate, causing the gripper to clamp or release. The pressure sensor located on the surface of the gripper controls the feedback servo motor 134 according to the pressure magnitude, driving the first clamping arm 132 and the second clamping arm 133 to clamp the friction disk 1213, thereby allowing the operator to feel the clamping force of the gripper on the object through their thumb and forefinger.

[0053] Example 3

[0054] Reference Figures 4-9 As an optional embodiment, the connecting sleeve 131 includes a first cylinder 1311 and a second cylinder 1312, with a first clamping arm 132 and a second clamping arm 133 respectively disposed through the first cylinder 1311 and the second cylinder 1312.

[0055] Furthermore, the first cylindrical body 1311 includes a first through hole 13111 and a first limiting groove 13112. The first through hole 13111 is disposed on the side opposite to the opening of the first cylindrical body 1311, and the first limiting groove 13112 is disposed through the wall of the first cylindrical body 1311. The second cylindrical body 1312 includes a second through hole 13121 and a second limiting groove 13122. The second through hole 13121 is disposed on the side opposite to the opening of the second cylindrical body 1312, and the second limiting groove 13122 is disposed through the wall of the first cylindrical body 1312.

[0056] Preferably, the first clamping arm 132 includes a first rotating cylinder 1321 rotatably mounted on the fixed base 112, a first elastic element 1322 disposed between the first elastic element sleeve 1323 and the first rotating cylinder 1321, one end of the first elastic element 1322 being fixed to the first rotating cylinder 1321, and having the function of reducing gap jitter in the first elastic element sleeve 1323 during movement. A first connecting member 1325 is also disposed inside the first elastic element sleeve 1323, and a first pin 1324 is disposed between the first rotating cylinder 1321 and the first... The elastic sleeve 1323 and the first connecting member 1325 are limited by a first pin 1324. The first elastic sleeve 1323 is also connected to the first connecting member 1325 by a tension spring 1327. A first clamping plate 1326 is connected to the end of the first elastic sleeve 1323 away from the first rotating cylinder 1321. In this embodiment, the side of the first clamping plate 1326 facing the fixed seat 112 may also be provided with sponge adhesive to increase the friction force on the friction disc 1213.

[0057] The second clamping arm 133 includes a second rotating cylinder 1331 rotatably mounted on a fixed base 112, a second elastic element 1332 disposed between a second elastic element sleeve 1333 and the second rotating cylinder 1331, one end of the second elastic element 1332 being fixed to the second rotating cylinder 1331, and having the function of reducing gap jitter in the second elastic element sleeve 1333 during movement. A second connecting member 1335 is also disposed inside the second elastic element sleeve 1333, and a second pin 1334 is disposed between the second rotating cylinder 1331, the second elastic element sleeve 1333, and the second connecting member 1335, and is connected via the second pin. 1334 limits the second elastic sleeve 1333 and the second connecting member 1335, and the second elastic sleeve 1333 is also connected to the second connecting member 1335 through the compression spring 1337. The second elastic sleeve 1333 is connected to the second clamping plate 1336 at the end away from the second rotating cylinder 1331. In this embodiment, the second clamping plate 1336 facing the fixed seat 112 can also be provided with sponge rubber to increase the friction force on the friction disc 1213. In this embodiment, the tension spring 1327 and the compression spring 1337 are made of 304 stainless steel, and the inner and outer diameters and wire diameters of the tension spring 1327 and the compression spring 1337 are the same.

[0058] Furthermore, the first rotating cylinder 1321 includes a second rotating gear 13211 and a first threaded sleeve 13212. A first threaded groove 132121 is provided through the side wall of the first threaded sleeve 132122. A first pin 1324 is provided through the first threaded groove 132121, the first connecting member 1325, and the first elastic member sleeve 1323.

[0059] The second rotating cylinder 1331 includes a third rotating gear 13311 and a second threaded sleeve 13312. A second threaded groove 133121 is provided through the side wall of the second threaded sleeve 13312. A second pin 1334 is provided through the second threaded groove 133121, the second connecting member 1335 and the second elastic member sleeve 1333. The second rotating gear 13211 is connected to the feedback servo motor 134, so that when the second rotating gear 13211 rotates, it drives the third rotating gear 13311 to rotate in the opposite direction. The second rotating gear 13211 and the third rotating gear 13311 are meshed and connected.

[0060] Furthermore, the first elastic sleeve 1323 includes a first positioning groove 13231, which is disposed through the side wall of the first elastic sleeve 1323.

[0061] The second elastic sleeve 1333 includes a second positioning groove 13331, which is disposed through the side wall of the second elastic sleeve 1333.

[0062] Furthermore, the first connector 1325 includes a first positioning shaft 13251, which is symmetrically arranged on the side wall of the first connector 1325 and is slidably connected to the first positioning groove 13231.

[0063] The second connecting member 1335 includes a second positioning shaft 13351, which is symmetrically arranged on the side wall of the second connecting member 1335. The second positioning shaft 13351 is slidably connected to the second positioning groove 13331. The first threaded sleeve 13212 and the second threaded sleeve 13312 are used to place the first pin 1324 and the second pin 1334 that pass through the slide cylinder, so as to enable the first connecting member 1325 and the second connecting member 1335 to move up and down and be limited left and right while the first rotating cylinder 1321 and the second rotating cylinder 1331 rotate.

[0064] In use, a pressure sensor is installed on the inner wall of the gripper. When the gripper grasps an object, the maximum pressure value of the pressure sensor is selected and transmitted to the microcontroller via a signal. In this embodiment, Bluetooth is used for data transmission. The microcontroller drives the servo motor to rotate by a corresponding angle, causing the feedback servo motor 134 to drive the second rotating gear 13211 to rotate. The range of the pressure sensor is linearly converted into the angle of rotation of the servo motor. Existing technology can set the angle of rotation of the servo motor by linearly converting the range of the pressure sensor into the angle of rotation of the servo motor, which will not be described in detail here. The first gripping arm 132 and the second gripping arm 133 are connected by the meshing of the second rotating gear 13211 and the third rotating gear 13311. The two gears are driven in opposite directions, so when the second rotating gear 13211 rotates, the first gripping arm 132 and the second gripping arm 133 move closer to the friction disk 1213 and clamp or release. The first pin 1324 The first threaded groove 132121 and the first positioning groove 13231 slide within the first threaded groove 133121 and the second positioning groove 13331. The first threaded sleeve 13212 and the second threaded sleeve 13312 are used to house the first pin 1324 and the second pin 1334 that pass through the slide cylinder. They serve to limit the vertical movement of the first connecting member 1325 and the second connecting member 1335 while the first rotating cylinder 1321 and the second rotating cylinder 1331 rotate. The first elastic member 1322 abuts between the second rotating gear 13211 and the first elastic member sleeve 1323, and the second elastic member 1332 abuts between the third rotating gear 13311 and the second elastic member sleeve 1333. This reduces the backlash and jitter of the first elastic member sleeve 1323 and the second elastic member sleeve 1333 during movement.

[0065] The first clamping plate 1326 and the second clamping plate 1336 can also be provided with sponge adhesive on the side near the friction disk 1213. The sponge adhesive increases friction when the first clamping plate 1326 and the second clamping plate 1336 clamp the friction disk 1213. The first rotating gear 1212 located on one side of the friction disk 1213 will experience a resistance torque. At this time, the first rack 1231 and the second rack 1251, which cooperate with the first rotating gear 1212, will be difficult to drive. The resistance will continue to the first clamping handle 1232 and the second clamping handle 1252, which are directly connected to the first rack 1231 and the second rack 1251. When the maximum pressure increases further... However, since the first clamping plate 1326 and the second clamping plate 1336 have already clamped the friction disc 1213, the downward trend of the first clamping plate 1326 and the upward trend of the second clamping plate 1336 will be restricted. At this time, the restricted stroke will be converted into the elastic potential energy of the tension spring 1327 and the compression spring 1337. At this time, the clamping force will increase, and the resistance will further increase. Real-time synchronization of pressure to friction force to torque is achieved. That is, when the pressure sensor at the end of the gripper is subjected to pressure, it feeds back a drive signal to the servo motor. The servo motor 134 rotates, driving the first rotating cylinder 1321 to rotate, and the first threaded sleeve 13212 and the second threaded sleeve 13212 rotate. The rotating sleeve 13312 pushes the first clamping plate 1326 and the second clamping plate 1336 to tighten. Because the first clamping arm 132 and the second clamping arm 133 are restricted by the friction disc 1213 and cannot change position, they will compress the tension spring 1327 and the compression spring 1337. The tension spring 1327 and the compression spring 1337 will cause the sponge rubber on the surface of the first clamping plate 1326 and the second clamping plate 1336 to be pressurized and clamp the friction disc 1213. As the pressure at the jaw end increases, the servo angle increases, the rotational push of the first threaded sleeve 13212 and the second threaded sleeve 13312 increases, and the shape of the tension spring 1327 and the compression spring 1337 increases. The pressure on the sponge increases, leading to a greater clamping force on the friction disc 1213, thus achieving real-time and accurate force feedback. The stroke of the compression spring 1337 is as follows: After compression, the compression spring 1337 has internal force, causing the second elastic sleeve 1333 to tend to move upward. The friction disc 1213 cannot move, increasing the pressure between the sponge and the friction disc 1213. When the friction disc 1213 rotates, it is subjected to frictional force related to the pressure. Refer to the frictional force formula F = μN, where μ is the coefficient of friction and N is the normal force. The principle of the tension spring 1327 is the same as that of the compression spring 1337, but its stroke is opposite to that of the compression spring 1337.

[0066] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A friction-type force feedback gripper, characterized in that: include, The housing (11) includes a front cover (111) and a fixing seat (112), wherein the front cover (111) and the fixing seat (112) are movably connected; A rotating assembly (12) includes a rotating disk (121) rotatably mounted on the fixed base (112) and a coupling (126), a first limiting member (122) and a second limiting member (124) mounted on the fixed base (112), the first limiting member (122) and the second limiting member (124) being symmetrically arranged on both sides of the rotating disk (121), and a first clamping member (123) and a second clamping member (125), the first clamping member (123) being movably connected to the first limiting member (122), and the second clamping member (125) being movably connected to the second limiting member (124). The clamping assembly (13) includes an ∞-shaped connecting sleeve (131), a first clamping arm (132) and a second clamping arm (133) rotatably mounted on the fixed base (112), the connecting sleeve (131) being respectively sleeved on the first clamping arm (132) and the second clamping arm (133), and a feedback servo motor (134) movably connected to the first clamping arm (132).

2. The friction-type force feedback clamp according to claim 1, characterized in that: The rotating disk (121) includes a rotating shaft (1211) rotatably mounted on the fixed base (112), a first rotating gear (1212) mounted on the rotating shaft (1211), and a friction disk (1213) mounted on one side of the first rotating gear (1212).

3. The friction-type force feedback clamp according to claim 2, characterized in that: The first clamping member (123) includes a first rack (1231) and a clamp disposed on the first rack (1231). The first clamping handle (1232) is shaped, and the first rack (1231) is slidably disposed on the first limiting member (122). The second clamping member (125) includes a second rack (1251) and a clamp disposed on the second rack (1251). The second clamping handle (1252) is shaped, and the first clamping handle (1232) is arranged opposite to the second clamping handle (1252). The second rack (1251) is slidably disposed on the I-shaped second limiting member (124).

4. The friction-type force feedback clamp according to claim 3, characterized in that: The first rack (1231) and the second rack (1251) are meshed with the first rotating gear (1212).

5. The friction-type force feedback clamp according to claim 1, characterized in that: The connecting sleeve (131) includes a first cylinder (1311) and a second cylinder (1312), and the first clamping arm (132) and the second clamping arm (133) are respectively disposed through the first cylinder (1311) and the second cylinder (1312).

6. The friction-type force feedback clamp according to claim 5, characterized in that: The first cylindrical body (1311) includes a first through hole (13111) and a first limiting groove (13112). The first through hole (13111) is disposed on the side opposite to the opening of the first cylindrical body (1311), and the first limiting groove (13112) is disposed through the cylindrical wall of the first cylindrical body (1311). The second cylinder (1312) includes a second through hole (13121) and a second limiting groove (13122). The second through hole (13121) is disposed on the opposite side of the opening of the second cylinder (1312), and the second limiting groove (13122) is disposed through the cylinder wall of the first cylinder (1311).

7. The friction-type force feedback clamp according to claim 6, characterized in that: The first clamping arm (132) includes a first rotating cylinder (1321) rotatably mounted on the fixed base (112), a first elastic element (1322) disposed between a first elastic element sleeve (1323) and the first rotating cylinder (1321), a first connecting element (1325) further disposed inside the first elastic element sleeve (1323), a first pin (1324) disposed between the first rotating cylinder (1321), the first elastic element sleeve (1323) and the first connecting element (1325), and the first elastic element sleeve (1323) is also connected to the first connecting element (1325) through a tension spring (1327). A first clamping plate (1326) is connected to the end of the first elastic element sleeve (1323) away from the first rotating cylinder (1321). The second clamping arm (133) includes a second rotating cylinder (1331) rotatably mounted on the fixed base (112), a second elastic element (1332) disposed between the second elastic element sleeve (1333) and the second rotating cylinder (1331), a second connecting element (1335) disposed inside the second elastic element sleeve (1333), a second pin (1334) disposed between the second rotating cylinder (1331), the second elastic element sleeve (1333) and the second connecting element (1335), and the second elastic element sleeve (1333) is also connected to the second connecting element (1335) through a compression spring (1337), and a second clamping plate (1336) is connected to the end of the second elastic element sleeve (1333) away from the second rotating cylinder (1331).

8. The friction-type force feedback clamp according to claim 7, characterized in that: The first rotating cylinder (1321) includes a second rotating gear (13211) and a first threaded sleeve (13212). A first threaded groove (132121) is provided through the side wall of the first threaded sleeve (132121). A first pin (1324) is provided through between the first threaded groove (132121), the first connecting member (1325), and the first elastic sleeve (1323). The second rotating cylinder (1331) includes a third rotating gear (13311) and a second threaded sleeve (13312). A second threaded groove (133121) is provided through the side wall of the second threaded sleeve (13312). The second pin (1334) is provided through between the second threaded groove (133121), the second connecting member (1335), and the second elastic member sleeve (1333).

9. The friction-type force feedback clamp according to claim 8, characterized in that: The first elastic sleeve (1323) includes a first positioning groove (13231), which is disposed through the side wall of the first elastic sleeve (1323). The second elastic sleeve (1333) includes a second positioning groove (13331), which is disposed through the side wall of the second elastic sleeve (1333).

10. The friction-type force feedback clamp according to claim 9, characterized in that: The first connector (1325) includes a first positioning shaft (13251), which is symmetrically arranged on the side wall of the first connector (1325). The first positioning shaft (13251) is slidably connected to the first positioning groove (13231). The second connector (1335) includes a second positioning shaft (13351), which is symmetrically arranged on the side wall of the second connector (1335), and the second positioning shaft (13351) is slidably connected to the second positioning groove (13331).

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