Grippers and Robots

Abstract

The present application provides a gripper having at least one clamping jaw, the at least one clamping jaw including a base, a clamping portion for contacting an object, a flexible member connecting the base and the clamping portion, and a sensor assembly located between the base and the clamping portion, the flexible member configured to deflect the clamping portion relative to the base when the clamping portion receives a force from the object in a first direction, and the sensor assembly configured to generate a signal in response to the deflection of the clamping portion.

Description

[Technical Field]

[0001] The present disclosure relates to the technical field of robots, and more particularly to grippers and robots having grippers. [Background technology]

[0002] Grippers are typically installed on robots to hold objects. To prevent excessive gripping force from damaging the object, grippers typically have pressure sensors installed on the gripping jaws to measure the gripping force. While conventional grippers have pressure sensors installed on the fingertips of the gripper's gripping jaws, this pressure sensor arrangement can detect the gripping force, but it is bulky and heavy in terms of space and weight. Summary of the Invention [Means for solving the problem]

[0003] One aspect of the present disclosure provides a gripper including a casing and at least one clamping jaw movably mounted to the casing, the at least one clamping jaw including a base, a clamping portion for contacting an object, a flexible member connecting the base and the clamping portion and configured to deflect the clamping portion relative to the base when the clamping portion receives a force from the object in a first direction, and a sensor assembly located between the base and the clamping portion and configured to generate a signal in response to deflection of the clamping portion.

[0004] Another aspect of the present disclosure provides a robot including at least one articulated arm and a gripper provided at an end of the at least one articulated arm. The gripper includes a casing and at least one clamping jaw movably mounted to the casing. The at least one clamping jaw includes a base, a clamping portion for contacting an object, a flexible member connecting the base and the clamping portion and configured to deflect the clamping portion relative to the base when the clamping portion receives a force from the object in a first direction, and a sensor assembly located between the base and the clamping portion and configured to generate a signal in response to the deflection of the clamping portion.

[0005] The details of embodiments of the present disclosure are set forth in the drawings and description that follow. Other features, objects, and advantages of the present disclosure will be apparent from the description, drawings, and claims.

[0006] All features of the present disclosure will be more readily understood from the following detailed description, taken in conjunction with the accompanying drawings which illustrate various embodiments of the present disclosure. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view of a gripper according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a perspective view of the clamping jaws of the gripper shown in FIG. 1. [Figure 3] 2 is a side view showing the gripper shown in FIG. 1 clamping an object with a pair of clamping jaws. [Figure 4] FIG. 10 is a perspective view of clamping jaws according to another embodiment of the present disclosure; [Figure 5] 5 is a side view showing a gripper that grips an object with clamping jaws shown in FIG. 4. [Figure 6] FIG. 10 is a perspective view of a gripper according to yet another embodiment of the present disclosure. [Figure 7] FIG. 1 is a schematic diagram of a robot having a gripper according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0008] It should be noted that the drawings of the present disclosure are not drawn to scale. The accompanying drawings illustrate only typical aspects of the present disclosure and are not to be considered as limiting the scope of the present disclosure.

[0009] The features and advantages of the disclosure will be set forth in the following description, or may be apparent from the description, or may be learned by practice of the invention.

[0010] The present disclosure provides a gripper for clamping an object. The gripper includes a casing and at least one clamping jaw movably attached to the casing. The at least one clamping jaw includes a base, a clamping portion for contacting the object, a flexible member connecting the base and the clamping portion, and a sensor assembly. The flexible member is configured to deflect the clamping portion relative to the base when the clamping portion receives a force from the object in a first direction. The sensor assembly is located between the base and the clamping portion and is configured to generate a signal in response to the deflection of the clamping portion.

[0011] 1 , a gripper 10 according to one embodiment of the present disclosure includes a casing 20 and a pair of opposing clamping jaws 30. The clamping jaws 30 are movably mounted on the casing 20 and configured to cooperate to clamp an object. Specifically, the pair of clamping jaws 30 are slidable within grooves 21 on the casing 20 and move toward each other to clamp an object or move away from each other to release the object.

[0012] 2 shows a detailed configuration of the clamping jaws 30 according to one embodiment. The clamping jaws 30 include a base 31, a clamping portion 32 extending upward, and a flexible member 33 connecting the base 31 and the clamping portion 32. The sensor assembly 40 is located between the base 31 and the clamping portion 32 and is configured to detect the force applied to the object by the clamping portion 32. In one embodiment, the clamping portion 32 includes a shoulder 34 extending laterally from the base 31 such that a space is formed between the base 31 and the clamping portion 32 to accommodate the sensor assembly 40 abutting against the base 31 and the clamping portion 32.

[0013] To move the clamping jaws 30 within the groove 21 of the casing 20, the base 31 further includes a configuration that extends downward into the groove 21 to engage a drive system (not shown) that moves the clamping jaws 30 within the groove 21.

[0014] Referring to FIG. 3 , the gripper 10 grips an object. As is apparent, the gripping portions 32 of the pair of gripping jaws 30 are deflected slightly away from each other by a force F1 in a first direction applied by the object, i.e., a reaction force of the gripping force. To achieve this deflection of the gripping portions 32, the flexible member 33 is appropriately configured. In one embodiment, the flexible member 33 is integrally formed with the base 31 and the gripping portions 32 and has a flexible, thin structure. In another embodiment, the flexible member 33 is a member independent of the base 31 and / or the gripping portions 32 and is made of a flexible material such as rubber. In yet another embodiment, the flexible member 33 includes a flexible hinge. To further improve flexibility, the flexible member 33 may be provided with a through-hole (not shown).

[0015] When the clamping jaws 32 receive a force F1 in a first direction, they apply a force F2 in a second direction to the sensor assembly 40. The second direction is different from the first direction, and as shown in FIG. 3, the second direction is preferably substantially perpendicular to the first direction. It is understood that the angle between the first and second directions can be changed by the structure of the clamping jaws 30, for example, by changing the inclination of the surfaces where the clamping jaws 32 contact the object and the sensor assembly 40, respectively. In the embodiment shown in FIG. 3, the sensor assembly 40 includes a varistor that generates different resistance values ​​depending on pressure, and can generate a signal indicative of pressure depending on the deflection of the clamping jaws 32 relative to the base 31. Furthermore, the varistor has good high-frequency characteristics, which ensures measurement accuracy, which is particularly useful when clamping objects frequently.

[0016] It will be appreciated that other pressure sensors than varistors may be used, provided they are capable of generating a signal indicative of the applied force due to deflection of the clamping portion 32. The pressure sensor signal may be output, for example, via a connected cable or wirelessly.

[0017] Therefore, based on the signal from sensor assembly 40, the magnitude of force F2 can be determined, and based on the magnitude of force F2, the deflection of jaws 32 and the value of force F1 can be determined. This allows a model to be generated that calculates the force applied to the object, i.e., force F1, based on the signal from sensor assembly 40.

[0018] FIG. 4 illustrates a clamping jaw 30′ according to another embodiment of the present disclosure. The clamping jaw 30′ includes a base 31′, a clamping portion 32′, and a flexible member 33′ connecting the base 31′ and the clamping portion 32′. A sensor assembly 40′ is positioned between the base 31′ and the clamping portion 32′ and configured to generate a signal in response to deflection of the clamping portion 32′. In one embodiment, the sensor assembly 40′ includes a displacement detection assembly that generates a signal indicative of displacement of the clamping portion 32′ relative to the base 31′. In one embodiment, the displacement detection assembly includes a magnet 41 and a Hall effect sensor 42, one of which is fixed relative to the base 31′ and the other of which is fixed relative to the clamping portion 32′. 5, the magnet 41 is fixedly held by the protrusion 35 extending downward from the clamping portion 32′ and is fixed relative to the clamping portion 32′, and the Hall effect sensor 42 is fixedly held by the base 31′ and is fixed relative to the base 31′. The magnet 41 and the Hall effect sensor 42 are located adjacent to each other in the lateral direction, and the Hall effect sensor 42 can detect the magnetic field of the magnet 41.

[0019] Referring to FIG. 5 , when the jaw 32′ deflects relative to the base 31′, the magnet 41 also deflects slightly, for example, away from the Hall Effect sensor 42 and along the protrusion 35. This changes the sensor signal from the Hall Effect sensor 42, indicating its position relative to the magnet 41. Therefore, the displacement of the magnet 41 and the deflection of the jaw 32′ can be determined based on the signal from the sensor assembly 40. The force F1 applied to the jaw 32′ can be determined based on the deflection of the jaw 32′. The relationship between the displacement of the magnet 41 and the deflection of the jaw 32′ depends on the overall structure of the jaw 30′, such as the distance between the protrusion 35 and the flexible member 33′. Similarly, a model can be generated to calculate the force F1 applied to the object based on the signal from the sensor assembly 40′.

[0020] In a variant, the magnet and Hall effect sensor are positioned adjacent to each other in a longitudinal direction perpendicular to the lateral direction. For example, a magnet may be fixed to the bottom of the jaw 32' and above the Hall effect sensor, and thus the Hall effect sensor may also generate a signal indicative of the position of the magnet relative to the Hall effect sensor in response to deflection of the jaw 32'. Similarly, a computational model of this variant can be created that differs from the model of the jaw 30' described above.

[0021] It will be apparent to those skilled in the art that the magnet 41 and Hall effect sensor 42 can be replaced with various other types of displacement detection assemblies, such as optical sensors, inductance sensors, etc.

[0022] With the gripper arrangement according to the above embodiments, the sensor assembly does not occupy extra space in the clamping jaws, thus simplifying the structure of the gripper and making the gripper more flexible.

[0023] FIG. 6 shows a gripper 10″ according to another embodiment of the present disclosure. The gripper 10″ includes a casing 20″ and three clamping jaws 30″. The three clamping jaws 30″ are distributed around the circumferential direction of the casing 20″ and are slidable in grooves 21″ of the casing 20″, respectively, to cooperate to clamp an object. As shown in FIG. 6, the configuration of the gripper 10″ is applied to a pressure sensor, but is also applied to the displacement detection assembly described above.

[0024] In other embodiments, as described above, one of the gripper jaws may be fixed to the casing and one or more of the remaining jaws may be movable on the casing, in which case the sensor assembly may be provided on any of the jaws, whether movable or not.

[0025] The gripper of the present disclosure can be applied to robots such as manipulators that move objects in automated production lines. Referring to FIG. 7 , one embodiment of the present disclosure provides a robot 50 including at least one articulated arm 51 and a gripper 10 attached to the end of the articulated arm 51. To grip or release an object, the articulated arm 51 moves the gripper 10 to an appropriate position, and a drive system controls the movement of the gripping jaws to grip or release the object. The at least one articulated arm 51 may include multiple articulated arms rotatably connected via joints 52, for example, to increase the range of movement of the gripper 10.

[0026] The terms used herein are for the purpose of describing particular embodiments and are not intended to limit the disclosure. As used herein, singular forms such as "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise. Additionally, as used herein, the terms "comprise" or "include" refer to the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof. The terms "optional" or "any" mean that the subsequently stated event or circumstance may or may not occur, and the description includes both instances in which the event occurs and instances in which it does not occur.

[0027] As used in the present specification and claims, "approximate" terms are used to modify quantitative expressions that can vary within a range without causing a change in basic function. Thus, values ​​modified with terms such as "about," "approximately," and "substantially" are not limited to the specified value. In some circumstances, approximation terms correspond to the precision of the instrument used to measure the value. In the present specification and claims, range limitations are combinable and / or interchangeable, unless otherwise clearly indicated by the context. Such ranges include the specified range as well as all subranges.

[0028] It is intended that all apparatus and step-plus-function elements in the following claims, including their corresponding structure, material, or acts, and their equivalents, achieve that function in combination with any structure, material, or act specifically claimed in any other claim. The descriptions in this disclosure are provided for purposes of illustration and description and are not intended to be exhaustive or to limit the invention to the precise form disclosed. Those skilled in the art will recognize that various modifications and variations can be made without departing from the scope and spirit of the disclosure. These embodiments were chosen and described in order to best explain the principles and practical applications of the disclosure and to enable skilled artisans to appreciate various modified embodiments of the disclosure suitable for particular applications.

Claims

1. A gripper that clamps an object, A casing; at least one pair of clamping jaws movably attached to the casing; The at least one pair of clamping jaws A base and a clamping portion for contacting the object; a flexible member connecting the base and the clamping portion and configured to deflect the clamping portion relative to the base when the clamping portion receives a force from the object in a first direction; a sensor assembly positioned between the base and the jaws and configured to generate a signal in response to deflection of the jaws; the clamping portion is configured to apply a force in a second direction different from the first direction to the sensor assembly when receiving a force in the first direction, and the sensor assembly is configured to generate a signal indicative of the force in the second direction.

2. the sensor assembly comprises a varistor; 2. The gripper of claim 1.

3. The first direction and the second direction are perpendicular to each other.

3. The gripper of claim 2.

4. the clamping portion has a shoulder portion extending laterally from the base portion to form a space for accommodating the sensor assembly, and the varistor abuts against both the shoulder portion and the base portion.

3. The gripper of claim 2.

5. The gripper of claim 1 , wherein the sensor assembly comprises a displacement detection assembly that generates a signal indicative of displacement of the jaws relative to the base.

6. 6. The gripper of claim 5, wherein the displacement detection assembly comprises a magnet and a Hall Effect sensor, one of the magnet and the Hall Effect sensor being fixed relative to the base and the other being fixed relative to the jaws.

7. 7. The gripper of claim 6, wherein the jaws include downwardly extending protrusions that securely hold the magnets, and the base holds the Hall effect sensor adjacent to the magnets to detect changes in magnetic field signals.

8. the flexible member includes a flexible hinge; 2. The gripper of claim 1.

9. The gripper of claim 1 , wherein the clamping portion is integrally formed with the flexible member and the base portion.

10. 2. The gripper of claim 1, wherein the casing has a groove, and the at least one pair of clamping jaws includes a pair of clamping jaws configured to be slidable within the groove and to cooperate to clamp the object.

11. 2. The gripper of claim 1, wherein the casing has three grooves, and the at least one pair of clamping jaws includes three clamping jaws distributed circumferentially and configured to slide within the grooves and cooperate to clamp the object.

12. A robot, 12. A robot comprising at least one articulated arm and a gripper according to any one of claims 1 to 11, wherein the gripper is provided at an end of the at least one articulated arm.

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