Clamping system

Abstract

The invention discloses a clamping system. The clamping system comprises a clamping mechanism and a driving mechanism. The clamping mechanism comprises two clamping parts which are oppositely arranged in the first direction, and at least one clamping part is arranged to be a visual tactile sensor. The visual tactile sensor comprises a touch assembly, an imaging assembly and a dimming assembly. The touch assembly comprises a light-transmitting plate and an elastic body attached to the surface of one side of the light-transmitting plate. The dimming assembly comprises a light source and a light guide part, the light source is arranged on the side, away from the elastic body, of the light-transmitting plate, and the light-emitting part of the light source faces the side of the light-transmitting plate and is annularly arranged on the outer edge of the elastic body. One end of the light guide part corresponds to the light emitting part, and the other end of the light guide part is inserted into the light-transmitting plate and is close to the outer edge of the light-transmitting plate. The driving mechanism comprises a movably-arranged driving part, and the driving part is in driving connection with the two clamping parts so as to drive the two clamping parts to movably clamp or loosen in the first direction. In this way, the clamping precision of the clamping mechanism can be improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a clamping system. Background Technology

[0002] In many fields such as industrial automation, logistics sorting, precision manufacturing, and service robots, robotic arms are typically used as core actuators for grasping, handling, and manipulating objects. Existing technologies widely employ robotic gripper devices equipped with visual and tactile sensors. These devices usually integrate two visual and tactile sensors onto the two grippers of the gripping mechanism, using the sensors to acquire visual image information and tactile pressure signals of the object being gripped. The visual image information can be used to identify the object's shape, dimensions, and spatial position, while the tactile pressure signals provide feedback on the pressure distribution and contact state when the grippers are in contact with the object. These two signals are fused using a data fusion algorithm to achieve comprehensive identification of the object, thereby guiding the gripping mechanism to adjust the gripper's closing force and position to complete the gripping action. However, existing gripping devices lack sufficient gripping precision, and pressure control imbalances easily occur during gripper closure. Insufficient pressure fails to form an effective grip, especially when gripping thin and small items, leading to the item falling off; excessive pressure causes deformation, damage, or even breakage of the item. Summary of the Invention

[0003] The main objective of this invention is to propose a clamping system that addresses the problems of insufficient clamping accuracy and easy pressure control imbalance during the clamping jaw closure process in existing clamping systems.

[0004] To achieve the above objectives, the present invention proposes a clamping system, comprising: A clamping mechanism includes two clamping portions disposed opposite each other in a first direction. At least one of the clamping portions is configured as a visual-tactile sensor. The visual-tactile sensor includes a touch component, an imaging component, and a dimming component. The touch component includes a light-transmitting plate and an elastic body attached to one side surface of the light-transmitting plate. The dimming component includes a light source and a light guide. The light source is disposed on the side of the light-transmitting plate away from the elastic body, with its light-emitting portion disposed facing the light-transmitting plate and surrounding the outer edge of the elastic body. One end of the light guide corresponds to the light-emitting portion, and the other end is inserted into the light-transmitting plate and disposed near the outer edge of the light-transmitting plate. The driving mechanism includes a movably configured driving part, which drives two clamping parts to move along the first direction to clamp or release.

[0005] Optionally, both clamping portions are configured as visual-tactile sensors, and the two elastomers of the two visual-tactile sensors are arranged opposite each other.

[0006] Optionally, the drive mechanism includes: A motor, the output shaft of which is arranged along a second direction, and the central axis of the output shaft is collinear with the central axes of the two clamping portions; and, A transmission assembly that drives the output shaft and the two clamping parts; The drive unit includes the output shaft and the transmission assembly.

[0007] Optionally, the transmission assembly includes: A turntable is fitted onto the output shaft and rotates coaxially with the output shaft; The frame is located on the side of the turntable opposite to the motor; and, Two linkage-slider structures are respectively provided for the two clamping parts. The linkage-slider structure includes a linkage and a slider. The slider is slidably mounted on the frame along the first direction. In the second direction, the linkage is located between the turntable and the frame, and its two ends are respectively connected to the turntable and the slider, so that when the turntable rotates, it drives the slider to move along the first direction. The clamping part is provided on the slider.

[0008] Optionally, the two sliders are respectively disposed on both sides of the frame along a third direction; The clamping mechanism further includes two connectors. In the third direction, the two connectors are staggered, and each connector connects a clamping part to the corresponding slider.

[0009] Optionally, the connecting rod is bent, and the arcuate convex surfaces of the two connecting rods are arranged opposite each other.

[0010] Optionally, the outer periphery of the turntable has two protrusions, and the two protrusions are arranged opposite each other in the radial direction of the turntable; One end of the connecting rod is connected to the protrusion.

[0011] Optionally, the clamping system further includes: A clamping force detection component is provided corresponding to each of the two clamping parts, for detecting the actual clamping force between the two clamping parts; and A control device is electrically connected to the clamping force detection component and the drive mechanism to control the drive mechanism to stop when the actual clamping force reaches a preset clamping force range.

[0012] Optionally, the clamping force detection assembly includes two pressure detection units, which are respectively disposed corresponding to the two clamping units. Each pressure detection unit includes a baffle and a pressure sensor. The baffle is located on the moving path of the clamping unit, and the pressure sensor is disposed on the side of the baffle facing the clamping unit, so as to detect the pressure between the clamping unit and the baffle when the two clamping units are clamped.

[0013] Optionally, the light guide portion has a first side facing away from the light source and a second side away from the center of the light-transmitting plate, and a reflective surface is formed between the first side and the second side, the reflective surface being disposed towards the center of the light-transmitting plate.

[0014] Optionally, the reflective surface and the extended surface of the second side have a first included angle, the first included angle being 30°~45°; and / or, The light-transmitting plate has a groove at the position corresponding to the light-emitting part, the other end of the light guide part is inserted into the groove, and the reflective surface does not extend beyond the groove opening.

[0015] Optionally, the visual-tactile sensor further includes a support frame, which is detachably mounted on the light-transmitting plate and located on the side of the light-transmitting plate away from the elastomer. The inner core area of ​​the support frame is provided corresponding to the elastomer to expose the elastomer. The light source is located on the side of the support frame away from the touch component and is positioned corresponding to the edge of the support frame. The light guide is inserted into the edge of the support frame and penetrates part of the light-transmitting plate.

[0016] Optionally, on the side away from the light-transmitting plate, the end face of the light guide is flush with the surface of the frame edge, and the support frame has a limiting protrusion at the periphery of the inner core area; The light source includes an annular back plate and LED beads. The annular back plate is sleeved around the periphery of the limiting protrusion and locked and fixed to the support frame. The LED beads are disposed on the side surface of the annular back plate facing the support frame.

[0017] Optionally, the support frame is attached to the surface of the light-transmitting plate; The support frame has mounting holes on its frame edge, and the light-transmitting plate has grooves at positions corresponding to the mounting holes. The grooves are connected to the mounting holes and form a four-sided enclosed mounting groove. The light guide is inserted into the mounting slot.

[0018] Optionally, the visual-tactile sensor further includes a fastening structure disposed between the support frame and the light-transmitting plate to fasten and fix the support frame and the light-transmitting plate.

[0019] Optionally, the clamping system further includes a base, the base having a cavity and an elongated hole communicating with the cavity, the long axis of the elongated hole being arranged along the first direction; The drive mechanism is housed in the cavity, and the two clamping parts are located on the outside of the base. Each clamping part is provided with a connector, and the connector extends partially into the cavity from the elongated hole and is drivenly connected to the drive part.

[0020] The technical solution provided by this invention has at least the following advantages: The clamping system provided by this invention includes a clamping mechanism and a driving mechanism. The driving unit of the driving mechanism drives two clamping parts to move along a first direction to clamp or release, thereby enabling the picking up or dropping of an object. At least one clamping part is configured as a visual-tactile sensor, which includes a touch component, an imaging component, and a dimming component. The light source of the dimming component is arranged in a ring around the outer edge of the elastomer, providing surround lighting and avoiding the directional limitations of traditional single-point light sources, ensuring sufficient and uniform incident light in the edge area of ​​the elastomer. The light guide of the dimming component can establish a light transmission path between the light source and the light-transmitting plate, guiding sufficient light from the edge to the center of the light-transmitting plate. This not only ensures that the light intensity in each area of ​​the light-transmitting plate reaches the threshold required for imaging, improving the accuracy of image acquisition, but also ensures uniform light intensity in each area of ​​the light-transmitting plate, improving the sensor's accuracy in judging contact force and object shape. The visual-tactile sensor equipped with the aforementioned dimming components has higher sensitivity to detecting minute deformations. It can accurately identify the minute deformations of thin and light items after being subjected to force, as well as the critical clamping force threshold of small items. This provides precise feedback signals for the drive mechanism to adjust the clamping force, thereby improving the clamping accuracy of the clamping mechanism. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of an embodiment of a clamping system (clamped state) provided by the present invention; Figure 2 This is a schematic diagram of a structure of an embodiment of a clamping system (relaxed state) provided by the present invention; Figure 3 for Figure 1 A schematic diagram of the clamping system (from another perspective); Figure 4 for Figure 1 A schematic diagram of the clamping system (hidden base); Figure 5 for Figure 1 Another structural diagram of the clamping system (hidden base); Figure 6 for Figure 5 An exploded view of the clamping system; Figure 7 for Figure 1 A schematic diagram of the clamping system with respect to the visual-tactile sensor; Figure 8 for Figure 7 The structural exploded diagram of the clamping system with respect to the visual-tactile sensor; Figure 9 for Figure 7 A cross-sectional view of the visual-tactile sensor along AA; Figure 10 for Figure 8 A schematic diagram of the structure of the visual-tactile sensor regarding the assembly of the dimming component and the light-transmitting plate; Figure 11 for Figure 8 Another structural diagram of the assembly of the dimming component and the light-transmitting plate; Figure 12 for Figure 10 A schematic diagram of the structure of the visual-tactile sensor with respect to the light-transmitting plate; Figure 13 for Figure 10 A schematic diagram of the structure of the dimming component with respect to the light guide section; Figure 14 for Figure 10 A schematic diagram of the structure of the visual-tactile sensor relative to the support frame.

[0023] Explanation of icon numbers: 1000 Clamping system; 000 Clamping mechanism; 100 Visual and tactile sensor; 1 Touch component; 11 Light-transmitting plate; 111 Groove; 112 Clearance groove; 113 Guide hole; 12 Elastomer; 13 Annular protrusion; 2 Imaging component; 21 Imaging element; 22 Reflector; 3 Dimming component; 31 Light source; 311 Annular back plate; 312 Lamp bead; 32 Light guide; 321 First side; 322 Second side; 323 Third side; 324 Reflective surface; 4 Support frame; 41 Mounting hole; 42 Limiting protrusion; 43 Extension; 44 Guide post; 5 Pressure plate; 51 Window; 6 Mounting groove; 7 Fastening structure; 71 First slot; 72 Clip; 73 Buckle; 74 Elastic clip; 8 Housing; 81 Mounting cavity; 811 First inner wall; 812 Second inner wall; 82 Opening; 83 Annular groove; 84 First outer shell; 85 Second outer shell; 86 Limiting rib; 87 Stepped structure; 200 Connector; 300 Drive mechanism; 301 Motor; 302 Transmission assembly; 3021 Turntable; 3022 Frame; 3023 Linkage rod; 3024 Slider; 3025 Protrusion; 400 Clamping force detection assembly; 500 Base; 501 Elongated hole.

[0024] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0026] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0027] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0028] Robotic arms are typically used as core actuators for grasping, handling, and manipulating objects. Existing technologies widely employ robotic gripper devices equipped with visual and tactile sensors. These devices usually integrate two visual and tactile sensors onto the two grippers of the gripping mechanism. The sensors acquire visual image information and tactile pressure signals of the object being gripped. The visual image information can be used to identify the object's shape, dimensions, and spatial position, while the tactile pressure signals provide feedback on the pressure distribution and contact state when the grippers are in contact with the object. These two signals are fused using a data fusion algorithm to achieve comprehensive identification of the object, thereby guiding the gripping mechanism to adjust the gripper's closing force and position to complete the gripping action.

[0029] To improve the clamping accuracy of the clamping system 1000, this invention improves the clamping system 1000. The structure of the clamping system 1000 will be described in detail below with reference to the accompanying drawings.

[0030] Please see Figures 1 to 6 The clamping system 1000 includes a clamping mechanism 000 and a drive mechanism 300. The clamping mechanism 000 includes two clamping parts disposed opposite to each other in a first direction F1. The drive mechanism 300 includes a movably disposed drive part that drives the two clamping parts to clamp or release them along the first direction F1. The picking or dropping of an item is achieved by the moving clamping or releasing of the two clamping parts.

[0031] At least one clamping part is configured as a visual-tactile sensor 100. Typically, the housing 8 of the visual-tactile sensor 100 has a silicone block and a transparent plate for supporting the silicone block. The interior of the housing 8 also houses a light source 31 and a camera. The light source 31 provides illumination for the camera to ensure the image capture effect. However, in the prior art, the visual-tactile sensor 100 suffers from low recognition accuracy for the edge contours of thin items (such as films and flexible circuit boards) and the size parameters of small items (such as microelectronic components) due to unreasonable illumination mode of the light source 31 and insufficient image acquisition clarity. This results in gripper positioning misalignment and low clamping accuracy.

[0032] In this invention, please refer to Figure 7 and Figure 8 The visual tactile sensor 100 includes a touch component 1, an imaging component 2, and a dimming component 3. The touch component 1 includes a light-transmitting plate 11 and an elastomer 12 attached to one side surface of the light-transmitting plate 11. The elastomer 12 deforms when subjected to contact force, and its deformation state can be displayed through the light-transmitting plate 11.

[0033] Imaging assembly 2 includes an imaging element 21 for acquiring images of the elastomer 12. When the elastomer 12 deforms, its deformation state is captured by the imaging element 21 through the light-transmitting plate 11. In some embodiments, the imaging element 21 may be a device with image acquisition capabilities, such as a CCD camera or a CMOS camera.

[0034] Please see Figure 8 and Figure 9 The dimming assembly 3 is located on the side of the light-transmitting plate 11 facing away from the elastic body 12. The dimming assembly 3 includes a light source 31, the light-emitting part of which is disposed facing the light-transmitting plate 11 and surrounds the outer edge of the elastic body 12. By surrounding the outer edge of the elastic body 12 with the light source 31, not only can the light source 31 be prevented from blocking the elastic body 12, allowing the imaging assembly 2 to acquire a clear and complete image, but the surrounding light supply also avoids the directional limitations of the traditional single-point light source 31, ensuring that the edge area of ​​the elastic body 12 receives sufficient and uniform incident light.

[0035] Meanwhile, the dimming assembly 3 also includes a light guide 32, one end of which corresponds to the light-emitting part, and the other end is inserted into the light-transmitting plate 11 and positioned near the outer edge of the light-transmitting plate 11. This establishes a light transmission path between the light source 31 and the light-transmitting plate 11, guiding sufficient light from the edge to the center of the light-transmitting plate 11, achieving full-area illumination coverage from the edge to the center. This not only ensures that the light intensity in each area of ​​the light-transmitting plate 11 reaches the threshold required for imaging, avoiding problems such as excessive image noise and blurred edges due to insufficient light intensity, but also ensures that the imaging element 21 can capture the details of the minute deformation of the elastic body 12, improving the accuracy of image acquisition. Furthermore, it ensures uniform light intensity in each area of ​​the light-transmitting plate 11, avoiding interference with image analysis due to uneven illumination, reducing errors in the tactile information conversion process, and improving the sensor's accuracy in judging contact force and object shape.

[0036] When the clamping part contacts the object, the elastic body 12 undergoes a slight deformation that matches the clamping force. The uniform light from the light source 31 surrounding the edge, guided by the light guide 32, creates clear optical texture differences due to the surface unevenness caused by the deformation of the elastic body 12. In this way, the slight deformation of the elastic body 12 can be synchronously converted into image changes that can be captured by the imaging component 2. This allows the visual-tactile sensor 100 to acquire visual information about the object through the imaging component 2 and to infer the clamping force from the optical signal of the deformation of the elastic body 12.

[0037] The visual-tactile sensor 100 equipped with the aforementioned dimming component 3 has higher sensitivity to perceiving minute deformations. It can accurately identify the minute deformations of thin and light items after being subjected to force and the critical clamping force threshold of small items, providing accurate feedback signals for the drive mechanism 300 to adjust the clamping force, thereby improving the clamping accuracy of the clamping mechanism 000.

[0038] The present invention does not impose a specific limitation on the number of visual-tactile sensors 100. In one embodiment, one of the two clamping parts is configured as the aforementioned visual-tactile sensor 100, and the other is configured as a conventional gripper.

[0039] In one embodiment, both clamping portions are configured as visual-tactile sensors 100, and the two elastomers 12 of the two visual-tactile sensors 100 are arranged opposite to each other.

[0040] If a solution of setting up a visual and tactile sensor 100 on one side is adopted, although it can acquire images of the clamping area, the single sensor's viewing angle is easily affected by factors such as the angle of the object's placement and surface reflection, resulting in incomplete capture of information such as the three-dimensional outline of thin objects and the symmetrical structure of small objects.

[0041] In this embodiment, a dual-view tactile sensor 100 is provided, forming a bidirectional through-beam visual acquisition system through two opposing elastic bodies 12. The two imaging components 2 can simultaneously acquire images from both sides of the object. Combined with the high-definition image formed by uniform edge illumination, it can completely restore the wrinkle shape of thin objects and the spatial arrangement of small objects, avoiding information blind spots under a single viewpoint. At the same time, the bidirectional images can be stereoscopically stitched together through algorithms to accurately calculate the center coordinates, thickness, and spatial posture of the object. Even if the object has slight tilt or displacement, the clamping center point can be accurately positioned through bidirectional data calibration.

[0042] For small items with symmetrical structures, such as miniature bolts and precision bearings, the bidirectional visual-tactile sensor 100 can simultaneously identify the positioning features of both end faces, achieving centering and clamping, and avoiding eccentric force on the item due to unilateral positioning deviation.

[0043] For highly flexible and thin items, such as biological tissue slices and ultra-thin plastic films, the relative fit of the bidirectional elastomer 12 can form a flexible wrap-around clamping. The synchronous force feedback on both sides can precisely control the clamping force to be within the tolerance threshold of the item, preventing the item from being stretched and deformed due to clamping on one side.

[0044] When holding transparent or translucent thin objects, such as quartz sheets, the superimposed illumination from the bidirectional light source 31 can enhance the contrast between the object and the background. Combined with the synchronous acquisition by the imaging components 2 on both sides, internal defects or textures can be clearly identified, further expanding the application scenarios of the system in high-end fields such as precision testing and biomedicine.

[0045] In one embodiment, please refer to Figures 4 to 6 The drive mechanism 300 includes a motor 301 and a transmission assembly 302. The output shaft of the motor 301 is arranged along the second direction F2, and the central axis of the output shaft is collinear with the central axes of the two clamping parts. The transmission assembly 302 drives the output shaft and the two clamping parts. The drive part includes the output shaft and the transmission assembly 302.

[0046] Specifically, the transmission assembly 302 includes a turntable 3021, a frame 3022, and two connecting rods 3023 and sliders 3024. The turntable 3021 is sleeved on the output shaft and rotates coaxially with the output shaft. The frame 3022 is located on the side of the turntable 3021 facing away from the motor 301. The two connecting rods 3023 and sliders 3024 are respectively provided for two clamping parts.

[0047] The linkage 3023 and slider 3024 structure includes a linkage 3023 and a slider 3024. The slider 3024 is slidably mounted on the frame 3022 along the first direction F1. In the second direction F2, the linkage 3023 is located between the turntable 3021 and the frame 3022, and its two ends are respectively connected to the turntable 3021 and the slider 3024, so that when the turntable 3021 rotates, it drives the slider 3024 to move along the first direction F1. The clamping part is provided on the slider 3024.

[0048] During the operation of motor 301, when the output shaft drives turntable 3021 to rotate coaxially, turntable 3021 synchronously drives the sliders 3024 on both sides to slide along the first direction F1 through two identical connecting rods 3023. For example, when one slider 3024 moves forward, the other slider 3024 moves backward synchronously, so that the two sliders 3024 move towards or away from each other synchronously. In this way, it can be ensured that the displacement and movement speed of the two clamping parts are completely consistent, and the timing and growth rate of the clamping force applied to both sides of the item are strictly synchronized, which can effectively avoid deformation of thin items or misalignment of small items caused by asynchronous movement on both sides.

[0049] Furthermore, for thin and small items, even slight fluctuations in clamping force can lead to damage or loss of the item, requiring the transmission component 302 to possess extremely high force transmission precision. By setting up a linkage 3023 and slider 3024 structure, a rigid transmission chain is formed through the rigid connection of the linkage 3023 and slider 3024. When the drive mechanism 300 needs to fine-tune the clamping force, for example, increasing the clamping force from 0.02N to 0.03N, the minute rotation angle of the motor 301 can be precisely converted into a linear displacement of the slider 3024 through the turntable 3021 and linkage 3023, thereby causing a predictable change in force value at the clamping part. This transmission component 302, combined with the bidirectional feedback of the visual-tactile sensor 100, can achieve micron-level displacement adjustment and millinewton-level force control of the clamping force, perfectly adapting to the clamping force requirements of ultra-thin flexible materials (such as biofilms) or micro-precision components (such as MEMS sensors).

[0050] Specifically, two sliders 3024 are respectively disposed on both sides of the frame 3022 along the third direction F3. The clamping mechanism 000 also includes two connectors 200, which are staggered in the third direction F3, and each connector 200 connects a clamping part to the corresponding slider 3024.

[0051] It is understandable that the two sliders 3024 move synchronously towards or away from each other. If the two sliders 3024 and the clamping part are set on the same plane, when clamping small items, the movement trajectories of the two clamping parts are prone to spatial overlap, which may cause the grippers to collide or interfere with surrounding parts. Especially in confined working environments such as inside precision instruments, such interference will directly limit the feasibility of the clamping action.

[0052] By setting two sliders 3024 on both sides of the frame 3022 along the third direction F3, the drive components of the clamping parts on both sides are spatially layered. Simultaneously, two connectors 200 are staggered, which offsets the movement areas of the two clamping parts along the third direction F3, avoiding the interference risk caused by intersecting movement trajectories in a planar layout. This spatial layering design allows for a drastically reduced minimum operating clearance when clamping small items, adapting to the operational needs of ultra-confined spaces such as semiconductor packaging and micro-sensor assembly.

[0053] The present invention does not impose specific limitations on the shape of the connecting rod 3023. In one embodiment, the connecting rod 3023 is configured as a straight rod.

[0054] In another embodiment, please refer to Figure 6 The connecting rod 3023 is curved, and the arc-shaped convex surfaces of the two connecting rods 3023 are arranged opposite each other.

[0055] When the turntable 3021 rotates at a large angle, the connection point between the connecting rod 3023 and the slider 3024 is prone to sudden speed changes, which may cause minor impacts in the clamping part and affect the stable clamping of thin and light items. By setting the connecting rod 3023 to be curved, the two connecting rods 3023 with their arc-shaped convex surfaces facing each other form a symmetrical curve transition in the motion trajectory of the hinge point of the turntable 3021 and the slider 3024 when synchronously driving the slider 3024. This can effectively counteract the radial force interference during the transmission process, reduce the vibration caused by sudden speed changes, and make the force transmission path when the turntable 3021 rotates smoother.

[0056] Meanwhile, when clamping small objects, the connecting rod 3023 needs to transmit a small but precise driving force. If a straight, thin-walled connecting rod 3023 is used, it is prone to fatigue deformation after repeated bending and stress, affecting transmission accuracy. The curved structure of the connecting rod 3023 significantly improves fatigue resistance by dispersing stress distribution. Furthermore, the two connecting rods 3023 with opposite curved convex surfaces form a symmetrical stress field under stress, avoiding localized stress concentration and extending the service life of the connecting rod 3023. The curved structure can increase the moment of inertia of the connecting rod 3023 section with the same amount of material, enhancing bending resistance and ensuring that micron-level transmission accuracy is maintained even after long-term use, reducing maintenance frequency and costs in industrial production.

[0057] Furthermore, the opposing arc-shaped convex surfaces of the two connecting rods 3023 create a symmetrical concave space during movement. Compared to the parallel layout of the straight connecting rods 3023, this reduces radial spacing and avoids spatial interference with components such as the frame 3022 and slider 3024, allowing the transmission assembly 302 to adapt to smaller operating spaces. Moreover, the curved connecting rods 3023, through their arc-shaped avoidance design, with the opposing arc-shaped convex surfaces, allow the arc-shaped contour to naturally avoid the edge areas of the frame 3022 and turntable 3021 when fully extended, enabling a greater stroke of the slider 3024 with the same rotation angle of the turntable 3021.

[0058] In one embodiment, please refer to Figure 6 Two protrusions 2025 are provided on the outer periphery of the turntable 3021, and the two protrusions 2025 are arranged opposite each other in the radial direction of the turntable 3021. One end of the connecting rod 3023 is connected to the protrusions 2025.

[0059] The protrusion 2025 positions the hinge point of the connecting rod 3023 away from the center of the turntable 3021. According to the lever principle, with the same output torque of the motor 301, the distance between the hinge point of the connecting rod 3023 and the center of the turntable 3021 increases the driving force of the slider 3024. Thus, even using a low-power motor 301, sufficient clamping force can still be output. Simultaneously, because the lever arm is fixed, the driving force and the torque of the motor 301 are linearly related. Matching the feedback from the visual-tactile sensor 100, precise control of the clamping force at the millinewton level can be achieved, preventing small items from falling off due to insufficient driving force or damage to items due to force fluctuations.

[0060] Specifically, the turntable 3021 is designed in a rhombus shape, with two opposite corners forming two protrusions 2025. Thus, the protrusions 2025 are integrally integrated with the turntable 3021, allowing stress to be evenly distributed across the entire turntable 3021 when subjected to repeated pulling or pushing forces from the connecting rod 3023, preventing localized deformation. Simultaneously, the integrated design reduces the localized mass redundancy caused by the separate protrusions 2025, lowers the rotational inertia of the turntable 3021, reduces power loss during motor 301 operation, and improves response speed. This enables faster adjustment of the clamping action based on feedback from the visual and tactile sensor 100, adapting to the rapid clamping force response requirements of thin and light items.

[0061] Furthermore, the two diagonals of the rhomboid turntable 3021 correspond to the four corners respectively. Its geometric symmetry ensures that the centrifugal force of the turntable 3021 is always symmetrically distributed along the axis of symmetry when it rotates. In this way, the vibration noise generated by the operation of the drive mechanism 300 can be reduced.

[0062] In one embodiment, please refer to Figure 6 The clamping system 1000 also includes a clamping force detection component 400 and a control device. The clamping force detection component 400 is respectively provided for the two clamping parts to detect the actual clamping force between the two clamping parts. The control device is electrically connected to the clamping force detection component 400 and the drive mechanism 300 to control the drive mechanism 300 to stop when the actual clamping force reaches the preset clamping force range.

[0063] The control device compares the actual clamping force detected in real time with a preset range, and immediately stops the drive mechanism 300 when the threshold is reached. In this way, the control error of the clamping force can be reduced, and the clamping accuracy of the clamping mechanism 000 for thin and light items can be improved.

[0064] Understandably, even high-precision mechanical structures will experience transmission backlash due to component wear during the operation of the clamping system 1000, affecting clamping reliability. By incorporating a clamping force detection component 400, the control device continuously compares the actual force value with a preset value. When insufficient force due to mechanical wear is detected, the mechanism 300 automatically adds a small stroke until the force reaches the target value. This dynamic compensation improves clamping force accuracy and extends the effective maintenance cycle of the equipment.

[0065] Specifically, the clamping force detection assembly 400 includes two pressure detection units, which are respectively set for the two clamping units. Each pressure detection unit includes a baffle and a pressure sensor. The baffle is located on the moving path of the clamping unit, and the pressure sensor is located on the side of the baffle facing the clamping unit, so as to detect the pressure between the clamping unit and the baffle when the two clamping units are clamped.

[0066] When the two clamping parts clamp the item, the clamping parts simultaneously squeeze the item against the pressure sensor on the baffle. The pressure sensor directly collects the physical pressure applied by the clamping parts. Since this physical pressure has a linear relationship with the actual clamping force, the actual clamping force can be obtained by collecting the pressure, which can improve the detection accuracy of the actual clamping force.

[0067] When gripping thin or small irregularly shaped items, a difference in clamping force between the two sides can cause the items to tilt or deform locally. The control device compares the data from the pressure sensors on both sides to identify the force difference in real time and drives the mechanism 300 to dynamically adjust the displacement of the clamping part on one side, keeping the force difference within a preset range. For example, when gripping ultra-thin metal foil, if the force on the left is 0.04N and on the right is 0.035N, the system can immediately fine-tune the feed of the right clamping part until the force is balanced, effectively preventing wrinkles caused by uneven force.

[0068] Continuing from the above, the imaging assembly 2 includes an imaging element 21 for acquiring images of the elastic body 12. The present invention does not impose specific limitations on the placement of the imaging element 21. In some applications, the imaging element 21 is positioned directly opposite the elastic body 12 to acquire images.

[0069] Applications such as robot end effectors and precision equipment often impose strict limitations on the size of sensors. In some applications, the miniaturized visual-tactile sensor 100 lacks sufficient internal space to provide installation space for the imaging element 21 at the position directly opposite the elastic body 12, or the position directly opposite the elastic body 12 cannot meet the installation requirements.

[0070] To address this issue, in one embodiment, please refer to... Figure 8 and Figure 9 The imaging component 2 also includes a reflector 22. The reflector 22 is located on the side of the dimming component 3 away from the touch component 1. The mirror surface of the reflector 22 faces the light-transmitting plate 11 and is positioned corresponding to the elastic body 12 to reflect the deformation image of the elastic body 12. The imaging element 21 is located on the reflection path of the reflector 22 to acquire the image reflected by the reflector 22.

[0071] In this embodiment, by setting a reflector 22 to change the direction of the light path, the imaging element 21 does not need to be directly facing the elastic body 12. It only needs to be placed on the reflection path of the reflector 22 to complete image acquisition. In this way, the installation position of the imaging element 21 is not restricted by the elastic body 12. The imaging element 21 can be flexibly installed in non-directly facing spaces such as the side wall and bottom of the sensor, which greatly optimizes the layout density of internal components and meets the practical requirements of sensor miniaturization and lightweighting. It is especially suitable for narrow installation scenarios such as robot end joints.

[0072] Meanwhile, since the installation position of the imaging element 21 is no longer restricted by the elastomer 12, there is no need to repeatedly adjust the coaxiality of the imaging element 21 and the elastomer 12 during assembly. It is only necessary to ensure that it is aligned with the reflection path of the reflector 22, which reduces the positioning accuracy requirements during assembly and improves assembly efficiency.

[0073] Furthermore, the reflector 22 can directionally reflect the deformation image of the elastomer 12 to the preset position of the imaging element 21, avoiding obstruction or light interference from other components inside the sensor. The reflector 22 is fixed by a mechanical structure, and once its position and angle are determined, the light path remains stable, preventing image defocusing due to slight sensor vibration or minor component displacement, thus ensuring the stability of the imaging element 21.

[0074] Specifically, the mirror surface of the reflector 22 can be coated, such as with an anti-reflective coating or a reflective coating, to optimize the reflection effect, reduce light loss, and ensure that the image signal received by the imaging element 21 is more stable and clearer.

[0075] To improve the installation stability of the light guide 32, in one embodiment, please refer to... Figure 8 and Figure 10 The visual-touch sensor 100 also includes a support frame 4. The support frame 4 is detachably mounted on the light-transmitting plate 11 and is located on the side of the light-transmitting plate 11 opposite to the elastomer 12. The inner core area of ​​the support frame 4 is provided corresponding to the elastomer 12 to expose the elastomer 12. By directly and detachably mounting the support frame 4 to the light-transmitting plate 11, the dimming component 3 and the touch component 1 form a modular integrated unit, rather than separate independent components, reducing the layout complexity of the internal components and making it easier to achieve a miniaturized design of the visual-touch sensor 100.

[0076] Meanwhile, the light source 31 is located on the side of the support frame 4 away from the touch component 1 and is positioned corresponding to the edge of the support frame 4. The light guide 32 is inserted into the edge of the support frame 4 and penetrates the light-transmitting plate 11 in part. By using the edge area of ​​the support frame 4 to install the light source 31 and the light guide 32, the dimming component 3 avoids occupying the deformation space of the elastomer 12 or the optical path space of the imaging component 2.

[0077] Furthermore, the light source 31 and the light guide 32 are the core components of the dimming assembly 3, and their relative positional accuracy directly determines the light transmission efficiency. By setting a support frame 4 on the side of the light-transmitting plate 11 away from the elastic body 12, the light source 31 is positioned on the side of the support frame 4 away from the touch assembly 1 and corresponding to the frame edge. The frame edge structure of the support frame 4 provides a clear installation boundary for the light source 31, preventing light from being unable to effectively enter the light guide 32 due to installation misalignment of the light source 31.

[0078] The light guide 32 is inserted into the frame edge of the support frame 4 and passes through the partial light-transmitting plate 11. The frame edge and the light-transmitting plate 11 together form a circumferential limit on the light guide 32, preventing the light guide 32 from loosening or shifting due to external force during use, ensuring that it always maintains a corresponding relationship with the light source 31, and stably realizing the light transmission function from the edge to the center.

[0079] In one embodiment, the visual-tactile sensor 100 further includes a fastening structure 7, which is disposed between the support frame 4 and the light-transmitting plate 11 to fasten and fix the support frame 4 and the light-transmitting plate 11.

[0080] Specifically, please refer to Figure 10 and Figure 11 The light-transmitting plate 11 has a first slot 71 on one side and a fastener 73 on the other side in the second direction F2. The support frame 4 has a retaining strip 72 protruding from the inner wall of one frame side in the second direction F2 and an elastic retaining post 74 protruding from the outer wall of the other frame side. The retaining strip 72 is inserted into the first slot 71, and the elastic retaining post 74 is engaged with the fastener 73. The fastening structure 7 includes the first slot 71 and the retaining strip 72, as well as the fastener 73 and the elastic retaining post 74.

[0081] In this embodiment, the support frame 4 and the light-transmitting plate 11 are fixed by the first slot 71, the locking strip 72, the fastener 73, and the elastic locking post 74. During assembly, the locking strip 72 is first inserted into the first slot 71, and then the support frame 4 is pressed towards the light-transmitting plate 11, thereby causing the elastic locking post 74 and the fastener 73 to engage. In this way, the assembly between the support frame 4 and the light-transmitting plate 11 is completed, which is simple in structure and easy to operate.

[0082] During assembly, the clip 72 of the support frame 4 is directly inserted into the first slot 71 of the light-transmitting plate 11. By utilizing the shape matching of the first slot 71 and the clip 72, the support frame 4 and the light-transmitting plate 11 are quickly aligned in the second direction F2, avoiding the alignment difficulties of traditional screw fixing and greatly shortening the assembly time.

[0083] The engagement of the locking strip 72 and the first locking slot 71 restricts the relative displacement of the support frame 4 and the light-transmitting plate 11 in the direction perpendicular to the second direction F2. The locking of the elastic locking post 74 and the buckle 73 restricts the separation of the two in the second direction F2. The double constraint makes the connection more stable and more resistant to vibration or impact during sensor use compared to a single screw fixation.

[0084] Furthermore, the deformation characteristics of the elastic locking post 74 can absorb the impact force on the sensor, reducing the deformation of the support frame 4 or the light-transmitting plate 11 caused by the rigid connection. This not only protects the sealing of the mating surfaces of the two, preventing light leakage due to gaps caused by deformation, but also prevents the light-transmitting plate 11 from cracking due to stress concentration.

[0085] Continuing from the above, a first slot 71 is formed on one side of the light-transmitting plate 11 in the second direction F2, and a retaining strip 72 protrudes from the inner wall of one frame edge of the support frame 4 in the second direction F2. The retaining strip 72 is inserted into the first slot 71. In one embodiment, a portion of the frame edge is bent outward to form a protruding extension 43, and the retaining strip 72 protrudes from the inner wall of the extension 43. A relief groove 112 is formed on the surface of the light-transmitting plate 11 facing the support frame 4. The relief groove 112 is located near the side edge to accommodate the extension 43. The relief groove 112 is connected to the first slot 71, and when the extension 43 is accommodated in the relief groove 112, the retaining strip 72 can be inserted into the first slot 71.

[0086] In this embodiment, during assembly, the extension 43 of the support frame 4 must first be aligned with the clearance groove 112 of the light-transmitting plate 11 and embedded. This process can achieve the initial alignment of the support frame 4 and the light-transmitting plate 11 in the second direction F2 and the vertical direction by matching the shape of the extension 43 with the clearance groove 112. This provides a clear guiding reference for the subsequent insertion of the clip 72 into the first slot 71, avoids assembly jamming caused by positional deviation between the clip 72 and the first slot 71, and shortens the alignment time.

[0087] The extension 43 is formed by a partial bend in the frame edge, and it has a certain structural rigidity, which can serve as a reinforcing base for the clip 72. When the clip 72 is inserted into the first slot 71 and subjected to tension, the tension will be transmitted through the clip 72 to the extension 43, and then distributed to the frame edge body of the support frame 4, preventing the clip 72 from breaking due to excessive stress at a single point.

[0088] If there are protrusions on the surface of the light-transmitting plate 11 facing the support frame 4, the two will not fit tightly together, forming an air gap. When light enters the light-transmitting plate 11 from the light guide 32, the gap will cause interface reflection, reducing the light transmission efficiency. By setting the avoidance groove 112 to avoid the embedded design, the mating surfaces are fully in contact, eliminating gap interference and ensuring the optical performance of the dimming component 3.

[0089] To facilitate the installation and alignment of the support frame 4 and the light-transmitting plate 11, in one embodiment, the light-transmitting plate 11 is provided with a guide hole 113 near the side; a guide post 44 protrudes from the surface of the frame facing the light-transmitting plate 11, and the guide post 44 is inserted into the guide hole 113.

[0090] During assembly, simply align the guide post 44 on the edge of the support frame 4 with the guide hole 113 of the light-transmitting plate 11 and insert it. This automatically achieves precise horizontal alignment between the two, preventing the support frame 4 from shifting due to visual misjudgment. Furthermore, the first slot 71 and the locking strip 72 match in shape, enabling rapid alignment of the support frame 4 and the light-transmitting plate 11 in the second direction F2. The locking action of the elastic locking post 74 and the buckle 73 restricts their separation in the second direction F2. By setting the insertable guide post 44 and guide hole 113, the support frame 4 and the light-transmitting plate 11 can be positioned in both the second direction F2 and the first direction F1, further ensuring the installation stability of the support frame 4 and the light-transmitting plate 11.

[0091] In one embodiment, on the side facing away from the light-transmitting plate 11, the end face of the light guide 32 is flush with the surface of the frame edge. If the end face of the light guide 32 protrudes from the frame edge surface, light is likely to leak from the gap between the light guide 32 and the frame edge, reducing light utilization. If the end face of the light guide 32 is recessed, a shadow area may be formed, interfering with the alignment accuracy between the light source 31 and the light guide 32. The flush arrangement ensures a tight connection between the light guide 32 and the frame edge, reduces ineffective light loss at the transmission starting point, and improves the energy utilization of the light source 31.

[0092] Furthermore, please see Figures 10 to 12 The flush end face design ensures that the surface of the support frame 4 away from the light-transmitting plate 11 remains continuously flat, providing a planar reference for the installation of the light source 31. This avoids the light source 31 from tilting due to the protrusion or retraction of the light guide 32, ensuring that the lamp bead 312 and the incident end of the light guide 32 are accurately aligned, and guaranteeing efficient light incidence.

[0093] Meanwhile, the support frame 4 has a limiting protrusion 42 protruding at the periphery of the inner core area; the light source 31 includes an annular back plate 311 and a lamp bead 312. The annular back plate 311 is sleeved on the periphery of the limiting protrusion 42 and locked and fixed with the support frame 4. The lamp bead 312 is located on the side surface of the annular back plate 311 facing the support frame 4.

[0094] By fitting the annular backplate 311 around the limiting protrusion 42, the outer peripheral wall of the limiting protrusion 42 forms a radially outward constraint on the annular backplate 311, preventing radial displacement of the annular backplate 311 during installation or use. This ensures that the LED beads 312 on the annular backplate 311 always correspond one-to-one with the light guide part 32 inside the frame of the support frame 4, preventing light from being unable to effectively enter the light guide part 32 due to misalignment of the LED beads 312.

[0095] The limiting protrusion 42 is arranged around the periphery of the inner core area, and its axis is consistent with the central axis of the elastomer 12 and the light-transmitting plate 11. The annular back plate 311 is sleeved on the periphery of the limiting protrusion 42, so that the annular back plate 311 and the elastomer 12 are coaxial, thereby making the surrounding layout of the lamp beads 312 more uniform, further improving the illumination symmetry of the annular light source 31, and avoiding the difference in illumination at the edge of the elastomer 12 caused by uneven distribution of the lamp beads 312.

[0096] More specifically, the visual-tactile sensor 100 also includes a pressure plate 5, which is located on the end face of the limiting protrusion 42 away from the light-transmitting portion. The pressure plate 5 has a protrusion on the side facing the annular back plate 311, and the protrusion is attached to the annular back plate 311. The pressure plate 5 has a window 51 at the position corresponding to the inner core area of ​​the support frame 4 to expose the elastomer 12.

[0097] By placing the pressure plate 5 on the side of the limiting protrusion 42 away from the light-transmitting plate 11, its protrusion is directly attached to the annular back plate 311. The pressure plate 5 itself presses the annular back plate 311 towards the support frame 4 to offset the axial gap caused by vibration, and prevents the annular back plate 311 from being slightly displaced due to loosening, ensuring that the lamp bead 312 is always accurately aligned with the incident end of the light guide 32.

[0098] Meanwhile, the window 51 on the pressure plate 5 corresponds to the area of ​​the elastomer 12, ensuring that the optical path of the imaging component 2 can completely cover the deformation area of ​​the elastomer 12 and will not be blocked by the pressure plate 5, thus ensuring the integrity of image acquisition. The non-window 51 area of ​​the pressure plate 5 can block stray light from the light source 31 towards the imaging optical path, reducing interference from stray light on the imaging element 21, improving image contrast and clarity, and providing more reliable raw data for tactile information conversion.

[0099] As described above, the light guide 32 is inserted into the frame edge of the support frame 4 and penetrates the partial light-transmitting plate 11. To achieve stable installation of the light guide 32, in one embodiment, please refer to... Figures 10 to 14The support frame 4 is attached to the surface of the light-transmitting plate 11. During the light transmission process of the light guide 32, if there is a gap between the support frame 4 and the light-transmitting plate 11, some of the light emitted by the light source 31 will leak out directly from the gap without being transmitted through the light guide 32, resulting in light intensity loss. Through the attached design, light leakage from the gap between the two can be blocked, allowing more light to be confined within the light guide 32 for transmission, thus improving light utilization.

[0100] Combined with the above-mentioned "detachable connection between support frame 4 and light-transmitting plate 11", the surface-fitting design makes support frame 4 and light-transmitting plate 11 form a rigid connection unit, reducing the relative displacement caused by vibration, avoiding fluctuations in light leakage caused by gap changes, ensuring the stability of light intensity, and providing a continuous and uniform light source 31 environment for imaging component 2.

[0101] Meanwhile, mounting holes 41 are opened on the frame edge of the support frame 4, and a groove 111 is opened on the light-transmitting plate 11 at the position corresponding to the mounting hole 41. The groove 111 is connected to the mounting hole 41 and forms a four-sided enclosed mounting groove 6. The light guide part 32 is inserted into the mounting groove 6.

[0102] In this embodiment, mounting holes 41 are formed on the edge of the support frame 4, and grooves 111 are formed on the light-transmitting plate 11 at the corresponding positions of the mounting holes 41, together forming a mounting groove 6 for the insertion of the light guide 32. This provides mechanical restraint for the light guide 32, preventing it from shifting radially or axially, ensuring that the incident end of the light guide 32 is always precisely aligned with the lamp bead 312 of the light source 31, and that the emitting end is stably guided to the preset path in the middle of the light-transmitting plate 11, thus guaranteeing the directionality and efficiency of light transmission.

[0103] The walls of the four-sided enclosed mounting groove 6 can absorb external impacts, weakening the force of the impact on the light guide 32, thereby reducing the risk of breakage or surface wear caused by direct force on the light guide 32. In particular, the use of optical-grade materials such as PC and quartz glass for the light guide 32, when inserted into the four-sided enclosed mounting groove 6, can more effectively protect its optical performance, such as surface flatness or light transmittance.

[0104] Meanwhile, the light guide 32 is inserted into the groove 111 of the light-transmitting plate 11, resulting in a larger contact area and a tighter connection between the two. This reduces interface reflection when light enters the light-transmitting plate 11 from the light guide 32, allowing more light to be efficiently transmitted through the light guide 32 to the center of the light-transmitting plate 11, thus enhancing the light intensity in the area of ​​the elastomer 12. Furthermore, the tight fit of the mounting groove 6 constrains the directional transmission of light within the light guide 32 and the light-transmitting plate 11, reducing stray light interference with the imaging element 21 and improving the image signal-to-noise ratio.

[0105] As described above, the light from the light source 31, after passing through the light guide 32, can be transmitted from the edge of the light-transmitting plate 11 to the center of the light-transmitting plate 11. In one embodiment, please refer to... Figure 13 The light guide portion 32 has a first side 321 facing away from the light source 31 and a second side 322 away from the middle of the light-transmitting plate 11. A reflective surface 324 is formed between the first side 321 and the second side 322, and the reflective surface 324 is disposed toward the middle of the light-transmitting plate 11.

[0106] When the elastomer 12 comes into contact with an object, the central region is usually the core area where deformation is most significant, such as the center of the indentation when pressed, which requires higher image clarity. After the light emitted by the light source 31 enters the light guide 32, some of the light will be conducted along the interior of the light guide 32 towards the edge of the light-transmitting plate 11. Although the ring light source 31 achieves surrounding lighting for the elastomer 12, the light will still attenuate as the distance increases during the transmission from the edge to the center, forming a gradient where the edge is bright and the center is dark. By adding a reflective surface 324, the light originally transmitted towards the edge is redirected and reflected to the center of the light-transmitting plate 11 using specular reflection, thereby supplementing the light in the central region, making the illumination intensity more uniform in all areas of the surface of the elastomer 12, and thus ensuring clearer image details in the core deformation area.

[0107] Specifically, there is a first included angle between the reflective surface 324 and the extended surface of the second side surface 322, which is 30°~45°.

[0108] Understandably, if the first angle is too small, such as less than 30°, the reflected light will be too flat and tend to concentrate in the edge area of ​​the light-transmitting plate 11, failing to effectively reach the central area. If the first angle is too large, such as greater than 45°, the reflected light will be too steep and may cross the central area to directly hit the imaging light path, causing glare interference.

[0109] Setting the angle range of 30° to 45° not only ensures that the light reflected by the reflective surface 324 covers the central area of ​​the light-transmitting plate 11 at an oblique incident angle, but also ensures that the light only needs to be reflected once by the reflective surface 324 within the light guide section 32 to reach the central part of the light-transmitting plate 11, avoiding multiple reflections caused by improper angles, thereby improving the effective utilization rate of light.

[0110] Furthermore, the light guide 32 is typically made of optical-grade materials, such as PC or acrylic. The reflective surface 324 formed on the surface of the light guide 32 by silver plating or polishing exhibits optimal reflection efficiency within the incident angle range of 30° to 45°, which can minimize energy loss during reflection and ensure that more light is guided to the center of the light-transmitting plate 11.

[0111] Specifically, in the above structure, the light-transmitting plate 11 has a groove 111 for inserting the light guide 32. The reflective surface 324 does not extend beyond the opening of the groove 111.

[0112] The groove 111 is a recessed structure on the light-transmitting plate 11. Its inner wall is usually a vertical or inclined surface enclosed on all four sides, forming a relatively enclosed space. If the groove 111 is not provided, when the light reflected by the reflective surface 324 does not directly hit the center of the light-transmitting plate 11, this part of the light may directly exit from the edge surface of the light-transmitting plate 11 and become invalid stray light, or it may be scattered randomly inside the light-transmitting plate 11. This stray light may interfere with the image acquisition of the imaging component 2.

[0113] By confining the reflective surface 324 within the groove 111, when the light reflected by the reflective surface 324 does not directly strike the center of the light-transmitting plate 11, the light will first come into contact with the inner wall of the groove 111. The inner wall of the groove 111 provides a bounce interface for these deviated light rays, forcing them to change their propagation direction instead of escaping directly, thereby confining the light within the light-transmitting plate 11.

[0114] It is understandable that the light-transmitting plate 11 is usually made of transparent optical materials such as acrylic and glass, and its inner wall has a high reflectivity. In particular, when light is incident at a small angle, it is easy to cause specular reflection or total internal reflection.

[0115] When light rays deviating from their path strike the inner wall of the tank 111, since the inner wall is part of the light-transmitting plate 11 and made of the same material, there is no air gap interference. The light is reflected internally rather than refracted. Furthermore, the inner wall of the tank 111 is typically angled or perpendicular to the center of the light-transmitting plate 11, so after secondary reflection, the light is closer to the center and ultimately guided to the target area. This reduces energy loss and improves light utilization.

[0116] Furthermore, the edges of the light-transmitting plate 11 are typically high-incidence areas for light scattering. The rough surfaces at the edges, or differences in the interface with the air, can cause diffuse reflection of light at these locations. By embedding the reflective surface 324 and part of the light guide 32 within the light-transmitting plate 11 using the groove 111, the main propagation path of light is diverted away from the outer edge of the light-transmitting plate 11, reducing the chance of light contacting the rough edge surface. Simultaneously, the inner wall of the groove 111 can be precision-machined, such as polished, to maximize the surface smoothness of the inner wall, thereby reducing diffuse reflection loss during the reflection process and ensuring that the light from the secondary reflection maintains its directionality and efficiently reaches the central area.

[0117] As a carrier for light transmission, the light propagation inside the light-transmitting plate 11 must follow the laws of refraction and reflection. The light guide 32 is inserted into the groove 111 and the reflective surface 324 is concealed therein, making the interface transition when light enters the light-transmitting plate 11 from the light guide 32 smoother, reducing reflection loss at the interface between the air and the light-transmitting plate 11, and the reflected light from the reflective surface 324 can also be transmitted more smoothly inside the light-transmitting plate 11 to the center, improving the overall light utilization efficiency.

[0118] It should be noted that the two technical features mentioned above, "first angle" and "reflective surface 324 not exceeding the opening of groove 111", can be set individually or simultaneously. In one embodiment, both technical features are set simultaneously.

[0119] In one embodiment, the light guide portion 32 has a third side surface 323 opposite to the second side surface 322. The dimming assembly 3 also includes a light homogenizing portion disposed on the third side surface 323.

[0120] Specifically, the light-diffusing section includes a frosted surface provided on the third side surface 323.

[0121] During the light transmission process, the light guide 32 is easily affected by the light-emitting characteristics of the light source 31 or slight differences in the material of the light guide 32, causing localized dense areas of light to form inside, resulting in uneven brightness of the light reflected to the center of the light-transmitting plate 11. By setting the third side surface 323 as a frosted surface, the micro-rough structure of the frosted surface will scatter the concentrated light incident on the third side surface 323 in multiple directions, making the originally dense light in the light guide 32 more dispersed, thereby making the light emitted from the third side surface 323 more uniform, and thus making the light entering the light-transmitting plate 11 more uniform. This makes the light intensity that finally illuminates the surface of the elastomer 12 more uniform, which can improve the overall consistency of the image.

[0122] In one embodiment, please refer to Figure 8 and Figure 9 The visual tactile sensor 100 also includes a housing 8, with a mounting cavity 81 formed inside the housing 8, and an opening 82 communicating with the mounting cavity 81 on one side of the housing 8. The touch component 1, the imaging component 2, and the dimming component 3 are disposed inside the mounting cavity 81, and the elastic body 12 of the touch component 1 protrudes at least partially from the opening 82 outside the housing 8.

[0123] By placing the touch component 1, imaging component 2, and dimming component 3 inside the mounting cavity 81, the housing 8 can absorb external vibrations or impact loads, reducing the impact on internal precision components and ensuring optical path stability and structural reliability.

[0124] The inner wall contour of the mounting cavity 81 can be designed according to the dimensions of the touch component 1, imaging component 2, and dimming component 3, so that each component is arranged in an orderly manner according to the preset functional logic, avoiding spatial conflicts between components. At the same time, the outer contour of the housing 8 can be designed according to the actual use scenario. For example, when the visual tactile sensor 100 is located on the distal phalanx, the outer contour of the housing 8 can be designed as a fingertip-shaped structure.

[0125] Furthermore, the housing 8 has an opening 82, and the elastic body 12 of the touch component 1 protrudes at least partially from the opening 82 onto the outside of the housing 8. The elastic body 12 is the component that directly contacts the sensor with external objects. Its partial protrusion from the housing 8 prevents the housing 8 from obstructing the contact area, ensuring that the elastic body 12 can completely conform to the object surface and accurately sense shape, texture, and contact force. The protruding part of the elastic body 12 is an effective deformation zone. The edge of the opening 82 of the housing 8 can restrain the excessive deformation of the elastic body 12, preventing permanent damage to the elastic body 12 due to excessive external force, while ensuring that the deformation always occurs within the imaging range of the imaging component 2, thus guaranteeing the effectiveness of image acquisition.

[0126] Specifically, an annular groove 83 is formed on the inner wall of the mounting cavity 81 at the position corresponding to the periphery of the opening 82 to form a countersunk hole structure. The elastomer 12 passes through the opening 82, and its annular protrusion is accommodated in the annular groove 83.

[0127] The annular convex edge is housed in the annular groove 83. The inner wall of the groove 111 forms a surrounding constraint on the annular convex edge, preventing the elastic body 12 from shifting horizontally due to lateral force when in contact with an object. This ensures that the deformation center of the elastic body 12 is always aligned with the field of view center of the light-transmitting plate 11 and the imaging component 2, thus guaranteeing the spatial consistency of the deformed image.

[0128] The depth of the annular groove 83 matches the thickness of the annular convex edge, preventing the elastomer 12 from excessively concave inward or convex outward after passing through the opening 82, thus ensuring a tight fit between it and the light-transmitting plate 11. If there is a gap between the elastomer 12 and the light-transmitting plate 11, the transmission of contact force will be delayed or distorted. The tight fit design ensures that the minute deformations of the elastomer 12 can be transmitted to the light-transmitting plate 11 side in real time and captured by the imaging component 2.

[0129] The elastomer 12 is disposed inside the mounting cavity 81 and extends from inside the mounting cavity 81 through the opening 82 to the outside of the housing 8. In this way, compared with directly placing the elastomer 12 on the outer wall of the housing 8, this installation method can improve the installation stability of the elastomer 12 and prevent the elastomer 12 from falling off the housing 8.

[0130] When the sensor is working, the elastomer 12 may come into contact with external objects and become contaminated with dust or liquid. The tight fit between the annular protrusion and the annular groove 83 can prevent these contaminants from entering the mounting cavity 81 through the gap between the opening 82 and the elastomer 12, thus avoiding contamination of the imaging element 21 lens, short circuit of the light source 31, or degradation of the optical performance of the light guide 32.

[0131] The sealed structure can reduce the interference of airflow in the mounting cavity 81 on the optical path. For example, airflow can cause dust to float and form imaging noise. At the same time, it can protect the mating surface of the elastomer 12 and the light-transmitting plate 11 from water vapor erosion, prevent fogging from affecting light transmission, and ensure the performance stability of the sensor for long-term use.

[0132] Meanwhile, on the side facing the light-transmitting plate 11, the surface of the elastomer 12, the surface of the annular protrusion, and the inner wall of the mounting cavity 81 are flush. The light-transmitting plate 11 is in contact with the surface of the elastomer 12, the surface of the annular protrusion, and the inner wall of the mounting cavity 81.

[0133] If there are differences in height between the surfaces, the deformation of the elastomer 12 under pressure will be blocked by the steps, resulting in distortion of the contact force distribution detection. The flush design allows the deformation of the elastomer 12 to be transmitted evenly to the light-transmitting plate 11, ensuring that the deformation image captured by the imaging component 2 can truly reflect the mechanical characteristics of the object contact.

[0134] The light-transmitting plate 11 is tightly attached to the flush surface, eliminating air gaps between components. When light enters adjacent components from the elastomer 12 or the light-transmitting plate 11, air gaps can cause interface reflection due to differences in refractive index, leading to attenuation of light intensity. The flush attachment allows light to be transmitted in a continuous medium, reducing reflection loss and ensuring that the light from the dimming component 3 can act efficiently on the surface of the elastomer 12.

[0135] The present invention does not impose specific restrictions on the structure of the shell 8. The shell 8 can be integrally formed or it can be spliced ​​together from at least two shells.

[0136] In one embodiment, the housing 8 includes a first outer shell 84 and a second outer shell 85 that are mated together. The first outer shell 84 has an opening 82. The touch component 1, the imaging component 2, and the dimming component 3 are disposed inside the first outer shell 84. The inner wall of the second outer shell 85 has a limiting rib 86 protruding from it, and when the first outer shell 84 and the second outer shell 85 are mated together, the limiting rib 86 presses against the light-transmitting plate 11.

[0137] In this embodiment, the first outer shell 84 serves as the main assembly carrier, allowing for the independent pre-assembly of the touch component 1, imaging component 2, and dimming component 3. Since the first outer shell 84 only needs to support the components and does not require overall enclosure, the alignment of each component can be directly observed during assembly, reducing the difficulty of installing precision components. After the internal components are debugged, the second outer shell 85 is then connected to the first outer shell 84 to complete the overall encapsulation. If internal components need to be replaced, only the first outer shell 84 and the second outer shell 85 need to be separated to directly access all components without damaging the shell structure 8.

[0138] As described above, the light-transmitting plate 11 is attached to the surface of the elastomer 12, the surface of the annular protrusion, and the inner wall of the mounting cavity 81. During assembly, when the light-transmitting plate 11 is installed on the first housing 84, it is attached to the surface of the elastomer 12, the surface of the annular protrusion, and the inner wall of the first housing 84. When the second housing 85 is mated with the first housing 84, the limiting ribs 86 on the second housing 85 press the light-transmitting plate 11, thereby applying uniform pressure to the light-transmitting plate 11. In this way, the light-transmitting plate 11 can be tightly pressed against the flush surface of the first housing 84, avoiding gaps between the light-transmitting plate 11 and the elastomer 12 due to vibration and impact, ensuring no lag in deformation transmission and no loss in light transmission.

[0139] By using raised ribs on the second housing 8 to achieve compression, there is no need for an additional large-area pressing plate, which reduces the material usage of the second housing 85, lowers the overall weight of the sensor, and is more suitable for weight-sensitive applications such as robot end effectors. At the same time, the limiting ribs 86 occupy little space and can avoid the imaging area in the middle of the light-transmitting plate 11, thus avoiding obstruction of the deformation transmission of the elastomer 12 and the light path of the imaging component 2.

[0140] During assembly, the mating surfaces of the first housing 84 and the second housing 85 are typically sealed using methods such as sealing strips or stepped structures 87. A limiting rib 86 protrudes from the inner wall of the second housing 85 to press the light-transmitting plate 11 together when the first housing 84 and the second housing 85 are mated. The limiting rib 86 further seals the gap between the light-transmitting plate 11 and the inner wall of the mounting cavity 81, effectively preventing dust, liquids, and external stray light from entering the mounting cavity 81 and protecting the internal optical components.

[0141] Furthermore, the sealing structure can maintain a dry and clean environment inside the mounting cavity 81, preventing the contact surface between the elastomer 12 and the light-transmitting plate 11 from fogging due to moisture, ensuring long-term stable light transmission efficiency, and extending the service life of the sensor.

[0142] Continuing from the above, by setting the reflector 22 to change the direction of the light path, the imaging element 21 does not need to be directly facing the elastic body 12. In one embodiment, the mounting cavity 81 has a first inner wall 811 with an opening 82 and a second inner wall 812 opposite to the opening 82, the first inner wall 811 and the second inner wall 812 being set at an angle. The light-transmitting plate 11 is attached to the first inner wall 811.

[0143] The imaging assembly 2 also includes a reflector 22, which is disposed on the second inner wall 812, with its mirror surface facing the light-transmitting plate 11 and corresponding to the elastic body 12. The imaging element 21 is disposed on the reflection path of the reflector 22.

[0144] In this embodiment, the first inner wall 811 and the second inner wall 812 are arranged at an angle. The touch component 1 is installed on the first inner wall 811, and the reflector 22 is installed on the second inner wall 812. In this way, the two are assembled independently, and there is no interference between the components. At the same time, directly assembling the reflector 22 onto the second inner wall 812 can ensure the installation stability of the reflector 22, thereby ensuring the stability of the reflected light path.

[0145] In one embodiment, the light source 31 includes a back plate and a plurality of lamp beads 312. The back plate is disposed on the side of the light-transmitting plate 11 away from the elastic body 12, and the plurality of lamp beads 312 are disposed on the side surface of the back plate facing the light-transmitting plate 11.

[0146] This invention does not specifically limit the color of the LED beads 312. Multiple first LED beads 312 can be configured as monochrome LED beads, dual-color LED beads, or multi-color LED beads. Multiple LED beads 312 can be configured as at least one of monochrome LED beads, dual-color LED beads, or multi-color LED beads. That is, multiple LED beads 312 can be set as monochrome LED beads, for example, white LED beads, or a single colored LED bead. Multiple LED beads 312 can be set as dual-color LED beads, for example, two different colored LED beads. Multiple LED beads 312 can also be set as multi-color LED beads, for example, three-color LED beads, with each group of three-color LED beads forming a set.

[0147] In one embodiment, among the plurality of LED beads 312, every three LED beads 312 form a group, and the three LED beads 312 in a group are respectively configured as red LED beads, green LED beads and blue LED beads.

[0148] In one embodiment, please refer to Figures 1 to 3 The clamping system 1000 also includes a base 500, which has a cavity and an elongated hole 501 communicating with the cavity. The long axis of the elongated hole 501 is arranged along a first direction F1. The drive mechanism 300 is housed in the cavity. Two clamping parts are located on the outside of the base 500. Each clamping part is provided with a connector 200, which partially extends into the cavity through the elongated hole 501 and is drivenly connected to the drive part.

[0149] The seat 500 features a cavity design that forms a fully enclosed protective space, with the drive mechanism 300 completely housed within it, physically isolating it from the external working environment and preventing solid contaminants and liquid corrosion. Simultaneously, the seat 500 serves as a rigid support reference, effectively reducing vibration transmission from the drive mechanism 300 and minimizing synchronous movement errors of the clamping parts on both sides. When picking up ultra-thin and easily deformable sheet metal, this structure prevents tearing of the sheet metal caused by misalignment of the clamping parts.

[0150] Furthermore, an elongated hole 501 is formed in the housing 8, with the long axis of the elongated hole 501 arranged along the first direction F1. The connector 200 on the clamping part partially extends into the cavity through the elongated hole 501 and is drivenly connected to the driving part. The long axis of the elongated hole 501 is arranged along the movement direction of the clamping part, and the connector 200 slides along the elongated hole 501. In this way, the accuracy of the movement trajectory of the connector 200 can be improved, and the radial offset of the clamping part can be reduced.

[0151] The rigid structure of the base 500 provides stable support for the drive unit and the connector 200, reducing the impact of external impacts on the transmission link. The tight fit between the elongated hole 501 and the connector 200 further enhances the overall structural integrity, enabling the system to maintain stable transmission during high-frequency clamping operations and avoiding accuracy drift caused by structural loosening.

[0152] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A clamping system, characterized in that, include: A clamping mechanism includes two clamping portions disposed opposite each other in a first direction. At least one of the clamping portions is configured as a visual-tactile sensor. The visual-tactile sensor includes a touch component, an imaging component, and a dimming component. The touch component includes a light-transmitting plate and an elastic body attached to one side surface of the light-transmitting plate. The dimming component includes a light source and a light guide. The light source is disposed on the side of the light-transmitting plate away from the elastic body, with its light-emitting portion disposed facing the light-transmitting plate and surrounding the outer edge of the elastic body. One end of the light guide corresponds to the light-emitting portion, and the other end is inserted into the light-transmitting plate and disposed near the outer edge of the light-transmitting plate. The driving mechanism includes a movably configured driving part, which drives two clamping parts to move along the first direction to clamp or release.

2. The clamping system according to claim 1, characterized in that, Both clamping portions are configured as visual-tactile sensors, and the two elastomers of the two visual-tactile sensors are arranged opposite each other.

3. The clamping system according to claim 1, characterized in that, The drive mechanism includes: A motor, the output shaft of which is arranged along a second direction, and the central axis of the output shaft is collinear with the central axes of the two clamping portions; and, A transmission assembly that drives the output shaft and the two clamping parts; The drive unit includes the output shaft and the transmission assembly.

4. The clamping system according to claim 3, characterized in that, The transmission assembly includes: A turntable is fitted onto the output shaft and rotates coaxially with the output shaft; The frame is located on the side of the turntable opposite to the motor; and, Two linkage-slider structures are respectively provided for the two clamping parts. The linkage-slider structure includes a linkage and a slider. The slider is slidably mounted on the frame along the first direction. In the second direction, the linkage is located between the turntable and the frame, and its two ends are respectively connected to the turntable and the slider, so that when the turntable rotates, it drives the slider to move along the first direction. The clamping part is provided on the slider.

5. The clamping system according to claim 4, characterized in that, The two sliders are respectively disposed on both sides of the frame along a third direction; The clamping mechanism further includes two connectors. In the third direction, the two connectors are staggered, and each connector connects a clamping part to the corresponding slider.

6. The clamping system according to claim 4, characterized in that, The connecting rod is curved, and the arc-shaped convex surfaces of the two connecting rods are arranged opposite each other.

7. The clamping system according to claim 4, characterized in that, Two protrusions are provided on the outer periphery of the turntable, and the two protrusions are arranged opposite each other in the radial direction of the turntable; One end of the connecting rod is connected to the protrusion.

8. The clamping system according to claim 1, characterized in that, The clamping system also includes: A clamping force detection component is provided corresponding to each of the two clamping parts, for detecting the actual clamping force between the two clamping parts; and A control device is electrically connected to the clamping force detection component and the drive mechanism to control the drive mechanism to stop when the actual clamping force reaches a preset clamping force range.

9. The clamping system according to claim 8, characterized in that, The clamping force detection assembly includes two pressure detection units, which are respectively arranged corresponding to the two clamping units. Each pressure detection unit includes a baffle and a pressure sensor. The baffle is located on the moving path of the clamping unit, and the pressure sensor is located on the side of the baffle facing the clamping unit, so as to detect the pressure between the clamping unit and the baffle when the two clamping units are clamped.

10. The clamping system according to claim 1, characterized in that, The light guide portion has a first side facing away from the light source and a second side away from the center of the light-transmitting plate. A reflective surface is formed between the first side and the second side, and the reflective surface is disposed facing the center of the light-transmitting plate.

11. The clamping system according to claim 10, characterized in that, The reflective surface and the extended surface of the second side have a first included angle, the first included angle being 30°~45°; and / or, The light-transmitting plate has a groove at the position corresponding to the light-emitting part, the other end of the light guide part is inserted into the groove, and the reflective surface does not extend beyond the groove opening.

12. The clamping system according to claim 1, characterized in that, The visual-tactile sensor also includes a support frame, which is detachably mounted on the light-transmitting plate and located on the side of the light-transmitting plate away from the elastomer. The inner core area of ​​the support frame is provided corresponding to the elastomer to expose the elastomer. The light source is located on the side of the support frame away from the touch component and is positioned corresponding to the edge of the support frame. The light guide is inserted into the edge of the support frame and penetrates part of the light-transmitting plate.

13. The clamping system according to claim 12, characterized in that, On the side away from the light-transmitting plate, the end face of the light guide is flush with the surface of the frame edge, and the support frame has a limiting protrusion at the periphery of the inner core area; The light source includes an annular back plate and LED beads. The annular back plate is sleeved around the periphery of the limiting protrusion and locked and fixed to the support frame. The LED beads are disposed on the side surface of the annular back plate facing the support frame.

14. The clamping system according to claim 12, characterized in that, The support frame is attached to the surface of the light-transmitting plate; The support frame has mounting holes on its frame edge, and the light-transmitting plate has grooves at positions corresponding to the mounting holes. The grooves are connected to the mounting holes and form a four-sided enclosed mounting groove. The light guide is inserted into the mounting slot.

15. The clamping system according to claim 12, characterized in that, The visual-tactile sensor also includes a fastening structure, which is disposed between the support frame and the light-transmitting plate to fasten and fix the support frame and the light-transmitting plate.

16. The clamping system according to claim 1, characterized in that, The clamping system further includes a base, which has a cavity and an elongated hole communicating with the cavity. The long axis of the elongated hole is arranged along the first direction. The drive mechanism is housed in the cavity, and the two clamping parts are located on the outside of the base. Each clamping part is provided with a connector, and the connector extends partially into the cavity from the elongated hole and is drivenly connected to the drive part.

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