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A Pneumatic Gripper Capable of Weighing and Collision Detection

A technology of collision detection and pneumatic grippers, which is applied in the field of robotic grippers, can solve problems such as falling objects, lack of three-dimensional collision detection capabilities, and lack of self-adaptive adjustment of grip force, etc., to achieve the effect of simple and light structure and avoid damage to objects

Active Publication Date: 2021-10-12
SHANGHAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] To sum up, the existing grippers do not have the ability to detect three-dimensional collisions when actively controlling the end effector; their object grasping devices do not have the function of adaptively adjusting the grasping force according to the grasping object, while others have considered Grasping is adaptive, but it does not have the characteristics of a closed envelope, and the object has the risk of falling

Method used

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  • A Pneumatic Gripper Capable of Weighing and Collision Detection
  • A Pneumatic Gripper Capable of Weighing and Collision Detection
  • A Pneumatic Gripper Capable of Weighing and Collision Detection

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Embodiment Construction

[0026] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0027] The invention is a pneumatic gripper capable of weighing and detecting collisions, such as figure 1 Shown is the axonometric view of the weighing and collision detecting pneumatic gripper, which is divided into two parts, the sensing system 1 and the grasping system 2. The head of the grasping system 2 is fixed to the tail of the sensor system 1 through threads; the sensor system 1 can obtain the weight of the grasped object by weighing the grasping system 2, and when the grasping system 2 is hit Obtaining accurate three-dimensional force feedback, the grasping system 2 ensures that the target object is grasped safely and will not be damaged.

[0028] Such as figure 2 and image 3Shown is a sensing system 1, including a housing 1-2, a base 1-3, an X direction sensing mechanism 1-1, a Y direction sensing mechanism 1-5 and a Z direct...

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Abstract

The invention relates to a weighing-capable and collision-detectable pneumatic gripper, which includes a grasping system and a sensing system. The sensing system is screwed to the gripping system. The sensing system can accurately acquire and integrate the component force information of the grasping system in the X, Y, and Z directions to ensure the accuracy of the force measurement direction and size, and realize collision detection and weighing functions through force analysis. The grasping system uses pneumatic muscles as the power source, and the claws are retracted to grasp objects by pressurizing and contracting the pneumatic muscles. The present invention can ensure the accurate acquisition of three-dimensional force information only through the synthesis of three one-dimensional force sensor mechanisms. At the same time, the gripper is designed with pneumatic muscles and the end of the gripper is enveloped, so as to avoid damage to objects and ensure safe grasping. It has advantages in the direction of object sorting and transportation. Great advantage.

Description

technical field [0001] The invention relates to the field of mechanical grippers, in particular to a pneumatic gripper capable of weighing and collision detection. Background technique [0002] In the field of robotics, in order to replace the heavy labor of human beings, mechanical claws are often needed to imitate certain movement functions of human hands to grasp, carry objects or operate tools. When sorting and transporting items, due to the uncertainty of the target and route, it is necessary to ensure the integrity of the object, and obtain the weight information of the object and real-time collision detection. [0003] At present, there are many authorized invention patents on robotic grippers in China, such as a multi-sensor robotic gripper and method with application number 00119081.4. This patent uses multi-sensor integration to control the adjustability of the grasping process, but it does not have a terminal Collision detection capability during transportation, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00B25J19/02B25J15/10
CPCB25J15/00B25J15/10B25J19/02
Inventor 解杨敏曹芷彦李冠达卢勇光潘天宇
Owner SHANGHAI UNIV
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