Slip sensor and clamping device including same

Abstract

The invention discloses a slip sensor and a clamping device including same. The slip sensor comprises the components of a roller, an outer peripheral surface is used for contacting with an object, furthermore the roller can roll around the central axis of the roller along with relative sliding of the object to the outer peripheral surface, and the outer peripheral surface has a projection structure; an elastic assembly of which one end functions on the outer peripheral surface; and a fiber grating which can sense the stress change, wherein the other end of the elastic assembly functions on thefiber grating. Furthermore the distance between the central axis of the roller and the fiber grating is fixed. The fiber grating detects object sliding according to the pressure change of the elasticassembly. According to the structure, because the fiber grating has advantages of relatively high interference resistance, relatively high sensitivity, relatively high flexibility and relatively highpracticability for an application scene with a relatively small mounting space, the slip sensor settles problems of relatively low electromagnetic interference resistance, relatively low sensitivityand low flexibility in the slip sensor in prior art.

Description

technical field [0001] The invention relates to the technical field of sensors, and more specifically, to a slip sensor and a clamping device including the slip sensor. Background technique [0002] Slip detection is a key link for robots or mechanical grippers to achieve soft grasping. Reliable perception of slip information is a reliable guarantee for robots or mechanical grippers to complete predetermined gripping functions in complex and diverse environments. The slip sensor is used to detect whether there is a relative displacement between the intelligent robot or mechanical gripper and the gripped object. Commonly used slip sensors mainly include piezoresistive, capacitive and ceramic sensitive slip sensors according to their different detection mechanisms. However, the piezoresistive, capacitive and ceramic-sensitive sliding sensors have weak anti-electromagnetic interference capabilities, low sensitivity, and poor flexibility. [0003] Therefore, how to solve the p...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a slip sensor to solve the problems of weak anti-electromagnetic interference, low sensitivity and poor flexibility of the slip sensor in the prior art

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