Rotational angle measuring device for a robot finger

Abstract

The application discloses a rotation angle measuring device of a mechanical finger, the mechanical finger comprising a finger base, a finger movable part and a driving mechanism for driving the finger movable part to rotate, the rotation angle measuring device comprising a mounting seat, the mounting seat being provided with a mounting part for fixing the finger base; an angle detector is arranged on the mounting seat, the angle detector having an output shaft capable of rotating around an axis thereof, the output shaft being used for transmitting an angular displacement signal to realize angle detection; a clamp is provided with a clamping cavity for clamping the finger movable part, the clamp being connected with the output shaft, and being used for driving the output shaft to rotate when the driving mechanism drives the finger movable part to rotate, and then converting mechanical rotation into an angular displacement signal by the angle detector to realize direct detection of the rotation angle. The application effectively solves the technical problems of inconsistency between the detection result and the actual rotation angle of the finger movable part, error accumulation and the like in the existing indirect measurement mode, and provides a reliable detection means for precise control of the rotation angle of the mechanical finger.

Description

Technical Field

[0001] This application relates to the field of robotic arms, and in particular to a device for measuring the rotation angle of a robotic finger. Background Technology

[0002] In fields with stringent requirements for motion precision, such as industrial precision assembly, medical assisted operation, and electronic component processing, robotic fingers (which can be used in conjunction with bionic hands, industrial mechanical grippers, and collaborative robotic hands) have become key execution components that can replace manual labor in performing high-difficulty, high-frequency precision operations due to their multi-joint degree of freedom adjustment capabilities and stable motion control performance.

[0003] Currently, the rotation angle control of robotic fingers generally relies on a closed-loop mode of "host computer command - internal drive motor - motor shaft encoder": after the host computer issues an angle control command, the drive motor drives the transmission structure of the robotic finger to rotate, and at the same time, the encoder integrated on the motor shaft reads the motor rotation angle and indirectly calculates the actual rotation angle of the robotic finger joint, thereby realizing the monitoring and adjustment of the robotic finger rotation process.

[0004] However, due to the inherent characteristics of the mechanical finger's structural design and the laws of mechanical transmission, the above control mode has the following defects: On the one hand, due to design requirements, there are significant differences in the rotation center and rotation radius between the internal linkage of the mechanical finger and the finger shell. The motor rotation needs to be converted by the linkage transmission mechanism before it can be transmitted to the mechanical finger joint, resulting in the motor rotation angle and the actual angle of the mechanical finger joint not being linearly correlated. The encoder data at the motor shaft end cannot reflect the true rotation state of the mechanical finger joint. On the other hand, the problem of misalignment in the mechanical transmission system, such as the meshing clearance of joint gears, bearing assembly clearance, and elastic deformation of the transmission coupling, will cause the motor to have to overcome the clearance before it can drive the mechanical finger joint to rotate. This will cause the mechanical finger joint rotation to lag behind the command signal, ultimately resulting in a deviation between the expected angle of the host computer and the actual rotation angle of the mechanical finger joint. In various operation scenarios with high precision requirements, this may lead to operational deviations and affect the quality of operation. Utility Model Content

[0005] The main purpose of this application is to propose a rotation angle measuring device for a mechanical finger, which aims to solve the technical problem that the rotation angle detection results of existing mechanical fingers deviate from the actual rotation angle, affecting the accuracy of operation.

[0006] To achieve the above objectives, this application proposes a rotation angle measuring device for a mechanical finger. The mechanical finger includes a finger base, a movable finger part rotatably connected to the finger base, and a drive mechanism for driving the movable finger part to rotate. The rotation angle measuring device includes: Mounting base, the mounting base having a mounting portion for fixing the finger base; An angle detector is mounted on the mounting base and has an output shaft that can rotate about its own axis. The output shaft is used to transmit angular displacement signals to achieve angle detection. The clamp has a clamping cavity for clamping the movable part of the finger. The clamp is connected to the output shaft and is used to drive the output shaft to rotate when the driving mechanism drives the movable part of the finger to rotate.

[0007] In some embodiments, the clamp includes a first clamp and a second clamp, the first clamp and the second clamp being detachably connected and enclosing to form the clamping cavity.

[0008] In some embodiments, a positioning structure is provided between the first clamp and the second clamp. The positioning structure includes a positioning groove provided in one of the first clamp and the second clamp, and a positioning protrusion provided in the other of the first clamp and the second clamp. The positioning protrusion can engage with the positioning groove to position the first clamp relative to the second clamp.

[0009] In some embodiments, at least two positioning grooves are provided, and each positioning groove is distributed at intervals along the edge of the mating surface of the first clamp / second clamp; The number of positioning protrusions is the same as the number of positioning grooves, and the position of each positioning protrusion corresponds one-to-one with the position of the positioning groove. Each positioning protrusion can form a locking fit with the corresponding positioning groove.

[0010] In some embodiments, the first clamp and / or the second clamp are provided with a fixing hole on the side opposite to the clamping cavity, and the output shaft can extend into the fixing hole and be locked in the fixing hole.

[0011] In some embodiments, the first clamp and / or the second clamp are provided with a buffer layer on one side of the clamping cavity.

[0012] In some embodiments, the mounting base includes a first boss and a second boss, a partition is provided between the first boss and the second boss, the angle detector is provided on the first boss, the partition is provided with a through hole for the output shaft to pass through, and the mounting part is provided on the second boss.

[0013] In some embodiments, the mounting portion is a mounting groove adapted to the shape of the finger base.

[0014] In some embodiments, the axis of the perforation is perpendicular to the axis of the mounting groove.

[0015] In some embodiments, the angle detector is any one of a photoelectric encoder, a magnetic encoder, or a rotary transformer.

[0016] The rotation angle measuring device of this application utilizes the mounting part of the mounting base to form a fixed connection with the finger base of the mechanical finger, ensuring a stable reference association between the entire measuring device and the mechanical finger, and avoiding measurement errors caused by reference offset; moreover, the clamping cavity of the clamp forms a reliable clamp with the finger's movable part, and the clamp is fixedly connected to the output shaft of the angle detector, so that the rotation of the finger's movable part driven by the drive mechanism can be directly transmitted to the output shaft, and then the angle detector converts the mechanical rotation into an angular displacement signal, realizing the direct detection of the rotation angle. Compared to the traditional method of indirectly calculating the angle of the finger's moving part through an encoder on the shaft end of the drive mechanism (such as a motor), the technical solution of this application avoids the influence of nonlinear transmission characteristics and misalignment of the transmission link (such as connecting rods, gears, etc.) between the drive mechanism and the finger's moving part on the detection results. It also eliminates the angle deviation caused by transmission clearance and elastic deformation during the indirect calculation process. Moreover, the entire rotation angle measuring device has a compact structure and is easy to assemble. It does not require modification of the mechanical finger's own drive mechanism and transmission structure, and can quickly measure the rotation angle of the moving part of mechanical fingers of different specifications. It not only ensures measurement accuracy but also has good versatility and practicality. It effectively solves the technical problems of inconsistency between the detection results and the actual rotation angle of the finger's moving part and error accumulation in the existing indirect measurement methods, and provides a reliable detection method for the precise control of the rotation angle of mechanical fingers. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of an embodiment of the rotation angle measuring device of this application; Figure 2 This is a schematic diagram showing the usage state of an embodiment of the rotation angle measuring device of this application; Figure 3 This is a disassembly diagram of an embodiment of the rotation angle measuring device of this application; Figure 4 This is a disassembly diagram of one embodiment of the fixture of this application.

[0018] Explanation of icon numbers: . Detailed Implementation

[0019] The solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0021] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0022] Furthermore, the use of terms such as "first" and "second" in this application is 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 as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0023] Please refer to Figure 1 and Figure 2 One embodiment of this application provides a rotation angle measuring device 100 for a mechanical finger 200. The mechanical finger 200 includes a finger base 201, a finger movable part 202 rotatably connected to the finger base 201, and a drive mechanism for driving the finger movable part 202 to rotate.

[0024] The rotation angle measuring device 100 includes a mounting base 10, an angle detector 20, and a clamp 30. The mounting base 10 is provided with a mounting part 11 for fixing the finger base 201. An angle detector 20 is mounted on the mounting base 10. The angle detector 20 has an output shaft 21 that can rotate about its own axis. The output shaft 21 is used to transmit angular displacement signals to realize angle detection. The clamp 30 is provided with a clamping cavity 31 for clamping the finger movable part 202. The clamp 30 is connected to the output shaft 21 and is used to drive the output shaft 21 to rotate when the drive mechanism drives the finger movable part 202 to rotate.

[0025] The mounting base 10 serves as the reference support component for the entire measuring device. Through its mounting parts 11 (such as threaded holes, locating pin holes, and snap-fit ​​structures), it allows for the detachable fixing of the finger base 201, ensuring that the finger base 201 does not shift or wobble during measurement and providing a stable reference coordinate system for angle measurement. Furthermore, the mounting base 10 acts as the mounting carrier for the angle detector 20. Through preset mounting holes and a mounting structure, it fixes the angle detector 20 in a specific position, ensuring that the axis of the output shaft 21 of the angle detector 20 maintains a preset coaxiality or transmission correspondence with the rotation axis of the finger moving part 202, thus avoiding measurement errors caused by installation deviations of the angle detector 20.

[0026] Furthermore, the structure of the mounting section 11 can be adapted to the size and shape of the finger base 201 of different models of mechanical fingers 200 (such as adjustable clamping structure, modular adapter plate), improving the versatility of the device for mechanical fingers 200 of different specifications.

[0027] The angle detector 20 has an output shaft 21 that can rotate around its own axis. The output shaft 21 can convert the external mechanical rotation into an internally detectable physical signal, such as photoelectric signal, magnetoelectric signal, resistance signal, etc. The angle detector 20 has a built-in signal processing unit that can convert the angular displacement physical signal of the output shaft 21 into a digital angle signal (such as absolute angle, relative angle) and output it to an external control system through an interface to realize real-time feedback of angle data.

[0028] The clamp 30 is provided with a clamping cavity 31 (such as an arc-shaped cavity, a polyhedral cavity, or a cavity with an anti-slip pad) that matches the shape of the finger movement part 202. It can firmly clamp the finger movement parts 202 of different sizes / shapes by means of bolt fastening, elastic clamping, and buckle locking, so as to avoid transmission lag or slippage caused by loose clamping.

[0029] The clamp 30 and the output shaft 21 of the angle detector 20 are rigidly connected, such as by key connection or interference fit, to ensure that the rotation of the clamp 30 can be fully transmitted to the output shaft 21, so as to realize the synchronous transmission of the finger movement part 202 rotating to drive the clamp 30 to rotate, and then drive the output shaft 21 to rotate, thus eliminating the error of the intermediate transmission link.

[0030] During measurement, the finger base 201 of the mechanical finger 200 is first fixed by the mounting part 11 of the mounting base 10, so that the mechanical finger 200 as a whole maintains a stable reference position during the measurement process, avoiding measurement reference offset caused by base displacement; then, the finger movable part 202 of the mechanical finger 200 is clamped by the clamping cavity 31 of the clamp 30, and at the same time, the synchronous rotation association between the finger movable part 202 and the output shaft 21 of the angle detector 20 is established through the rigid connection between the clamp 30 and the output shaft 21; when the drive mechanism of the mechanical finger 200 is started and... When the movable finger part 202 rotates around the finger base 201, the movable finger part 202 directly drives the output shaft 21 of the angle detector 20 to rotate synchronously around its own axis through the clamp 30; the angle detector 20 captures the angular displacement signal of the output shaft 21 in real time. Since the rotation of the output shaft 21 is completely synchronized with the rotation of the movable finger part 202, the angle detector 20 can directly convert the angular displacement signal of the output shaft 21 into the actual rotation angle data of the movable finger part 202, so as to realize the direct and accurate measurement of the rotation angle of the mechanical finger 200.

[0031] Compared to the traditional method of indirectly calculating the angle of the finger's movable part 202 through an encoder at the shaft end of a drive mechanism (such as a motor), the technical solution of this application avoids the influence of nonlinear transmission characteristics and misalignment of the transmission link (such as connecting rods, gears, etc.) between the drive mechanism and the finger's movable part 202 on the detection results. It also eliminates the angle deviation caused by transmission clearance and elastic deformation during the indirect calculation process. Moreover, the entire rotation angle measuring device 100 has a compact structure and is easy to assemble. It does not require modification of the drive mechanism and transmission structure of the mechanical finger 200 itself, and can quickly measure the rotation angle of the movable part of the mechanical finger 200 of different specifications. It not only ensures measurement accuracy but also has good versatility and practicality. It effectively solves the technical problems of inconsistency between the detection results and the actual rotation angle of the finger's movable part 202 and error accumulation in the existing indirect measurement methods, and provides a reliable detection method for the precise control of the rotation angle of the mechanical finger 200.

[0032] In some embodiments, please refer to Figure 3 and Figure 4 The clamp 30 includes a first clamp 301 and a second clamp 302. The first clamp 301 and the second clamp 302 are detachably connected and enclose each other to form a clamping cavity 31.

[0033] The first clamp 301 is provided with a semi-cavity structure (such as an arc-shaped semi-cavity or a rectangular semi-cavity) that matches the shape of the finger movement part 202. The inner wall of the semi-cavity can be provided with anti-slip texture or elastic buffer layer 304 (such as silicone pad or rubber pad), which can not only avoid damage to the surface of the finger movement part 202 when clamping, but also enhance the friction with the finger movement part 202 and prevent relative sliding.

[0034] The second clamp 302 is provided with another set of semi-cavity structures that match the semi-cavity structure of the first clamp 301. After the two are assembled, they can be enclosed to form a complete clamping cavity 31 that fits the shape of the finger movement part 202 perfectly, so as to realize the wrap-around clamping of finger movement parts 202 of different sizes and shapes. Compared with the one-piece clamp 30, it can adapt to more specifications of finger movement parts 202.

[0035] Compared to the integrated clamp 30, the detachable clamp 30 in this embodiment, composed of a first clamp 301 and a second clamp 302 detachably connected, can flexibly adapt to finger movement parts 202 of various sizes and shapes through replaceable clamps. It eliminates the need to design separate clamps 30 for different specifications of mechanical fingers 200, greatly improving adaptability and reducing usage and inventory costs. When clamping, the two clamps can be separated to directly place the finger movement part 202 without having to avoid complex structures. When disassembling, only the connecting structure needs to be disassembled for quick removal, significantly simplifying the operation process and improving efficiency. Moreover, the independent design of the two clamps means that when a single part is worn or damaged, there is no need to replace the whole thing, only the damaged part needs to be replaced, greatly reducing maintenance costs and facilitating partial upgrades to extend the service life of the device.

[0036] In some embodiments, a positioning structure 40 is provided between the first clamp 301 and the second clamp 302. The positioning structure 40 includes a positioning groove 41 provided in one of the first clamp 301 and the second clamp 302, and a positioning protrusion 42 provided in the other of the first clamp 301 and the second clamp 302. The positioning protrusion 42 can engage with the positioning groove 41 to position the first clamp 301 relative to the second clamp 302.

[0037] The positioning protrusion 42 has a preset shape (such as cylindrical, square, or conical). Its outer contour can guide the alignment direction of the two clamps during assembly, avoiding bumps or damage to the groove caused by misalignment in the assembly direction, and reducing the difficulty of assembly operation. After the positioning protrusion 42 is embedded in the positioning groove 41, its side can fit tightly against the inner wall of the positioning groove 41. The shape limit restricts the relative translation of the two clamps in the direction perpendicular to the assembly direction, and at the same time restricts the relative rotation of the two clamps around the axis parallel to the assembly surface, providing a stable positioning reference for the two clamps.

[0038] In this embodiment, the positioning structure 40, which is composed of positioning protrusion 42 and positioning groove 41, can directly limit the relative translation and rotation of the two clamps during assembly by precisely matching the shape of the protrusion and the groove and limiting the constraint. This ensures the coaxiality of the central axis of the clamping cavity 31 and the axis of the output shaft 21 of the angle detector 20 after each assembly, effectively avoiding measurement errors caused by positioning deviation and greatly improving the assembly positioning accuracy.

[0039] In some embodiments, at least two positioning grooves 41 are provided, and each positioning groove 41 is distributed at intervals along the mating surface edge of the first clamp 301 / second clamp 302; The number of positioning protrusions 42 is the same as the number of positioning grooves 41, and the position of each positioning protrusion 42 corresponds one-to-one with the position of the positioning groove 41. Each positioning protrusion 42 can form a locking fit with the corresponding positioning groove 41.

[0040] Among them, at least two positioning grooves 41 distributed at intervals along the edge of the mating surface can form positioning references in different directions (such as one set along the length direction and one set along the width direction of the mating surface). Compared with a single positioning groove 41, which can only achieve single-direction constraint, multiple sets of positioning grooves 41 can comprehensively restrict the relative displacement of the two clamps and avoid positioning deviation caused by the failure of a single constraint.

[0041] The number and position of the positioning protrusions 42 correspond one-to-one with the positioning grooves 41. During assembly, all positioning grooves 41 can be aligned simultaneously to ensure that the two clamps are positioned at key points along the edge of the mating surface at the same time. This avoids the clamps tilting due to a single positioning protrusion 42 being inserted first, and ensures that the mating surfaces are parallel and fit together as a whole.

[0042] In this embodiment, the design of at least two sets of positioning grooves 41 and positioning protrusions 42 forms positioning redundancy. If the fitting accuracy of one set of positioning grooves 41 or the corresponding positioning protrusions 42 decreases due to processing errors or slight wear, the remaining sets of positioning grooves 41 and positioning protrusions 42 can still maintain the basic positioning effect, thus avoiding the overall positioning failure caused by the failure of a single positioning structure 40.

[0043] In some embodiments, the first clamp 301 and / or the second clamp 302 are provided with a fixing hole 303 on the side away from the clamping cavity 31, and the output shaft 21 can extend into the fixing hole 303 and be locked in the fixing hole 303.

[0044] In this embodiment, the axis of the fixing hole 303 is coaxial with the axis of the clamping cavity 31, which can provide a precise positioning reference for the insertion of the output shaft 21, ensuring that the axis of the output shaft 21 is consistent with the rotation axis of the finger moving part 202, and avoiding rotational transmission deviation caused by shaft hole misalignment.

[0045] The inner wall of the fixing hole 303 fits tightly against the outer wall of the output shaft 21, which can limit the radial sway of the output shaft 21 and prevent the angle detector 20 from deviating due to radial displacement of the output shaft 21. At the same time, it provides radial support for the output shaft 21 and reduces the risk of deformation of the output shaft 21 under stress.

[0046] It should be understood that the first clamping seat 301 and / or the second clamping seat 302 have fixing holes 303 on the side opposite to the clamping cavity 31, specifically including three cases: The first case is that the fixing hole 303 is only provided on the side of the first clamping seat 301 opposite to the clamping cavity 31, and the fixing hole 303 is not provided on the side of the second clamping seat 302 opposite to the clamping cavity 31. In this case, the output shaft 21 only engages with the fixing hole 303 on the first clamping seat 301 to realize the connection between the clamp 30 and the output shaft 21; The second case is that the fixing hole 303 is only provided on the side of the second clamping seat 302 opposite to the clamping cavity 31, and the fixing hole 303 is not provided on the side of the first clamping seat 301 opposite to the clamping cavity 31. In the first scenario, the output shaft 21 is only engaged with the fixing hole 303 on the second clamp 302 to achieve connection; in the second scenario, fixing holes 303 are provided on both the side of the first clamp 301 away from the clamping cavity 31 and the side of the second clamp 302 away from the clamping cavity 31, and the axes of the fixing holes 303 on the two clamps coincide (keeping coaxial with the axis of the clamping cavity 31). In this case, the output shaft 21 can engage with the fixing hole 303 of one of the clamps (the other fixing hole 303 serves as a backup). Through the above three scenarios, different fixture 30 structural designs, output shaft 21 connection requirements and assembly space limitations can be flexibly met, ensuring the coverage and adaptability of the technical solution.

[0047] In some embodiments, the first clamp 301 and / or the second clamp 302 are provided with a buffer layer 304 on one side of the clamping cavity 31.

[0048] The buffer layer 304, thanks to its elastic material properties, prevents the rigid inner wall of the clamp from directly colliding or squeezing the surface of the finger movable part 202 when the clamp clamps it. This is especially effective for finger movable parts 202 with precision coatings, small protrusions, or fragile materials, preventing indentations, scratches, or coating peeling. Moreover, the buffer layer 304 deforms to conform to the irregular surface of the finger movable part 202 (such as contours with grooves or rounded transitions), filling the gap between the inner wall of the clamp and the surface of the movable part, forming a flexible wrapping effect, ensuring that movable parts of different shapes can be stably clamped.

[0049] In this embodiment, the buffer layer 304 adapts to irregular contours through deformation and provides flexible protection for vulnerable materials, enabling the same clamp 30 to hold various types of finger movable parts 202 with grooves, coatings, and soft materials on the surface. This eliminates the need to design separate clamps for movable parts with special specifications, greatly improving the adaptability and compatibility of the clamp 30.

[0050] In some embodiments, the mounting base 10 includes a first boss 101 and a second boss 102, a partition 103 is provided between the first boss 101 and the second boss 102, an angle detector 20 is provided on the first boss 101, the partition 103 is provided with a through hole 104 for the output shaft 21 to pass through, and the mounting part 11 is provided on the second boss 102.

[0051] The surface of the first boss 101 may be provided with an installation structure (such as a mounting pin hole or a mounting step) that is compatible with the angle detector 20. This ensures that after the angle detector 20 is fixed, the axis of its output shaft 21 is coaxial with the axis of the through hole 104 of the partition 103, thus avoiding friction or jamming between the output shaft 21 and the through hole 104 due to installation deviation.

[0052] The mounting portion 11 (such as a threaded hole, a snap-fit, or a positioning groove) on the second boss 102 can form a rigid connection with the finger base 201 of the mechanical finger 200, ensuring that the mechanical finger 200 does not shift or wobble during operation, and providing a stable reference for the rotation of the finger moving part 202.

[0053] The height and dimensions of the second boss 102 can be designed according to the specifications of the mechanical finger 200, so that the rotation center of the finger movement part 202 is precisely aligned with the axis of the through hole 104 of the partition 103, thereby ensuring that the output shaft 21 can synchronously transmit the rotation of the finger movement part 202 after it is connected to the clamp 30, and avoiding transmission failure caused by position deviation.

[0054] The partition 103 is vertically connected between the two bosses, which can physically isolate the angle detector 20 on the side of the first boss 101 from the mechanical finger 200 on the side of the second boss 102, reduce the transmission of mechanical vibration between the two bosses, and protect the precision detection components.

[0055] This embodiment, through the height and position design of the first boss 101 and the second boss 102, combined with the guiding effect of the through hole 104 in the partition 103, can accurately control the coaxiality of the output shaft 21 of the angle detector 20 and the moving part of the mechanical finger 200, avoid the output shaft 21 from jamming or shaking, ensure the stability of rotation transmission, and thus improve the angle detection accuracy.

[0056] Preferably, the first boss 101, the second boss 102 and the partition 103 can be integrated into one unit. The installation positions of each component are preset with precise references. During assembly, only the angle detector 20 needs to be fixed to the first boss 101, the finger base 201 needs to be fixed to the second boss 102, and the output shaft 21 needs to pass through the through hole 104 to complete the initial assembly. There is no need for repeated adjustments, which greatly simplifies the assembly process and improves the operating efficiency.

[0057] In some embodiments, the mounting portion 11 is a mounting groove adapted to the shape of the finger base 201.

[0058] In this embodiment, the mounting groove, with its inner wall design that perfectly matches the shape of the finger base 201, enables the finger base 201 to be quickly aligned. This eliminates the need for repeated calibration, allowing the finger base 201 to be inserted into the preset position and avoiding insufficient installation accuracy caused by manual alignment deviation.

[0059] The inner walls of the mounting groove can restrict the translation of the finger base 201 in the horizontal direction, and the bottom of the groove can support the finger base 201 in the vertical direction and restrict its downward displacement, forming a multi-directional constraint on the four sides and the bottom surface. Compared with the single-point fixation of the threaded hole alone, it can more comprehensively restrict the degree of freedom of the finger base 201.

[0060] In some embodiments, the axis of the perforation 104 is perpendicular to the axis of the mounting groove.

[0061] The vertical axis design provides a clear spatial extension direction for the output shaft 21, ensuring that the output shaft 21 can be accurately aligned with the rotation center of the finger movement part 202 of the finger base 201 in the mounting slot. This avoids misalignment between the output shaft 21 and the clamp 30 due to deviation in the axis direction, thus ensuring the accuracy of rotation transmission.

[0062] Furthermore, the vertical axis guides the output shaft 21 along the direction of extension of the non-mounting groove through the perforation 104, avoiding structural interference between the output shaft 21 and the finger base 201 and auxiliary fixing components (such as set screws) in the mounting groove, and reserving sufficient space for the installation, removal and maintenance of the finger base 201.

[0063] In some embodiments, the angle detector 20 is any one of a photoelectric encoder, a magnetic encoder, or a rotary transformer.

[0064] In this embodiment, the angle detector 20 can be any one of photoelectric encoder, magnetic encoder or rotary transformer. By using the common angular displacement signal conversion capability of different types of detection elements, it can adapt to the mounting structure of the first boss 101 of the mounting base 10 and the transmission requirements of the output shaft 21, while meeting the performance requirements of different application scenarios.

[0065] Specifically, based on the preset mounting reference (such as positioning hole, mounting plane) of the first boss 101 of the mounting base 10, all three types of angle detectors 20 are designed with mounting interfaces that are compatible with the first boss 101, ensuring that after fixing, its output shaft 21 can be coaxial with the through hole 104 of the partition 103, and the output shaft 21 can pass through the through hole 104 and connect to the clamp 30.

[0066] When the finger movement part 202 drives the clamp 30 and output shaft 21 to rotate, different types of angle detectors 20 convert the mechanical rotation of the output shaft 21 into electrical signals through their respective core detection principles: photoelectric encoders use light signal blocking and receiving to achieve angular displacement detection, magnetic encoders sense angular displacement through changes in magnetic field, and rotary transformers convert angular displacement into voltage signals through the principle of electromagnetic induction. The electrical signals (such as digital and analog signals) output by various angle detectors 20 can be converted into unified angle data through a matching signal processing unit and fed back to the external control system to achieve accurate measurement of the rotation angle of the mechanical finger 200.

[0067] The selection of the three types of detectors can be flexibly determined according to the environmental requirements, accuracy requirements and cost budget of the application scenario. All of them can work together with the structure of the mounting base 10 and the transmission system of the output shaft 21 to ensure the stability of the measurement function.

[0068] The above are only some or preferred embodiments of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A device for measuring the rotation angle of a mechanical finger, the mechanical finger comprising a finger base, a movable finger part rotatably connected to the finger base, and a drive mechanism for driving the movable finger part to rotate, characterized in that, The rotation angle measuring device includes: Mounting base, the mounting base having a mounting portion for fixing the finger base; An angle detector is mounted on the mounting base and has an output shaft that can rotate about its own axis. The output shaft is used to transmit angular displacement signals to achieve angle detection. The clamp has a clamping cavity for clamping the movable part of the finger. The clamp is connected to the output shaft and is used to drive the output shaft to rotate when the driving mechanism drives the movable part of the finger to rotate.

2. The mechanical finger rotation angle measuring device according to claim 1, characterized in that, The clamp includes a first clamp and a second clamp, the first clamp and the second clamp being detachably connected and enclosing each other to form the clamping cavity.

3. The rotation angle measuring device for the mechanical finger according to claim 2, characterized in that, A positioning structure is provided between the first clamp and the second clamp. The positioning structure includes a positioning groove provided in one of the first clamp and the second clamp, and a positioning protrusion provided in the other of the first clamp and the second clamp. The positioning protrusion can engage with the positioning groove to position the first clamp relative to the second clamp.

4. The rotation angle measuring device for the mechanical finger according to claim 3, characterized in that, The positioning groove is provided in at least two, and each positioning groove is distributed at intervals along the edge of the mating surface of the first clamp / second clamp; The number of positioning protrusions is the same as the number of positioning grooves, and the position of each positioning protrusion corresponds one-to-one with the position of the positioning groove. Each positioning protrusion can form a locking fit with the corresponding positioning groove.

5. The rotation angle measuring device for a mechanical finger according to claim 2, characterized in that, The first clamp and / or the second clamp are provided with a fixing hole on the side away from the clamping cavity, and the output shaft can extend into the fixing hole and be locked in the fixing hole.

6. The rotation angle measuring device for a mechanical finger according to claim 2, characterized in that, The first clamp and / or the second clamp are provided with a buffer layer on one side of the clamping cavity.

7. The rotation angle measuring device for a mechanical finger according to claim 2, characterized in that, The mounting base includes a first boss and a second boss, with a partition between the first boss and the second boss. The angle detector is located on the first boss, and the partition has a through hole for the output shaft to pass through. The mounting part is located on the second boss.

8. The rotation angle measuring device for a mechanical finger according to claim 7, characterized in that, The mounting part is a mounting groove that is adapted to the shape of the finger base.

9. The rotation angle measuring device for a mechanical finger according to claim 8, characterized in that, The axis of the perforation is perpendicular to the axis of the mounting groove.

10. The rotation angle measuring device for a mechanical finger according to any one of claims 1 to 9, characterized in that, The angle detector can be any one of a photoelectric encoder, a magnetic encoder, or a rotary transformer.

Images