An Object Gripper with Distance, Pressure Sensing, and Jam Protection

Abstract

The invention relates to an object gripper with distance and pressure sensors and a rotation-clogging protection function, and belongs to the technical field of robot operation. The object gripper comprises a main control box, the pressure sensor, the distance sensor, a rotation-clogging protection circuit, rubber with an anti-slip function, and a camera. When the object gripper is used for grabbing an object, the type of the object can be recognized by the camera, whether the grabbed object is in the grabbing range or not can be detected by the distance sensor at the same time, and a grabbing signal is provided at the same time. The pressure sensor can be squeezed when the object is grabbed, and a corresponding grabbed signal is given out. When the object is grabbed without squeezing the pressure sensor, whether a motor is in a rotation-clogging state or not can be detected by the rotation-clogging protection circuit; and if the motor is in the rotation-clogging state, the motor can be adjusted to the normal state automatically, and a stable grabbing signal is provided through a communication interface. The object gripper designed by the invention is elaborate and simple in design and high in reliability, the life of the motor can be effectively guaranteed, and meanwhile, loss caused by misoperation of a machine can be reduced.

Description

technical field [0001] The invention relates to an object holder with the functions of distance and pressure detection and blocking protection, and belongs to the technical field of robot operation. Background technique [0002] In industrial operation and grasping, in order to avoid damage to the operating object, there may be many fine requirements for the shape and force of the object. Conventional object holders generally have no distance sensor, which will result in that when the height of the object is different, the end of the holder cannot conveniently adjust the holding position. Moreover, they do not have pressure sensors, which are more destructive to relatively fragile and easily damaged objects. At the same time, since the motors do not have stall protection, they will always be in a stalled state after they grab objects. In this state, a huge current may be generated. If they stay in this state for a long time, the life of the gripper will be reduced, and even...

AI Technical Summary

Problems solved by technology

Conventional object holders generally have no distance sensor, which will result in that when the height of the object is different, the holder terminal cannot conveniently adjust the holding position

Moreover, they do not have pressure sensors, which are more destructive to fragile and easily damaged objects

At the same time, since the motors do not have stall protection, they will always be in a stalled state after they grab objects. In this state, a huge current may be generated. If they are in this state for a long time, the life of the gripper will be reduced, and even in serious cases. Damage the holder and cause a large loss

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