Mechanical gripper based on flexible pressure sensor

Abstract

The utility model discloses a mechanical gripper based on a flexible pressure sensor, and relates to the technical field of mechanical arms. The clamping device comprises a mechanical arm, a driving shell is installed at one end of the mechanical arm, and a clamping plate is arranged at the bottom of the driving shell; a pressure detection assembly is arranged in the driving shell and comprises a flexible sensor installed on one side of the clamping plate. The flexible pressure sensor is integrated, real-time detection and accurate control over the clamping force of an object are achieved, the flexible pressure sensor can automatically adjust the clamping force according to the material of the object, the problem that the object is damaged or slips off due to the improper clamping force is avoided, and through the unique design of the anti-falling assembly, the anti-falling effect is good. The mechanical gripper is simple in structure, suitable for grabbing objects of various shapes and sizes, high in adaptability and capable of easily coping with the objects of different materials and weights by adjusting parameters of a control system, and the universality of the mechanical gripper is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of mechanical hand, especially a kind of mechanical gripper based on flexible pressure sensor. BACKGROUND

[0002] Mechanical gripper is a device widely used in industrial automation field. It is mainly composed of mechanical structure, driving system and control system. Its mechanical structure is various, such as parallel jaw type, rotary jaw type, to adapt to the grasping needs of different shapes and sizes objects, driving system provides power for the action of mechanical gripper, commonly used are pneumatic, electric and hydraulic drive. Pneumatic drive is low in cost, fast in response;Electric drive is high in precision, flexible in control;Hydraulic drive is powerful.

[0003] A kind of mechanical gripper is disclosed in a Chinese patent application with publication number CN220074720U, comprising frame body, arc spring and pushing mechanism, the frame body is provided with two mutually symmetrical arc springs, the cross section of the arc spring is circular arc, the pushing mechanism is provided with two actuating blocks, solve the problem that the current mechanical gripper for some fragile or easily damaged objects, jaw may exert excessive pressure and cause damage.

[0004] But the above-mentioned device still has the following problems in the process of implementation: when clamping goods, two actuating blocks are pushed close to each other by air cylinder, and silicone sleeve is used as a buffer component between goods, but the clamping force of goods lacks detection function, different goods need different clamping force, and too large clamping force will cause extrusion damage to goods, and too small clamping force will easily lead to goods slipping, affecting normal material taking work.

[0005] Therefore, we provide a kind of mechanical gripper based on flexible pressure sensor to solve the above problems. CONTENT OF UTILITY MODEL

[0006] The utility model aims at providing a kind of mechanical gripper based on flexible pressure sensor, through the cooperation of pressure detection assembly and anti-falling assembly, solve the problem that the mechanical gripper in prior art uses silicone sleeve as buffer component between goods, and lacks detection function for the clamping force of goods.

[0007] To solve the above technical problems, the utility model is realized by the following technical solutions.

[0008] The utility model discloses a kind of mechanical gripper based on flexible pressure sensor, including mechanical arm, the one end of mechanical arm is equipped with drive shell, the bottom of drive shell is provided with clamping plate;Pressure detection assembly is provided in the inside of drive shell, and pressure detection assembly includes flexible sensor installed in one side of clamping plate, cylinder installed in the inside of drive shell, and the clamping force of article is detected by pressure detection assembly;The bottom of the article clamped is limited by preventing falling component, preventing falling component includes support shaft installed in the inside of clamping plate, limiting plate installed on the surface of support shaft, gas storage tube installed in one side of clamping plate and mobile rod, and the bottom of the article clamped is limited by preventing falling component.

[0009] The utility model further is provided with, preventing falling component still includes telescopic pipe being communicated at the bottom of gas storage tube, piston rod being slidably connected in the inside of telescopic pipe, tooth plate being installed at the bottom of piston rod and gear being fixedly connected on the surface of support shaft.

[0010] The utility model further is provided with, one side of tooth plate is engaged with gear, and the surface of support shaft is movably connected with the inner wall of clamping plate through bearing.

[0011] The utility model further is provided with, one side of mobile rod is fixedly connected with moving plate, and the output end of cylinder is fixedly connected with moving plate.

[0012] The utility model further is provided with, reset spring is sleeved on the surface of mobile rod, and one end of reset spring is fixedly connected with gas storage tube.

[0013] The utility model further is provided with, the surface of cylinder is slidably connected with the inner wall of moving plate, and mobile rod is slidably connected with the inner wall of gas storage tube.

[0014] The utility model further is provided with, adjusting groove is formed in the inside of limiting plate, and bracket is fixedly connected on the surface of cylinder.

[0015] The utility model has following beneficial effects.

[0016] 1.The utility model discloses a kind of mechanical gripper based on flexible pressure sensor, realizes the real-time detection and accurate control of the clamping force of article, flexible pressure sensor can automatically adjust clamping force according to the material quality of article, avoid the damage or slip problem of article caused by improper clamping force, through the design of unique preventing falling component, it is suitable for a variety of shapes and sizes of article grabbing, with strong adaptability, by adjusting control system parameter, it can easily deal with different material and weight of article, improve the versatility of mechanical gripper.

[0017] 2. The utility model discloses can be in clamping article's simultaneously, to the article bottom carries out effective location, prevents the article from accidentally slipping in the transportation or processing process, improves the security and reliability of taking material and processing, through the accurate clamping force control and the design of preventing falling, the utility model has reduced the repeated operation of the improper clamping, improved work efficiency and the overall operation efficiency of production line.

[0018] Of course, any product implementing the utility model does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will be needed to use the drawings described in the embodiment briefly introduced.

[0020] Figure 1 It is a kind of based on flexible pressure sensor's mechanical gripper's perspective view.

[0021] Figure 2 It is a kind of based on flexible pressure sensor's mechanical gripper in drive shell's section view.

[0022] Figure 3 It is a kind of based on flexible pressure sensor's mechanical gripper in gas storage pipe and telescopic pipe's section view.

[0023] Figure 4 It is a kind of based on flexible pressure sensor's mechanical gripper in clamping plate and limit plate's section view.

[0024] Figure 5 It is a kind of based on flexible pressure sensor's mechanical gripper in the clamping schematic diagram of article.

[0025] In the drawings: 1, mechanical arm;2, drive shell;3, clamping plate;4, flexible sensor;5, air cylinder;6, support shaft;7, limit plate;8, gas storage pipe;9, moving rod;10, telescopic pipe;11, piston rod;12, toothed plate;13, gear;14, moving plate;15, reset spring;16, adjusting groove;17, support. DETAILED DESCRIPTION

[0026] The technical scheme in the embodiments of the utility model will be described below in conjunction with the drawings in the embodiments of the utility model, and the described embodiments are only part of the embodiments of the utility model, not all embodiments.

[0027] Embodiment 1

[0028] Please refer to Figures 1-5The utility model provides a kind of mechanical gripper based on flexible pressure sensor, including mechanical arm 1, and the one end of mechanical arm 1 is equipped with drive shell 2, and drive shell 2 bottom is provided with clamping plate 3;Drive shell 2 inside is provided with pressure detection component, and pressure detection component includes the flexible sensor 4 installed in one side of clamping plate 3, when clamping plate 3 drives flexible sensor 4 and contacts with clamping article, and pressure is exerted to article, the sensitive material inside flexible sensor 4 deforms, causes electrical parameter to change, generates electric signal, after transmission to control system by collection amplification, control system compares judgment with preset threshold value in real time pressure signal, if less than threshold value, control executive mechanism increases intensity;If greater than threshold value, then reduce intensity, simultaneously, sensor real-time feedback monitoring result, control system is adjusted constantly accordingly, form closed loop control, ensure that clamping intensity is stabilized in suitable range, guarantee that the operation of gripping is reliable and stable, cylinder 5 is installed in the inside of drive shell 2, and the number of cylinder 5 is two groups, and the output end direction of two groups of cylinder 5 is opposite, and the output end of cylinder 5 is fixed with moving plate 14, can be driven by two groups of cylinder 5 with two groups of moving plate 14 synchronous movement, the clamping intensity of article is detected by pressure detection component;Drive shell 2 bottom is provided with anti-falling component, and anti-falling component includes the support shaft 6 installed in the inside of clamping plate 3, the limit plate 7 installed on the surface of support shaft 6, the gas storage tube 8 installed in one side of clamping plate 3 and the moving rod 9 through the setting in one side of gas storage tube 8, and moving rod 9 is slidably connected with the inner wall of gas storage tube 8, and sealing ring is fixed on the surface of moving rod 9, can compress the gas in the inside of gas storage tube 8 during moving, and the bottom of clamping article is limited by anti-falling component.

[0029] Example 2

[0030] Please refer to Figures 1-5 , on the basis of embodiment 1, anti-falling component further includes the telescopic pipe 10 connected to the bottom of gas storage tube 8, the piston rod 11 slidably connected in the inside of telescopic pipe 10, the piston rod 11 is slidably connected with the inner wall of telescopic pipe 10, can adjust the position of piston rod 11 by compressed gas after the gas in the inside of gas storage tube 8 is compressed, the tooth plate 12 installed in the bottom of piston rod 11 and the gear 13 fixedly connected on the surface of support shaft 6, one side of tooth plate 12 is engaged with gear 13, the surface of support shaft 6 is movably connected with the inner wall of clamping plate 3 through bearing, one side of moving rod 9 is fixedly connected with moving plate 14, the output end of cylinder 5 is fixedly connected with moving plate 14, reset spring 15 is sleeved on the surface of moving rod 9, reset spring 15 has the effect of compression energy storage, can reset moving rod 9, one end of reset spring 15 is fixedly connected with gas storage tube 8, the surface of cylinder 5 is slidably connected with the inner wall of moving plate 14, moving rod 9 is slidably connected with the inner wall of gas storage tube 8, adjusting groove 16 is formed in the inside of limit plate 7, and support 17 is fixedly connected on the surface of cylinder 5.

[0031] The working principle of the utility model is: the staff drives the two sets of clamping plates 3 to move to the surface of the article through the external controller driving mechanical arm 1, then starts the cylinder 5, the cylinder 5 cooperates with the moving plate 14 to drive the moving rod 9 to move, the moving rod 9 cooperates with the gas storage pipe 8 to drive the clamping plate 3 to move and clamps the two sides of the article, when the clamping plate 3 drives the flexible sensor 4 to contact the clamped article, the flexible sensor 4 generates an electric signal, which is transmitted to the control system after collection and amplification, the control system compares the real-time pressure signal with the preset threshold value and judges, if less than the threshold value, the control execution mechanism increases the force, if greater than the threshold value, then reduces the force, at the same time, the sensor real-time feedback monitoring result, the control system adjusts accordingly, guarantees the reliable and stable grabbing operation.

[0032] When the moving rod 9 slides inside the gas storage pipe 8, the gas inside the gas storage pipe 8 can be compressed, the compressed gas is injected into the telescopic pipe 10, the piston rod 11 is moved, the piston rod 11 cooperates with the tooth plate 12 to drive the gear 13 to rotate, the gear 13 cooperates with the support shaft 6 to drive the limiting plate 7 to rotate, the bottom of the article is blocked, the effect of preventing falling is achieved, the article is prevented from slipping off, and the efficiency of taking material work is improved.

[0033] The above only describes some exemplary embodiments of the utility model through the description mode, without doubt, for ordinary skilled person in the art, the described embodiments can be modified in various different modes without deviating from the spirit and scope of the utility model. Therefore, the above drawings and description are illustrative in nature and should not be understood as limiting the scope of protection of the utility model claims.

Claims

1. A flexible pressure sensor based mechanical gripper comprising a robotic arm (1), characterized in that: The mechanical arm (1) is provided with a driving shell (2) at one end, and a clamping plate (3) is arranged at the bottom of the driving shell (2); The driving shell (2) is provided with a pressure detection assembly inside, the pressure detection assembly comprising a flexible sensor (4) arranged on one side of the clamping plate (3), and a cylinder (5) arranged inside the driving shell (2), the clamping force of the article being detected through the pressure detection assembly; The bottom of the driving shell (2) is provided with an anti-falling assembly, the anti-falling assembly comprising a support shaft (6) arranged inside the clamping plate (3), a limiting plate (7) arranged on the surface of the support shaft (6), an air storage pipe (8) arranged on one side of the clamping plate (3), and a moving rod (9) arranged through one side of the air storage pipe (8), the bottom of the clamped article being limited through the anti-falling assembly.

2. The mechanical gripper based on flexible pressure sensor according to claim 1, characterized in that: The anti-falling assembly further comprises a telescopic pipe (10) communicated with the bottom of the air storage pipe (8), a piston rod (11) slidingly connected inside the telescopic pipe (10), a toothed plate (12) arranged at the bottom of the piston rod (11), and a gear (13) fixedly connected to the surface of the support shaft (6).

3. The mechanical gripper based on flexible pressure sensors according to claim 2, characterized in that: One side of the toothed plate (12) is engaged with the gear (13), and the surface of the support shaft (6) is movably connected with the inner wall of the clamping plate (3) through a bearing.

4. The mechanical gripper based on flexible pressure sensor according to claim 1, characterized in that: One side of the moving rod (9) is fixedly connected with a moving plate (14), and the output end of the cylinder (5) is fixedly connected with the moving plate (14).

5. The mechanical gripper based on flexible pressure sensor according to claim 1, characterized in that: The surface of the moving rod (9) is provided with a return spring (15), and one end of the return spring (15) is fixedly connected with the air storage pipe (8).

6. The mechanical gripper based on flexible pressure sensor according to claim 4, characterized in that: The surface of the cylinder (5) is slidingly connected with the inner wall of the moving plate (14), and the moving rod (9) is slidingly connected with the inner wall of the air storage pipe (8).

7. The mechanical gripper based on flexible pressure sensor according to claim 1, wherein: The limiting plate (7) is provided with an adjusting groove (16) inside, and the surface of the cylinder (5) is fixedly connected with a support (17).

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