Mechanical clamping jaw for data acquisition
By integrating the PCB circuit board and servo transmission components of IMU and magnetic sensor on the mechanical jaw, the problem that traditional motion capture suits cannot accurately identify the movement posture and strength of large parts or precision parts is solved, and the precise collection and tactile information recording of these parts is achieved, expanding the application of motion capture products.
Patent Information
- Application Number
- CN202422160198.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-04
- Publication Date
- 2025-07-01
- Estimated Expiration
- 2034-09-04
AI Technical Summary
Traditional motion capture suits and collection gloves cannot easily obtain larger parts or precision parts, resulting in the inability to accurately identify movement posture and strength information.
A mechanical jaw is designed, a pcb circuit board integrating IMU and magnetic sensor is equipped with a servo and transmission assembly. A tactile sensor is installed on the jaw, and clamping information is recorded through the spindle of the servo and transmitted to the upper computer.
It realizes the precise positioning and force information collection of large or precise parts, expands the application scope of motion capture products, and has flexible clamping and tactile information collection functions.
Smart Images
Figure CN223044563U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of motion capture, in particular to a mechanical gripper for data acquisition. Background Art
[0002] Motion Capture, abbreviated as Mocap, is a high-tech technology used to accurately measure and record the various motion trajectories and postures of moving objects in real three-dimensional space and reconstruct the motion state of the objects in a virtual three-dimensional space.
[0003] Motion capture technology installs marker points or sensors on the body of the object to be captured and uses cameras or sensor arrays to capture the three-dimensional position data of these marker points or sensors. These data are then processed by a computer for various applications such as generating animations, simulation training, and biomechanics research. Its basic principle involves dimension measurement, positioning and orientation determination of objects in physical space, and finally obtaining data that can be directly understood and processed by a computer.
[0004] In the prior art, when performing motion capture measurements on some large-sized components, or precision parts and electronic components, the traditional motion capture suit and acquisition glove devices cannot conveniently pick up the corresponding components, so it is impossible to accurately identify the posture and force intensity information of the motion; therefore, a mechanical device is needed to replace the acquisition glove to accurately identify the action of picking up an object. Summary of the Utility Model
[0005] The purpose of the utility model is to address the problems in the background art by proposing a mechanical gripper for data acquisition. By adding corresponding sensors to the mechanical gripper, it can identify pose information and force intensity information during the grasping or picking-up action, solving the problem that the acquisition glove cannot accurately identify.
[0006] The technical solution of the utility model, a mechanical gripper for data acquisition, includes a handle, a clamping assembly, and a main board, and also includes a PCB box, a servo motor chamber, and a transmission assembly;
[0007] The PCB box is fixed at the bottom of the handle, and a PCB circuit board integrated with an IMU and a magnetic sensor is arranged inside the PCB box;
[0008] The main board is fixed at the top of the handle through a pluggable connecting piece;
[0009] The servo motor chamber and the transmission assembly are respectively installed at the rear end and the front end of the main board; the clamping assembly is cooperatively installed with the transmission assembly; a servo motor is installed inside the servo motor chamber; the main shaft of the servo motor is connected to the transmission assembly;
[0010] When the handle is held and the clamping component is pushed to act, the main shaft of the servo is driven to rotate through the transmission component, and the rotation angle data of the servo main shaft is input into the storage chip in the pcb circuit board; the pcb board transmits the data to the host computer through a wired connection.
[0011] In an alternative embodiment, the clamping component includes a push block, a push rod, a slider and a jaw;
[0012] The push block is respectively composed of two half-block structures, and a through groove for installing the slider and the slide rail is formed in the middle thereof. The slider slides along the slide rail; the push rod is fixed to the bottom of the push block, and the push rod is arranged in a circular ring structure with a hollow middle; the jaw is fixed to the outer shell of the push block; the inner side wall of the push block is fixedly connected to the slider;
[0013] The push block, the jaw, the push rod and the slider constitute a clamping arm of the clamping component, and at least two clamping arms cooperate to form the clamping component.
[0014] Preferably, the jaw is arranged in an "L" shape, the short side thereof is used for fixing to the push block, and the long side forms a clamping surface, which cooperates with another jaw to pick up an object; a plurality of thin plates for reinforcement are arranged between the short side and the long side.
[0015] Preferably, a tactile sensor is arranged on the clamping surface of the jaw for recording the intensity information of the forces applied to the object on both sides of the jaw when the jaw grabs the object.
[0016] In an alternative embodiment, the main board includes a mounting plate, a slide rail and a cushion block;
[0017] Two sets of symmetric cushion blocks are arranged at the front end of the mounting plate; the slide rail is erected between the two sets of symmetric cushion blocks; a space for installing the transmission component is formed between the slide rail and the mounting plate;
[0018] A plate-like structure for increasing the lateral installation position is arranged on the back of the mounting plate.
[0019] In an alternative embodiment, the transmission component includes a rocker and a transmission rod;
[0020] A shaft hole for connecting with the main shaft of the servo is reserved in the middle of the rocker; when the rocker rotates, the main shaft of the servo is driven to rotate; both ends of the rocker are connected to the transmission rod through a pin shaft; at least two sets of transmission rods are arranged, and positioning holes are arranged at the other ends of the transmission rods; the push block is connected to the positioning holes through a pin shaft; both the transmission rod and the push block rotate relative to the pin shaft.
[0021] In an alternative embodiment, the transmission rod is arranged in a bent crank structure; the pin shaft connecting the transmission rod and the rocker is kept in a rotating connection.
[0022] In an alternative embodiment, a slot for inserting into the handle is reserved at the bottom of the connecting piece.
[0023] Preferably, the middle part of the connecting piece is recessed downward to form a recessed part, and the two sides are protruding parts; the protruding parts are connected to the plate-like structure on the back of the mounting plate and locked by bolts; the recessed part is inserted and fixed to the bottom of the mounting plate.
[0024] Preferably, a number of marks for spatial positioning are provided on the clamping assembly for image detection in the camera.
[0025] Compared with the prior art, the utility model has the following beneficial technical effects:
[0026] In the utility model, a pcb circuit board containing an IMU and a magnetic sensor is integrated at the bottom of the grip, and pose information can be recorded when clamping some special parts; at the same time, a tactile sensor is installed on the jaw for recording the intensity information of the force applied to the object by both sides of the jaw when the jaw grabs the object; in addition, a number of marks are provided on the clamping assembly, which can cooperate with the camera for image detection to facilitate spatial positioning.
[0027] The utility model is used in cooperation with a motion capture suit to expand the application range of motion capture products; the functions of flexible clamping and tactile information acquisition are realized. Description of the Drawings
[0028] Figure 1 It is a front structural schematic diagram of the mechanical jaw in the embodiment of the utility model;
[0029] Figure 2 It is a back structural schematic diagram of the mechanical jaw in the embodiment of the utility model;
[0030] Figure 3 It is a structural schematic diagram of the clamping assembly in the embodiment of the utility model;
[0031] Figure 4 It is an assembled structural schematic diagram of the main board in the embodiment of the utility model;
[0032] Figure 5 It is a structural schematic diagram of the transmission assembly in the embodiment of the utility model;
[0033] Figure 6 It is a structural schematic diagram of the connecting piece in the embodiment of the utility model.
[0034] Reference numerals: 1, pcb box; 2, grip; 3, main board; 31, mounting plate; 32, slide rail; 33, cushion block; 4, servo motor housing; 5, clamping assembly; 51, push block; 52, jaw; 53, push rod; 54, slider; 6, transmission assembly; 61, transmission rod; 611, positioning hole; 62, rocker; 7, connecting piece. Detailed Embodiments
[0035] Embodiment 1
[0036] As Figure 1-2 shown, a mechanical gripper for data acquisition proposed by the present utility model includes a grip 2, a clamping assembly 5 and a main board 3, and also includes a pcb box 1, a servo motor chamber 4 and a transmission assembly 6;
[0037] The pcb box 1 is fixed to the bottom of the grip 2, and a pcb circuit board integrating an IMU and a magnetic sensor is arranged inside the pcb box 1; the main board 3 is fixed to the top of the grip 2 through a pluggable connecting member 7; the servo motor chamber 4 and the transmission assembly 6 are respectively installed at the rear end and the front end of the main board 3; the clamping assembly 5 is cooperatively installed with the transmission assembly 6; a servo motor is installed inside the servo motor chamber 4; the main shaft of the servo motor is connected to the transmission assembly 6;
[0038] In this embodiment, as Figure 3 shown, the clamping assembly 5 includes a push block 51, a push rod 53, a slider 54 and a jaw 52;
[0039] The push block 51 is respectively composed of two half-block structures, and a through groove for installing the slider 54 and the slide rail 32 is formed in the middle thereof, and the slider 54 slides along the slide rail 32; the push rod 53 is fixed to the bottom of the push block 51, and the push rod 53 is arranged in a circular ring structure with a hollow middle, which does not affect the sliding of the slider 54 on the slider 32 so as to avoid movement interference; the jaw 52 is fixed to the outer shell of the push block 51; the inner side wall of the push block 51 is fixedly connected to the slider 54; the push block 51, the jaw 52, the push rod 53 and the slider 54 constitute a clamping arm of the clamping assembly 5, and at least two clamping arms cooperate to form the clamping assembly 5; the jaw 52 is arranged in an "L" shape, the short side thereof is used for fixing with the push block 51, and the long side forms a clamping surface, which cooperates with another jaw 52 to pick up an object; a plurality of thin plates for reinforcement are arranged between the short side and the long side, and the "L" type structure combined with the reinforcement plate can effectively increase the mechanical strength of the jaw 52 itself and can withstand a greater clamping force so as to facilitate clamping of different products; a tactile sensor is arranged on the clamping surface of the jaw 52 for recording the intensity information of the forces applied to the object by both sides of the jaw 52 when the jaw 52 grabs an object.
[0040] In this embodiment, as Figure 4 shown, the main board 3 includes a mounting plate 31, a slide rail 32 and a cushion block 33; two groups of symmetric cushion blocks 33 are arranged at the front end of the mounting plate 31; the slide rail 32 is erected between the two groups of symmetric cushion blocks 33; a space for installing the transmission assembly 6 is formed between the slide rail 32 and the mounting plate 31; when the transmission assembly 6 moves, it will not collide with the components on the main board 3 so as to avoid movement interference; a plate-like structure for increasing the installation position horizontally is arranged on the back of the mounting plate 31.
[0041] In this embodiment, as Figure 5As shown in the figure, the transmission assembly 6 includes a rocker 62 and a transmission rod 61; a shaft hole for connecting to the main shaft of the servo motor is reserved in the middle of the rocker 62; when the rocker 62 rotates, it drives the main shaft of the servo motor to rotate; both ends of the rocker 62 are connected to the transmission rod 61 through a pin shaft; at least two groups of transmission rods 61 are provided, and a positioning hole 611 is provided at the other end of the transmission rod 61; the push block 51 is connected to the positioning hole 611 through a pin shaft; both the transmission rod 61 and the push block 51 can rotate relative to the pin shaft, and the transmission rod 61 is arranged in a bent crank structure; the pin shaft connecting the transmission rod 61 and the rocker 62 is kept in a rotating connection.
[0042] When it is necessary to detect or capture the movement of parts, first put on the motion capture suit; wear the acquisition gloves on the hands; then hold the handle 2 with the hand, put the thumb and index finger into the push rod 53, and push outward or inward to control the opening or closing of the clamping assembly 5;
[0043] When it is necessary to control the clamping assembly 5 to close, the thumb and index finger contract inward; the slider 54 on the clamping assembly 5 slides along the slide rail 32 towards the middle; at this time, the slider 54 drives the transmission rod 61 to move, and then drives the rocker 62 to rotate counterclockwise. At this time, the rocker 62 drives the main shaft of the servo motor to rotate, and the rotation angle data of the main shaft of the servo motor is input into the storage chip in the pcb circuit board; the pcb board transmits the data to the host computer through a wired connection. By the rotation angle of the main shaft of the servo motor, the opening distance of the jaws can be known, so as to measure the size of the parts;
[0044] When it is necessary to control the clamping assembly 5 to open, the thumb and index finger push outward; the slider 54 on the clamping assembly 5 slides along the slide rail 32 towards both sides; at this time, the slider 54 drives the transmission rod 61 to move, and then drives the rocker 62 to rotate clockwise. At this time, the rocker 62 drives the main shaft of the servo motor to rotate, and the rotation angle data of the main shaft of the servo motor is input into the storage chip in the pcb circuit board; the pcb board transmits the data to the host computer through a wired connection. By the rotation angle of the main shaft of the servo motor, the opening distance of the jaws can be known, so as to measure the size of the parts.
[0045] In this embodiment, for some products with higher temperatures or thorns, such as hot water cups, durians, etc.; for such items that are not easy to directly pick up, the mechanical jaws in this embodiment can be used for grasping. In addition, for some relatively delicate products that cannot be directly picked up by hand, such as chips, the mechanical jaws in this embodiment can be used for grasping; compared with traditional acquisition gloves, the data acquisition range is expanded and the application is more extensive.
[0046] Embodiment 2
[0047] In this embodiment, as Figure 6 shown, the present utility model provides a mechanical jaw for data acquisition. Different from Embodiment 1, a slot for inserting into the handle 2 is reserved at the bottom of the connecting piece 7.
[0048] A recessed portion is formed by the middle part of the connecting member 7 being recessed downward, and the two sides are protruding portions; the protruding portions are connected to the plate-like structure on the back of the mounting plate 31 and locked by bolts; the recessed portion is inserted and fixed to the bottom of the mounting plate 31. A number of marks for spatial positioning are provided on the clamping assembly 5 for image detection in the camera.
[0049] In this embodiment, the handle 2 can be conveniently connected to the main board 3 through the insertion method of the connecting member 7 to form an integral body; at the same time, a number of marks are provided on the clamping assembly 5, which can cooperate with the camera for image detection to facilitate spatial positioning.
[0050] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made without departing from the spirit of the present invention within the scope of knowledge possessed by those skilled in the art to which the present invention pertains.
Claims
1. A mechanical gripper for data acquisition, comprising a gripper (2), a clamping assembly (5) and a main board (3), characterized in that: It also includes a PCB box (1), a steering gear compartment (4) and a transmission component (6); The PCB box (1) is fixed at the bottom of the handle (2), and a PCB circuit board integrating an IMU and a magnetic sensor is arranged in the PCB box (1); The main board (3) is fixed to the top of the handle (2) via a pluggable connector (7); The steering gear compartment (4) and the transmission assembly (6) are respectively mounted at the rear end and the front end of the main board (3); the clamping assembly (5) is mounted in coordination with the transmission assembly (6); a steering gear is mounted in the steering gear compartment (4); and the main shaft of the steering gear is connected to the transmission assembly (6); When the grip (2) is held by hand and the clamping assembly (5) is pushed to move, the main shaft of the servo engine is driven to rotate through the transmission assembly (6), and the rotation angle data of the main shaft of the servo engine is input into the storage chip in the PCB circuit board; the PCB board transmits the data to the host computer through a wired connection.
2. A mechanical gripper for data acquisition according to claim 1, characterized in that: The clamping assembly (5) comprises a push block (51), a push rod (53), a slide block (54) and a clamping claw (52); The push block (51) is composed of two half-block structures, wherein a through groove is formed in the middle thereof for installing a slider (54) and a slide rail (32), and the slider (54) slides along the slide rail (32); a push rod (53) is fixed at the bottom of the push block (51), and the push rod (53) is configured as a circular ring structure with a hollow middle portion; a clamping claw (52) is fixed on the outer shell of the push block (51); and an inner side wall of the push block (51) is fixedly connected to the slider (54); The push block (51), the clamping claw (52), the push rod (53) and the sliding block (54) form a clamping arm of the clamping assembly (5), and at least two clamping arms cooperate to form the clamping assembly (5).
3. A mechanical gripper for data acquisition according to claim 2, characterized in that: The clamping jaw (52) is arranged in an "L" shape, wherein the short side is used to be fixed to the push block (51), and the long side forms a clamping surface to cooperate with another clamping jaw (52) to clamp an object; and a plurality of groups of thin plates for reinforcement are arranged between the short side and the long side.
4. The mechanical gripper for data acquisition according to claim 3, characterized in that: A tactile sensor is arranged on the clamping surface of the clamping jaw (52) for recording the strength information of the force applied by both sides of the clamping jaw (52) to the object when the clamping jaw (52) grasps the object.
5. The mechanical gripper for data acquisition according to claim 1, characterized in that: The main board (3) comprises a mounting plate (31), a slide rail (32) and a cushion block (33); Two groups of symmetrical cushion blocks (33) are arranged at the front end of the mounting plate (31); the slide rail (32) is arranged between the two groups of symmetrical cushion blocks (33); a space for installing the transmission assembly (6) is formed between the slide rail (32) and the mounting plate (31); The back of the mounting plate (31) is provided with a transverse plate-shaped structure for increasing the mounting position.
6. The mechanical gripper for data acquisition according to claim 1, characterized in that: The transmission assembly (6) comprises a rocker (62) and a transmission rod (61); A shaft hole connected to the main shaft of the steering gear is reserved in the middle of the rocking arm (62); the rotation of the rocking arm (62) drives the main shaft of the steering gear to rotate; both ends of the rocking arm (62) are connected to the transmission rod (61) through a pin shaft; at least two groups of transmission rods (61) are provided, and a positioning hole (611) is provided at the other end of the transmission rod (61); the push block (51) is connected to the positioning hole (611) through a pin shaft; the transmission rod (61) and the push block (51) both keep rotating relative to the pin shaft.
7. A mechanical gripper for data acquisition according to claim 6, characterized in that: The transmission rod (61) is configured as a bent crank structure; the transmission rod (61) is rotationally connected to a pin connected to the rocker (62).
8. The mechanical gripper for data acquisition according to claim 5, characterized in that: A slot for plugging into the handle (2) is reserved at the bottom of the connecting piece (7).
9. The mechanical gripper for data collection according to claim 8, characterized in that: The middle of the connecting piece (7) is recessed downward to form a recessed portion, with raised portions on both sides; the raised portion is connected to the plate-like structure at the back of the mounting plate (31) and is locked by bolts; the recessed portion is plugged and fixed to the bottom of the mounting plate (31).
10. The mechanical gripper for data acquisition according to claim 1, characterized in that: The clamping assembly (5) is provided with a plurality of marks for spatial positioning, which are used for image detection in a camera.