Grasping device and alarm method thereof

Patent metadata

Field	Value
Publication number	US-10488193-B2
Application number	US-201816119049-A
Country	US
Kind code	B2
Filing date	Aug 31, 2018
Priority date	Jan 22, 2018
Publication date	Nov 26, 2019
Grant date	Nov 26, 2019

Abstract

The present disclosure provides a grasping device and an alarm method thereof. The grasping device includes: a bendable support part; a bend limiting support part that supports the bendable support part and limits bending of the bendable support part in a first direction, but allows bending of the bendable support part in a second direction opposite to the first direction; a plurality of suction members located on a side of the bend limiting support part away from the bendable support part and connected to the bendable support part.

First claim

What is claimed is:

1. A grasping device, comprising:
a bendable support part;
a bend limiting support part that supports the bendable support part and limits bending of the bendable support part in a first direction, but allows bending of the bendable support part in a second direction opposite to the first direction;
a plurality of suction members located on a side of the bend limiting support part away from the bendable support part and connected to the bendable support part.

2. The grasping device according to claim 1 , further comprising:
a level detection part disposed on the bendable support part.

3. The grasping device according to claim 2 , wherein
the level detection part comprises a light emitter and a light receiver; and
the light emitter and the light receiver are both disposed on a side of the bendable support part away from the bend limiting support part, and are spaced apart from each other.

4. The grasping device according to claim 3 , wherein
there are a plurality of bendable support parts;
the plurality of bendable support parts include a first bendable support part and a second bendable support part that are spaced apart from each other;
the light receiver includes a first receiver disposed on the first bendable support part, and a second receiver disposed on the second bendable support part;
the light emitter includes a first emitter rotatably disposed on the first bendable support part; and
an optical signal emitted by the first emitter rotated to a first angular position is aligned with a signal receiving area of the first receiver, while an optical signal emitted by the first emitter rotated to a second angular position is aligned with a signal receiving area of the second receiver.

5. The grasping device according to claim 4 , wherein
the light emitter includes a second emitter disposed on the second bendable support part; and
the second receiver is rotatably disposed on the second bendable support part, an optical signal emitted by the first emitter rotated to the second angular position is aligned with the signal receiving area of the second receiver rotated to a third angular position, and an optical signal emitted by the second emitter is aligned with the signal receiving area of the second receiver rotated to a fourth angular position.

6. The grasping device according to claim 5 , wherein
the second emitter is rotatably disposed on the second bendable support part;
the first receiver is rotatably disposed on the first bendable support part; and
an optical signal emitted by the second emitter rotated to a fifth angular position is aligned with the signal receiving area of the second receiver rotated to the fourth angular position, an optical signal emitted by the second emitter rotated to a sixth angular position is aligned with the signal receiving area of the first receiver rotated to a seventh angular position, and an optical signal emitted by the first emitter rotated to the first angular position is aligned with the signal receiving area of the first receiver rotated to an eighth angular position.

7. The grasping device according to claim 3 , further comprising:
an alarm part electrically connected to the light receiver.

8. The grasping device according to claim 7 , wherein
the light receiver includes a reading unit that reads light deviation data; and
the alarm part includes:
a data acquisition unit configured to acquire the light deviation data from the reading unit of the light receiver;
a comparison unit configured to compare the light deviation data with a deviation threshold; and
an execution unit configured to set off an alarm if the light deviation data is greater than the deviation threshold.

9. The grasping device according to claim 2 , wherein
the bendable support part includes a first rigid support arm and a second rigid support arm, one end of the first rigid support arm being rotatably connected to one end of the second rigid support arm.

10. The grasping device according to claim 9 , wherein
the level detection part comprises a light emitter and a light receiver; and
the light emitter is disposed on a side of the first rigid support arm away from the bend limiting support part and at the other end of the first rigid support arm, and the light receiver is disposed on a side of the second rigid support arm away from the bend limiting support part and at the other end of the second rigid support arm.

11. The grasping device according to claim 1 , wherein
the bendable support part includes a flexible support arm.

12. The grasping device according to claim 1 , further comprising:
a plurality of connecting members via which the plurality of suction members are connected to the bendable support part.

13. The grasping device according to claim 12 , wherein
the connecting member is a rigid connecting member.

14. The grasping device according to claim 13 , wherein
the bendable support part is provided with a hole into which one end of the connecting member is inserted, and the other end of the connecting member is connected to the suction member.

15. The grasping device according to claim 2 , wherein
the level detection part is a bubble level.

16. An alarm method for the grasping device according to claim 8 , comprising:
acquiring the light deviation data;
comparing the light deviation data with a deviation threshold; and
setting off an alarm if the light deviation data is greater than the deviation threshold.

17. The alarm method according to claim 16 , wherein
the deviation threshold is an adjustable threshold within the range of −5 mm to 5 mm.

Assignees

• Boe Technology Group Co Ltd
• Hefei Xinsheng Optoelectronics Technology Co Ltd

Inventors

• Xu Hongliang
• Guo Dong
• Cheng Guozheng
• Liang Changrui
• Zhang Hanzhong
• Zhou Chunlin
• Wu Yang
• Xi Ying
• Peng Zhong

Classifications

• G08B21/182

  Level alarms, e.g. alarms responsive to variables exceeding a threshold · CPC title

• G01C2009/066

  optical · CPC title

• G08B5/36

  using visible light sources · CPC title

• G01C9/06 Primary

  Electric or photoelectric indication or reading means · CPC title

• B25J15/0061

  mounted on a modular gripping structure · CPC title