Mechanical gripper sensing device

Abstract

The utility model discloses a mechanical gripper sensing device which comprises a first base and a second base which are connected with each other, a Hall sensor is installed on the outer side of the first base, a clamping plate is arranged on the second base, and a piezoelectric sensor and a piezoresistive array sensor are sequentially installed on the clamping plate. And rubber plates are arranged on the outer sides of the piezoelectric sensor and the piezoresistive array sensor. According to the utility model, various high-performance sensors are combined, so that the clamping process can be comprehensively sensed by the loading and unloading gripper, and the stability and the reliability of the sensing device in the mechanical gripper are ensured. The overall structural design is simple and compact, modularization is convenient, and mounting and dismounting are easy.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technology field more particularly relates to a mechanical hand claw sensing device. BACKGROUND

[0002] Human hands can flexibly grasp and manipulate various objects, mainly relying on the synergy of skin touch, muscle feedback and nervous system. This multi-modal perception ability enables humans to adapt to different shapes, materials (such as soft, brittle objects) and dynamic environments. In contrast, traditional manipulators are limited in complex operation tasks (such as grasping deformable objects) due to the lack of high-precision tactile feedback.

[0003] Tactile sensors, as the core component of human-computer interaction, can detect multi-dimensional information such as force, vibration, sliding and texture. Although microelectronic technology has promoted the development of capacitive, piezoresistive and piezoelectric sensors, existing manipulators still lag far behind human hands in dexterity and sensing sensitivity. The current mainstream tactile sensing technology has the following defects: (1) Capacitive: high sensitivity but susceptible to parasitic capacitance interference, small range; (2) Piezoresistive: strong anti-interference but with hysteresis, poor repeatability; (3) Magnetic: high sensitivity and anti-interference, but large volume. In view of this, the utility model emerges as the times require. SUMMARY

[0004] In view of the deficiencies of the prior art, the utility model provides a manipulator claw sensing device, which combines multiple high-performance sensors to achieve comprehensive sensing of the clamping process, ensuring the stability and reliability of the sensors in the manipulator claw, and the structure is compact.

[0005] To achieve the above purpose, the utility model provides the following technical scheme: a manipulator claw sensing device, comprising a base one and a base two connected to each other, a Hall sensor is installed on the outer side of the base one, a clamping plate is arranged on the base two, a piezoelectric sensor and a piezoresistive array sensor are installed on the clamping plate in sequence, and rubber plates are arranged on the outer sides of the piezoelectric sensor and the piezoresistive array sensor.

[0006] The rubber plate plays two roles: on the one hand, it disperses pressure, and the elastic modulus of rubber can buffer local stress concentration, so that the contact force is transmitted more uniformly to the underlying sensing unit, avoiding overload of individual sensing elements; on the other hand, it adapts the contact interface, which conforms to the surface profile of the object through deformation, improving the detection accuracy of the contact area of irregular objects (such as grasping uneven objects). At the same time, the rubber layer acts as a flexible barrier to prevent sharp objects from directly damaging fragile sensing elements, and also provides environmental isolation to resist external pollutants such as dust and liquid, prolonging the service life of the sensor (especially suitable for industrial or outdoor scenes).

[0007] Further, the base one is provided with a slot on the upper side, and the Hall sensor is installed in the slot.

[0008] Further, the base one is provided with a slot on the upper side, and the Hall sensor is installed in the slot.

[0009] Further, the base one and the base two are provided with connecting columns and connecting holes, respectively.

[0010] Further, the base one and the base two are provided with connecting columns and connecting holes, respectively.

[0011] Further, the base one and the base two are provided with connecting columns and connecting holes, respectively.

[0012] Further, the base one and the base two are provided with connecting columns and connecting holes, respectively.

[0013] Further, the base one and the base two are provided with connecting columns and connecting holes, respectively.

[0014] Further, the base one and the base two are provided with connecting columns and connecting holes, respectively.

[0015] Further, the base one and the base two are provided with connecting columns and connecting holes, respectively. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is an overall structural schematic diagram of the utility model;

[0017] Figure 2 The structure exploded view of the utility model;

[0018] Figure 3 、 Figure 4 The different view structure schematic diagram of the base one in the utility model embodiment;

[0019] Figure 5 、 Figure 6 The different view structure schematic diagram of the base two in the utility model embodiment.

[0020] Labeling instruction: 1, base one;2, base two;3, hall sensor;4, rubber plate;5, piezoresistive array sensor;6, piezoelectric sensor;7, clamping plate;8, clamping groove;9, recess one;10, connecting column;11, insertion hole;12, recess two;13, connecting plate;14, connecting hole;15, insertion column. Specific implementation

[0021] Reference Figures 1 to 6 The specific implementation of the utility model one mechanical hand claw sensing device is further described.

[0022] A kind of mechanical hand claw sensing device, including the base one 1 and base two 2 connected with each other, the outer side of the base one 1 is equipped with hall sensor 3, clamping plate 7 is provided on the base two 2, piezoelectric sensor 6 and piezoresistive array sensor 5 are sequentially installed on the clamping plate 7, the outer side of piezoelectric sensor 6 and piezoresistive array sensor 5 is all equipped with rubber plate 4.

[0023] Rubber plate 4 one side is to carry out pressure dispersion, the elastic modulus of rubber can buffer local stress concentration, so that contact force is more evenly transmitted to the lower sensing unit, avoid single sensing element overload;The other side is to make contact interface adaptation, by deformation and object surface profile, improve the contact area detection precision of irregular object (such as when grabbing uneven object). Meanwhile, rubber layer as flexible barrier, prevent sharp object from directly damaging fragile sensing element, can also carry out environmental isolation, resist dust, liquid and other external pollutants, prolong the service life of sensor (especially suitable for industrial or outdoor scene).

[0024] Preferably in the embodiment, the base one 1 is equipped with insertion slot, and the hall sensor 3 is installed in the insertion slot. Insertion slot is equipped in the outer side of base one 1, and the installation and disassembly of hall sensor 3 are facilitated.

[0025] Preferably in the embodiment, the inner side of the base one 1 is provided with a plurality of insertion holes 11, and the base two 2 is provided with insertion column 15 matched with the insertion hole 11. The base one 1 and the base two 2 are connected by insertion column 15 and insertion hole 11, which is convenient for accurate positioning, and the installation and disassembly are convenient.

[0026] Preferably, a connecting plate 13 is arranged between the base one 1 and the base two 2, and a plurality of connecting columns 10 are arranged on the base one 1, and connecting holes 14 adapted to the connecting columns 10 are arranged on the connecting plate 13. The connecting columns 10 on the base one 1 and the connecting holes 14 on the connecting plate 13 are correspondingly arranged.

[0027] Preferably, a groove two 12 for arranging the connecting plate 13 is arranged on the base two 2, and a groove one 9 corresponding to the position of the connecting plate 13 is arranged on the base one 1, and the jack 11 and the plug column 15 are arranged on the upper and lower sides of the groove one 9 and the groove two 12, respectively. The groove two 12 is used for mounting, and the corresponding inductor can be used for signal sensing through the groove one 9 and the groove two 12.

[0028] Preferably, the clamping plate 7, the piezoelectric sensor 6, the piezoresistive array sensor 5, and the rubber plate 4 are all arranged in the groove two 12. The clamping plate 7, the piezoelectric sensor 6, the piezoresistive array sensor 5, and the rubber plate 4 are integrally arranged in the groove two 12, so as to realize compact design of the structure.

[0029] Preferably, the connecting plate 13 adopts a rhombus structure, and the connecting holes 14 are arranged at the four corners of the rhombus connecting plate 13.

[0030] Preferably, the inner side of the groove two 12 is a clamping groove 8 adapted to the shape of the connecting plate 13, and the four corners of the rhombus connecting plate 13 are arranged in the corresponding clamping grooves 8, so as to realize compact structure and not occupy extra overall space.

[0031] Preferably, protective covers (not shown in the figure) are arranged on the periphery of the base one 1 and the base two 2. In view of the interference factors such as dust, oil stains, and liquid in the industrial environment, the protective covers are arranged on the sensing device for protection design, so as to prevent the sensor from being polluted by the outside world and prolong the service life of the sensor.

[0032] In the embodiment, the piezoelectric sensor 6 is arranged on the clamping plate 7, and the piezoresistive array sensor 5 is arranged on the rubber plate 4.

[0033] The array piezoresistive sensor: an M0404S distributed piezoresistive sensor is selected, which is used for detecting the pressure distribution of the contact surface between the object and the gripper during clamping, so as to realize accurate identification of the clamping position. By arranging a plurality of piezoresistive sensor units on the contact surface of the gripper, the system can realize real-time sensing of the shape and position deviation of the object, and provide a basis for adaptive adjustment of the mechanical gripper.

[0034] Piezoelectric sensor 6: LDT0-028K piezoelectric sensor 6 is selected to detect the vibration signal generated during clamping. Vibration information is crucial to determine whether the object is clamped stably and whether there is a risk of sliding. By analyzing the vibration frequency and amplitude, the system can adjust the clamping force in time to prevent the object from falling.

[0035] Hall sensor 3: The magnet, mlx90393 hall sensor 3 and silica gel composite structure design can accurately detect the three-dimensional force direction of the object to the gripper during clamping. The sensor realizes the integration of three-axis force sensing and temperature sensing through MEMS technology, can monitor the stress in X, Y and Z directions in real time, and synchronously transmit temperature information to the sensing system, providing multi-dimensional accurate feedback data for force control algorithm.

[0036] In this embodiment, the sensor installation position is optimized, according to the structure and use scene of the mechanical gripper, combined with the neuron distribution of the fingers, the multi-mode information sensor is arranged in layers, which can comprehensively cover the clamping area, realize the perception of multi-mode information; Integrated design, piezoresistive sensor, piezoelectric sensor 6 and 3D hall sensor 3 are integrated in a multifunctional sensor module, and connected with computer through unified interface to realize touch sensing information parameter identification. The multifunctional sensor module adopts arduino nano single-chip microcomputer to realize simple signal processing function.

[0037] The above is only the preferred embodiment of the present application, the protection scope of the present application is not limited to the above-mentioned embodiments, any technical scheme belonging to the idea of the present application is within the protection scope of the present application. It should be pointed out that for ordinary skilled in the art, some improvements and decorations without departing from the principle of the present application can also be considered as the protection scope of the present application.

Claims

1. A mechanical hand sensor device, characterized by: The base one is provided with a Hall sensor on the outer side, the base two is provided with a clamping plate, the clamping plate is provided with a piezoelectric sensor and a piezoresistance array sensor in sequence, and the piezoelectric sensor and the piezoresistance array sensor are provided with rubber plates on the outer sides.

2. The mechanical hand sensor device according to claim 1, characterized in that: The base one is provided with a Hall sensor on the outer side, the base two is provided with a clamping plate, the clamping plate is provided with a piezoelectric sensor and a piezoresistance array sensor in sequence, and the piezoelectric sensor and the piezoresistance array sensor are provided with rubber plates on the outer sides.

3. The mechanical hand sensor device according to claim 1, wherein: The base one is provided with a Hall sensor on the outer side, the base two is provided with a clamping plate, the clamping plate is provided with a piezoelectric sensor and a piezoresistance array sensor in sequence, and the piezoelectric sensor and the piezoresistance array sensor are provided with rubber plates on the outer sides.

4. The mechanical hand sensor device according to claim 3, characterized in that: The base one is provided with a Hall sensor on the outer side, the base two is provided with a clamping plate, the clamping plate is provided with a piezoelectric sensor and a piezoresistance array sensor in sequence, and the piezoelectric sensor and the piezoresistance array sensor are provided with rubber plates on the outer sides.

5. The mechanical hand sensor device according to claim 4, characterized in that: The base one is provided with a Hall sensor on the outer side, the base two is provided with a clamping plate, the clamping plate is provided with a piezoelectric sensor and a piezoresistance array sensor in sequence, and the piezoelectric sensor and the piezoresistance array sensor are provided with rubber plates on the outer sides.

6. The mechanical hand sensor device according to claim 5, characterized in that: The base one is provided with a Hall sensor on the outer side, the base two is provided with a clamping plate, the clamping plate is provided with a piezoelectric sensor and a piezoresistance array sensor in sequence, and the piezoelectric sensor and the piezoresistance array sensor are provided with rubber plates on the outer sides.

7. The mechanical hand sensor device according to claim 5, wherein: The connecting plate adopts a diamond structure, and the connecting holes are arranged at four corners of the diamond connecting plate.

8. The mechanical hand sensor device according to claim 7, characterized in that: The inner side of the recess two is a clamping groove matched with the connecting plate.

9. The mechanical hand sensor device according to claim 1, wherein: The base one and the base two are provided with protective covers on the peripheries.

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