CN209177478U - Sense the device for force feedback of object and end effector and robot with it - Google Patents
Sense the device for force feedback of object and end effector and robot with it Download PDFInfo
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- CN209177478U CN209177478U CN201821806012.3U CN201821806012U CN209177478U CN 209177478 U CN209177478 U CN 209177478U CN 201821806012 U CN201821806012 U CN 201821806012U CN 209177478 U CN209177478 U CN 209177478U
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- shaft assembly
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- bar assembly
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Abstract
The utility model provides a kind of device for force feedback for sensing object.Wherein, the device for force feedback includes: interior bar assembly, outer shaft assembly and trigger switch；Described interior bar assembly one end connect with controller and is controlled by the controller, and the other end protrudes into the outer shaft assembly；The outer shaft assembly is axially displaceably sheathed on outside the interior bar assembly；The trigger switch is installed in the interior bar assembly, and sends feedback signal in place to the controller in triggering mobile by the outer shaft assembly.The utility model additionally provides the end effector and its robot of the device.The axial movement that the utility model passes through interior bar assembly and the outer shaft assembly being set in interior bar assembly, the stop motion when outer shaft assembly is moved to body surface, and then trigger switch, feedback signal is generated to controller, cargo is grabbed by controller control end effector, so that cost of investment is lower, working efficiency is higher, the generation of noise signal is avoided, detection effect is also relatively reliable.
Description
Technical field
The utility model relates to detection technology fields, the in particular to device for force feedback of sensing object and the end with it
Actuator and robot.
Background technique
In the sensing system of modernization, cargo location can be detected by sensor and mechanical gripper, and grab cargo
It is put into corresponding region.By the undefined position information of sensor detection cargo, and then controls mechanical gripper and grab cargo, realization pair
The classification sort operation of the cargo of undefined position, so that sort operation is more convenient.
Currently, preferably there is 3D sensor and traditional force snesor and manipulator to act synergistically on the market, realization pair
The sort operation of undefined position cargo.3D sensor directly detects the depth information of cargo, by mechanical gripper and cargo surfaces
Vertical range control manipulator movement, but 3D sensor is easy to appear the intermittent defect of used algorithm.For passing
The force snesor of system, the contact by sense mechanism handgrip with cargo surfaces generate signal, and then control mechanical gripper and grab goods
Object, traditional force snesor is expensive, and is easy to produce noise signal.
With the development and progress of society, there is an urgent need for a kind of device for force feedback of sensing object position for the prior art.
Utility model content
(1) purpose of utility model
To overcome above-mentioned at least one defect of the existing technology, the utility model provides a kind of power for sensing object
Feedback device and end effector and robot with it, using the outer shaft assembly being sheathed in interior bar assembly in detection arrival
Trigger switch when object location generates feedback signal to controller, completes crawl by controller control end effector and pile up operation,
So that the sorting processing cost of cargo is lower, working efficiency is higher.
(2) technical solution
As the utility model in a first aspect, the utility model discloses a kind of device for force feedback for sensing object, wrap
It includes: interior bar assembly, outer shaft assembly and trigger switch；
Described interior bar assembly one end connect with controller and is controlled by the controller, and the other end protrudes into the outer bar group
Part；
The outer shaft assembly is axially displaceably sheathed on outside the interior bar assembly；
The trigger switch is installed in the interior bar assembly, and in triggering mobile by the outer shaft assembly to the control
Device processed sends feedback signal in place.
In a kind of possible embodiment, the device for force feedback further include: spring assembly, along the shifting of the outer shaft assembly
Dynamic direction setting, and be installed between the outer shaft assembly and the interior bar assembly.
In a kind of possible embodiment, the spring assembly includes: at least one spring, at least one spring
The end thereof contacts for protruding into the outer shaft assembly of one end and the interior bar assembly, the other end are contacted with the outer shaft assembly bottom.
In a kind of possible embodiment, the interior bar assembly and the outer shaft assembly are slidably connected or roll connection.
In a kind of possible embodiment, rubber damping is provided between the interior bar assembly and the outer shaft assembly.
In a kind of possible embodiment, what the trigger switch was installed on the interior bar assembly exposes to the outer bar group
One end of part, triggering end have between the outer shaft assembly towards the outer shaft assembly or perpendicular to the outer shaft assembly
There is certain interval.
In a kind of possible embodiment, the trigger switch be sheathed on the interior bar assembly it is described expose to it is described outer
One end of bar assembly, triggering end is towards the outer shaft assembly.
In a kind of possible embodiment, limiting groove/limited block, the interior bar assembly are provided in the outer shaft assembly
It is equipped with limited block/limiting groove, the limited block moves in the limiting groove with the movement of the outer shaft assembly.
As the second aspect of the utility model, the utility model discloses a kind of end effectors, comprising:
The device for force feedback of the sensing object disclosed in any of the above-described technical solution；
Gripper assembly is connected on the outside of the outer shaft assembly of the device for force feedback.
As the third aspect of the utility model, the utility model discloses a kind of robots, comprising:
The end effector disclosed in above-mentioned technical proposal；And
Controller connect with interior bar assembly one end of the device for force feedback and controls the interior bar assembly movement.
(3) beneficial effect
The device for force feedback provided by the utility model for sensing object and end effector and robot with it, pass through
Outer shaft assembly and end effector stop motion when detecting cargo thereon, and then trigger switch generates feedback signal to control
Device processed, controller completes the crawl to cargo by control end effector and piles up operation, so that the cost of investment of goods sorting
Lower, working efficiency is higher, also avoids the generation of noise signal, and testing result is relatively reliable.
Detailed description of the invention
It is exemplary below with reference to the embodiment of attached drawing description, it is intended to it is used for explanation and illustration the utility model, without
It can be interpreted as the limitation to the protection scope of the utility model.
Fig. 1 is the structural schematic diagram of the device for force feedback of sensing object provided by the utility model.
Fig. 2 is the structural schematic diagram of end effector connection device for force feedback provided by the utility model.
Fig. 3 is the structural schematic diagram of robot connection device for force feedback and end effector provided by the utility model.
Appended drawing reference:
1 outer bar
2 interior bars
3 key switches
4 mechanical grippers
5 robots
6 springs
Specific embodiment
To keep the purposes, technical schemes and advantages of the utility model implementation clearer, below in conjunction with the utility model
Attached drawing in embodiment, is further described in more detail the technical scheme in the embodiment of the utility model.
It should be understood that in the accompanying drawings, from beginning to end same or similar label indicate same or similar element or
Element with the same or similar functions.The embodiments are a part of the embodiments of the present invention, rather than whole
Embodiment, in the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.Based on this reality
It is obtained by those of ordinary skill in the art without making creative efforts every other with the embodiment in novel
Embodiment is fallen within the protection scope of the utility model.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion institute
The device or element of finger must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this reality
With the limitation of novel protected range.
The first embodiment of the device for force feedback of sensing object provided by the utility model is described in detail below with reference to Fig. 1.
As shown in Figure 1, device for force feedback provided in this embodiment specifically includes that interior bar assembly, outer shaft assembly and trigger switch.
Described interior bar assembly one end connect with controller and is controlled by the controller, and the other end protrudes into the outer bar group
Part.Specifically, one end of interior bar assembly is connect outside outer shaft assembly with controller, controller controls the operation of interior bar assembly,
The other end of interior bar assembly can move at the same speed in exogenous disease component internal, outer shaft assembly with interior bar assembly.
The outer shaft assembly is axially displaceably sheathed on outside the interior bar assembly.Specifically, in outer shaft assembly is sheathed on
In bar assembly, and it can axially move along interior bar assembly.In the state that outer shaft assembly moves at the same speed with interior bar assembly, outside
When bar assembly moves to the surface location where cargo, outer shaft assembly stop motion, interior bar assembly continues to be axially moved, interior bar group
The state of part and outer shaft assembly is considered as outer shaft assembly and axially moves along interior bar assembly.As shown in Figure 1, being interior bar assembly
With the connection of outer shaft assembly, wherein 1 is outer shaft assembly, 2 be interior bar assembly.
The trigger switch is installed in the interior bar assembly, and in triggering mobile by the outer shaft assembly to the control
Device processed sends feedback signal in place.Specifically, trigger switch is installed on one end of interior bar assembly, when outer shaft assembly is along interior bar group
When part axially moves to trigger switch one end, trigger switch is triggered by outer shaft assembly, and trigger switch is sent to controller to be fed back
Signal, as outer shaft assembly detect the signal of cargo surfaces position.
In one embodiment, the device for force feedback further include: spring assembly, along the side of movement of the outer shaft assembly
To setting, and it is installed between the outer shaft assembly and the interior bar assembly.In the synchronized movement of outer shaft assembly and interior bar assembly
Spring assembly is installed between outer shaft assembly and interior bar assembly in direction one end, and when outer shaft assembly stop motion, interior bar assembly continues
When axial movement, interior bar assembly squeezes spring assembly, and as outer shaft assembly axially moves along interior bar assembly.
In one embodiment, the spring assembly includes: at least one spring, one end of at least one spring
With the end thereof contacts for protruding into the outer shaft assembly of the interior bar assembly, the other end is contacted with the outer shaft assembly bottom.Such as Fig. 1
Shown, one end of spring 6 connects one end that interior bar assembly protrudes into outer shaft assembly, the bottom of the other end connection outer shaft assembly of spring 6
Portion position.It can be set to a spring, or be set as three springs, four springs etc. specifically should be according to spring force
The setting such as size of size, interior bar assembly and outer shaft assembly, is answered depending on the circumstances.
In one embodiment, the interior bar assembly and the outer shaft assembly are slidably connected or roll connection.Interior bar group
The connection of part and outer shaft assembly, which can be set, is slidably connected or rolls connection, and ball is arranged between interior bar assembly and outer shaft assembly
Or coating lubricating oil, it axially moves convenient for outer shaft assembly along interior bar assembly.
In one embodiment, rubber damping is provided between the interior bar assembly and the outer shaft assembly.Work as outer bar
When component axially moves along interior bar assembly, outer shaft assembly one end gradually becomes smaller with the trigger switch distance in interior bar assembly,
Until trigger switch is triggered by outer shaft assembly, rubber damping is set between interior bar assembly and outer shaft assembly, avoids outer bar and triggering
Switch generates severe crash, causes the damage and different degrees of abrasion of trigger switch.
In one embodiment, the trigger switch is installed on the outer shaft assembly that exposes to of the interior bar assembly
One end, triggering end have one towards the outer shaft assembly or perpendicular to the outer shaft assembly between the outer shaft assembly
Fixed gap.Interior bar assembly is arranged trigger switch on external one end of outer bar assembly, the triggering end of trigger switch may be configured as with
One end of outer shaft assembly it is vertical or with outer shaft assembly point-blank, and be arranged between triggering end and outer shaft assembly certain
Distance avoids in the initial state, and trigger switch and outer shaft assembly act on, and generates feedback signal, causes the transmitting of error message.
Bar assembly and outer shaft assembly is stationary or interior bar assembly drives outer shaft assembly equidirectional at the same speed in being under original state
In the state of movement.The distance of setting can be several millimeters, such as 3 millimeters, 5 millimeters.
In one embodiment, the trigger switch is sheathed on the described of the interior bar assembly and exposes to the outer bar group
One end of part, triggering end is towards the outer shaft assembly.Interior bar assembly is arranged trigger switch on one end outside outer bar assembly,
The triggering end of trigger switch axially moves along interior bar assembly to trigger switch one end towards outer shaft assembly in outer shaft assembly
When, trigger switch is triggered by outer shaft assembly.
In one embodiment, the trigger switch includes following one of which: key switch, button switch, fine motion
Switch, toggle switch, limit switch, close switch.According to the triggering end of trigger switch towards outer shaft assembly or perpendicular to outer bar
Whether the contact with outer shaft assembly of component and trigger switch, settable key switch, microswitch, is stirred out button switch
Pass and close switch etc., if the triggering end of trigger switch can be set to perpendicular to outer shaft assembly and when being contact-making switch
Toggle switch；If trigger switch can be set there is no contacting to can produce triggering between trigger switch and outer shaft assembly
To approach switch.As shown in Figure 1, the triggering end of trigger switch is towards outer shaft assembly and is contact-making switch, key can be set to
Switch 3.
In one embodiment, it is provided with limiting groove/limited block in the outer shaft assembly, is set in the interior bar assembly
There is limited block/limiting groove, the limited block moves in the limiting groove with the movement of the outer shaft assembly.Force feedback dress
A limiting groove can be arranged in outer shaft assembly by setting, corresponding that limited block is arranged in interior bar assembly；Or in interior bar assembly
Limited block is arranged in corresponding outer shaft assembly in one limiting groove of upper setting.When outer shaft assembly axially moves along interior bar assembly
Move distance the length of interior bar assembly one end can be parallel to for limiting groove, the setting of limiting groove and limited block avoids covering
Outer shaft assembly in interior bar assembly is fallen.
In one embodiment, the limiting groove is annular recess, and the limited block is collar.On device for force feedback
Limiting groove can be set to annular recess, limited block can be set to collar.
The utility model is by the axial movement of interior bar assembly and the outer shaft assembly being set in interior bar assembly, in outer bar
Stop motion when component is moved to cargo surfaces, and then trigger switch generate feedback signal to controller, realize to cargo location
Detection.Using the device for force feedback of sensing object, the detection to cargo location, speed lower compared with 3D sensor cost are realized
Faster, more traditional force snesor, avoids noise signal, and detection effect is relatively reliable.
The first embodiment of end effector provided by the utility model is described in detail below with reference to Fig. 2.As shown in Fig. 2,
End effector provided in this embodiment specifically includes that the device for force feedback that object is sensed disclosed in above-described embodiment；Clamping
Component is connected on the outside of the outer shaft assembly of the device for force feedback.
The device for force feedback of the sensing object specifically includes that interior bar assembly, outer shaft assembly and trigger switch.
Described interior bar assembly one end connect with controller and is controlled by the controller, and the other end protrudes into the outer bar group
Part.Specifically, one end of interior bar assembly is connect outside outer shaft assembly with controller, controller controls the operation of interior bar assembly,
The other end of interior bar assembly can move at the same speed in exogenous disease component internal, outer shaft assembly with interior bar assembly.
The outer shaft assembly is axially displaceably sheathed on outside the interior bar assembly.Specifically, in outer shaft assembly is sheathed on
In bar assembly, and it can axially move along interior bar assembly.In the state that outer shaft assembly moves at the same speed with interior bar assembly, outside
When bar assembly moves to the surface location where cargo, outer shaft assembly stop motion, interior bar assembly continues to be axially moved, interior bar group
The state of part and outer shaft assembly is considered as outer shaft assembly and axially moves along interior bar assembly.As shown in Fig. 2, being interior bar assembly
With the connection of outer shaft assembly, wherein 1 is outer shaft assembly, 2 be interior bar assembly.
The trigger switch is installed in the interior bar assembly, and in triggering mobile by the outer shaft assembly to the control
Device processed sends feedback signal in place.Specifically, trigger switch is installed on one end of interior bar assembly, when outer shaft assembly is along interior bar group
When part axially moves to trigger switch one end, trigger switch is triggered by outer shaft assembly, and trigger switch is sent to controller to be fed back
Signal, as outer shaft assembly detect the signal of cargo surfaces position.
In one embodiment, the device for force feedback further include: spring assembly, along the side of movement of the outer shaft assembly
To setting, and it is installed between the outer shaft assembly and the interior bar assembly.In the synchronized movement of outer shaft assembly and interior bar assembly
Spring assembly is installed between outer shaft assembly and interior bar assembly in direction one end, and when outer shaft assembly stop motion, interior bar assembly continues
When axial movement, interior bar assembly squeezes spring assembly, and as outer shaft assembly axially moves along interior bar assembly.
In one embodiment, the spring assembly includes: at least one spring, one end of at least one spring
With the end thereof contacts for protruding into the outer shaft assembly of the interior bar assembly, the other end is contacted with the outer shaft assembly bottom.Such as Fig. 2
Shown, one end of spring 6 connects one end that interior bar assembly protrudes into outer shaft assembly, the bottom of the other end connection outer shaft assembly of spring 6
Portion position.It can be set to a spring, or be set as three springs, four springs etc. specifically should be according to spring force
The setting such as size of size, interior bar assembly and outer shaft assembly, is answered depending on the circumstances.
In one embodiment, the interior bar assembly and the outer shaft assembly are slidably connected or roll connection.Interior bar group
The connection of part and outer shaft assembly, which can be set, is slidably connected or rolls connection, and ball is arranged between interior bar assembly and outer shaft assembly
Or coating lubricating oil, it axially moves convenient for outer shaft assembly along interior bar assembly.
In one embodiment, rubber damping is provided between the interior bar assembly and the outer shaft assembly.Work as outer bar
When component axially moves along interior bar assembly, outer shaft assembly one end gradually becomes smaller with the trigger switch distance in interior bar assembly,
Until trigger switch is triggered by outer shaft assembly, rubber damping is set between interior bar assembly and outer shaft assembly, avoids outer bar and triggering
Switch generates severe crash, causes the damage and different degrees of abrasion of trigger switch.
In one embodiment, the trigger switch is installed on the outer shaft assembly that exposes to of the interior bar assembly
One end, triggering end have one towards the outer shaft assembly or perpendicular to the outer shaft assembly between the outer shaft assembly
Fixed gap.Interior bar assembly is arranged trigger switch on external one end of outer bar assembly, the triggering end of trigger switch may be configured as with
One end of outer shaft assembly it is vertical or with outer shaft assembly point-blank, and be arranged between triggering end and outer shaft assembly certain
Distance avoids in the initial state, and trigger switch and outer shaft assembly act on, and generates feedback signal, causes the transmitting of error message.
Bar assembly and outer shaft assembly is stationary or interior bar assembly drives outer shaft assembly equidirectional at the same speed in being under original state
In the state of movement.The distance of setting can be several millimeters, such as 3 millimeters, 5 millimeters.
In one embodiment, the trigger switch is sheathed on the described of the interior bar assembly and exposes to the outer bar group
One end of part, triggering end is towards the outer shaft assembly.Interior bar assembly is arranged trigger switch on one end outside outer bar assembly,
The triggering end of trigger switch axially moves along interior bar assembly to trigger switch one end towards outer shaft assembly in outer shaft assembly
When, trigger switch is triggered by outer shaft assembly.
In one embodiment, the trigger switch includes following one of which: key switch, button switch, fine motion
Switch, toggle switch, limit switch, close switch.According to the triggering end of trigger switch towards outer shaft assembly or perpendicular to outer bar
Whether the contact with outer shaft assembly of component and trigger switch, settable key switch, microswitch, is stirred out button switch
Close and close to switch etc., if the triggering end of trigger switch towards outer shaft assembly and be contact-making switch when, can be set to by
Key switch；If the triggering end of trigger switch can be set to toggle switch perpendicular to outer shaft assembly and when being contact-making switch；Such as
There is no contacting to can produce triggering between fruit trigger switch and outer shaft assembly, then it is close to switch that trigger switch, which can be set,.
As shown in Fig. 2, the triggering end of trigger switch is towards outer shaft assembly and is contact-making switch, key switch 3 can be set to.
In one embodiment, it is provided with limiting groove/limited block in the outer shaft assembly, is set in the interior bar assembly
There is limited block/limiting groove, the limited block moves in the limiting groove with the movement of the outer shaft assembly.Force feedback dress
A limiting groove can be arranged in outer shaft assembly by setting, corresponding that limited block is arranged in interior bar assembly；Or in interior bar assembly
Limited block is arranged in corresponding outer shaft assembly in one limiting groove of upper setting.When outer shaft assembly axially moves along interior bar assembly
Move distance the length of interior bar assembly one end can be parallel to for limiting groove, the setting of limiting groove and limited block avoids covering
Outer shaft assembly in interior bar assembly is fallen.
In one embodiment, the limiting groove is annular recess, and the limited block is collar.On device for force feedback
Limiting groove can be set to annular recess, limited block can be set to collar.
The device for force feedback and embodiments thereof of above-mentioned sensing object, are all applied to this end effector.
Gripper assembly is connected on the outside of the outer shaft assembly of the device for force feedback.Feedback signal is received in controller
When, control end effector (gripper assembly) stops being axially moved, and gripper assembly can be mechanical gripper or clamping jaw etc..Such as Fig. 2
Shown, end effector is that mechanical gripper 4 is set on the device for force feedback of sensing object, same in outer shaft assembly and interior bar assembly
When speed axially moves, as the location information where the mechanical gripper 4 in outer shaft assembly detects cargo.
In one embodiment, end effector further include: connect with interior bar assembly one end of the device for force feedback
It connects and controls the mobile controller of the interior bar assembly.Interior bar assembly one end connects robot wrist, and controller passes through control machine
Device human arm controls the movement of interior bar assembly.
The utility model is by the axial movement of interior bar assembly and the outer shaft assembly being set in interior bar assembly, in outer bar
The stop motion when end effector of component is moved to cargo surfaces, and then trigger switch generate feedback signal to controller.Benefit
With the device for force feedback of sensing object and with its end effector, realize the detection to cargo location, compared with 3D sensor at
This is lower, and faster, more traditional force snesor avoids noise signal to speed, and detection effect is relatively reliable.
The first embodiment of robot provided by the utility model is described in detail below with reference to Fig. 3.As shown in figure 3, this reality
The robot for applying example offer specifically includes that end effector disclosed in above-described embodiment；And
Controller connect with interior bar assembly one end of the device for force feedback and controls the interior bar assembly movement.
The end effector specifically includes that the device for force feedback that object is sensed disclosed in above-described embodiment；Gripper assembly,
It is connected on the outside of the outer shaft assembly of the device for force feedback.
The device for force feedback of the sensing object specifically includes that interior bar assembly, outer shaft assembly and trigger switch.
Described interior bar assembly one end connect with controller and is controlled by the controller, and the other end protrudes into the outer bar group
Part.Specifically, one end of interior bar assembly is connect outside outer shaft assembly with controller, controller controls the operation of interior bar assembly,
The other end of interior bar assembly can move at the same speed in exogenous disease component internal, outer shaft assembly with interior bar assembly.
The outer shaft assembly is axially displaceably sheathed on outside the interior bar assembly.Specifically, in outer shaft assembly is sheathed on
In bar assembly, and it can axially move along interior bar assembly.In the state that outer shaft assembly moves at the same speed with interior bar assembly, outside
When bar assembly moves to the surface location where cargo, outer shaft assembly stop motion, interior bar assembly continues to be axially moved, interior bar group
The state of part and outer shaft assembly is considered as outer shaft assembly and axially moves along interior bar assembly.As shown in figure 3, being interior bar assembly
With the connection of outer shaft assembly, wherein 1 is outer shaft assembly, 2 be interior bar assembly.
The trigger switch is installed in the interior bar assembly, and in triggering mobile by the outer shaft assembly to the control
Device processed sends feedback signal in place.Specifically, trigger switch is installed on one end of interior bar assembly, when outer shaft assembly is along interior bar group
When part axially moves to trigger switch one end, trigger switch is triggered by outer shaft assembly, and trigger switch is sent to controller to be fed back
Signal, as outer shaft assembly detect the signal of cargo surfaces position.
In one embodiment, the device for force feedback further include: spring assembly, along the side of movement of the outer shaft assembly
To setting, and it is installed between the outer shaft assembly and the interior bar assembly.In the synchronized movement of outer shaft assembly and interior bar assembly
Spring assembly is installed between outer shaft assembly and interior bar assembly in direction one end, and when outer shaft assembly stop motion, interior bar assembly continues
When axial movement, interior bar assembly squeezes spring assembly, and as outer shaft assembly axially moves along interior bar assembly.
In one embodiment, the spring assembly includes: at least one spring, one end of at least one spring
With the end thereof contacts for protruding into the outer shaft assembly of the interior bar assembly, the other end is contacted with the outer shaft assembly bottom.Such as Fig. 3
Shown, one end of spring 6 connects one end that interior bar assembly protrudes into outer shaft assembly, the bottom of the other end connection outer shaft assembly of spring 6
Portion position.It can be set to a spring, or be set as three springs, four springs etc. specifically should be according to spring force
The setting such as size of size, interior bar assembly and outer shaft assembly, is answered depending on the circumstances.
In one embodiment, the interior bar assembly and the outer shaft assembly are slidably connected or roll connection.Interior bar group
The connection of part and outer shaft assembly, which can be set, is slidably connected or rolls connection, and ball is arranged between interior bar assembly and outer shaft assembly
Or coating lubricating oil, it axially moves convenient for outer shaft assembly along interior bar assembly.
In one embodiment, rubber damping is provided between the interior bar assembly and the outer shaft assembly.Work as outer bar
When component axially moves along interior bar assembly, outer shaft assembly one end gradually becomes smaller with the trigger switch distance in interior bar assembly,
Until trigger switch is triggered by outer shaft assembly.Rubber damping is set between interior bar assembly and outer shaft assembly, avoids outer bar and triggering
Switch generates severe crash, causes the damage and different degrees of abrasion of trigger switch.
In one embodiment, the trigger switch is installed on the outer shaft assembly that exposes to of the interior bar assembly
One end, triggering end have one towards the outer shaft assembly or perpendicular to the outer shaft assembly between the outer shaft assembly
Fixed gap.Interior bar assembly is arranged trigger switch on external one end of outer bar assembly, the triggering end of trigger switch may be configured as with
One end of outer shaft assembly it is vertical or with outer shaft assembly point-blank, and be arranged between triggering end and outer shaft assembly certain
Distance avoids in the initial state, and trigger switch and outer shaft assembly act on, and generates feedback signal, causes the transmitting of error message.
Bar assembly and outer shaft assembly is stationary or interior bar assembly drives outer shaft assembly equidirectional at the same speed in being under original state
In the state of movement.The distance of setting can be several millimeters, such as 3 millimeters, 5 millimeters.
In one embodiment, the trigger switch is sheathed on the described of the interior bar assembly and exposes to the outer bar group
One end of part, triggering end is towards the outer shaft assembly.Interior bar assembly is arranged trigger switch on one end outside outer bar assembly,
The triggering end of trigger switch axially moves along interior bar assembly to trigger switch one end towards outer shaft assembly in outer shaft assembly
When, trigger switch is triggered by outer shaft assembly.
In one embodiment, the trigger switch includes following one of which: key switch, button switch, fine motion
Switch, toggle switch, limit switch, close switch.According to the triggering end of trigger switch towards outer shaft assembly or perpendicular to outer bar
Whether the contact with outer shaft assembly of component and trigger switch, settable key switch, microswitch, is stirred out button switch
Close and close to switch etc., if the triggering end of trigger switch towards outer shaft assembly and be contact-making switch when, can be set to by
Key switch；If the triggering end of trigger switch can be set to toggle switch perpendicular to outer shaft assembly and when being contact-making switch；Such as
There is no contacting to can produce triggering between fruit trigger switch and outer shaft assembly, then it is close to switch that trigger switch, which can be set,.
As shown in figure 3, the triggering end of trigger switch is towards outer shaft assembly and is contact-making switch, key switch 3 can be set to.
In one embodiment, it is provided with limiting groove/limited block in the outer shaft assembly, is set in the interior bar assembly
There is limited block/limiting groove, the limited block moves in the limiting groove with the movement of the outer shaft assembly.Force feedback dress
A limiting groove can be arranged in outer shaft assembly by setting, corresponding that limited block is arranged in interior bar assembly；Or in interior bar assembly
Limited block is arranged in corresponding outer shaft assembly in one limiting groove of upper setting.When outer shaft assembly axially moves along interior bar assembly
Move distance the length of interior bar assembly one end can be parallel to for limiting groove, the setting of limiting groove and limited block avoids covering
Outer shaft assembly in interior bar assembly is fallen.
In one embodiment, the limiting groove is annular recess, and the limited block is collar.On device for force feedback
Limiting groove can be set to annular recess, limited block can be set to collar.
The device for force feedback and embodiments thereof of above-mentioned sensing object, are all applied to this end effector.
Gripper assembly is connected on the outside of the outer shaft assembly of the device for force feedback.Feedback signal is received in controller
When, control end effector (gripper assembly) stops being axially moved, and gripper assembly can be mechanical gripper or clamping jaw etc..Such as Fig. 3
Shown, end effector is that mechanical gripper 4 is set on the device for force feedback of sensing object, same in outer shaft assembly and interior bar assembly
When speed axially moves, as the location information where the mechanical gripper 4 in outer shaft assembly detects cargo.
In one embodiment, end effector further include: connect with interior bar assembly one end of the device for force feedback
It connects and controls the mobile controller of the interior bar assembly.Interior bar assembly one end connects robot wrist, and controller passes through control machine
Device human arm controls the movement of interior bar assembly.
Above-mentioned end actuator and embodiments thereof are all applied to this robot.
Controller connect with interior bar assembly one end of the device for force feedback and controls the interior bar assembly movement.Control
Device processed may be disposed at the internal or external of robot, and the movement of interior bar assembly is controlled by control robot arm, and controller exists
After receiving feedback signal, control end effector crawl cargo is simultaneously put into specified stacking position.As shown in figure 3, robot 5 connects
The device for force feedback for connecing sensing object is completed to grasp the freight detection of undefined position information and sorting with end effector jointly
Make.
The utility model is by the axial movement of interior bar assembly and the outer shaft assembly being set in interior bar assembly, in outer bar
The stop motion when end effector of component is moved to cargo surfaces, and then trigger switch, generate feedback signal to controller, by
Cargo is simultaneously put into specified stacking position by controller control mechanical gripper crawl cargo.Using sensing object device for force feedback and
With its end effector and robot, realize that operation is piled up in the detection to cargo location, and crawl, compared with 3D sensor at
This is lower, and faster, more traditional force snesor avoids noise signal to speed, and detection effect is relatively reliable.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, the change that can be readily occurred in
Change or replace, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with described
Subject to scope of protection of the claims.
Claims (10)
1. a kind of device for force feedback for sensing object characterized by comprising interior bar assembly, outer shaft assembly and trigger switch；
Described interior bar assembly one end connect with controller and is controlled by the controller, and the other end protrudes into the outer shaft assembly；
The outer shaft assembly is axially displaceably sheathed on outside the interior bar assembly；
The trigger switch is installed in the interior bar assembly, and in triggering mobile by the outer shaft assembly to the controller
Send feedback signal in place.
2. device for force feedback according to claim 1, which is characterized in that the device for force feedback further include: spring assembly,
Moving direction along the outer shaft assembly is arranged, and is installed between the outer shaft assembly and the interior bar assembly.
3. device for force feedback according to claim 2, which is characterized in that the spring assembly includes: at least one spring,
The end thereof contacts for protruding into the outer shaft assembly of one end of at least one spring and the interior bar assembly, the other end with it is described
The contact of outer shaft assembly bottom.
4. device for force feedback according to claim 1, which is characterized in that the interior bar assembly and the outer shaft assembly are slided
Connection rolls connection.
5. device for force feedback according to claim 1, which is characterized in that between the interior bar assembly and the outer shaft assembly
It is provided with rubber damping.
6. device for force feedback according to claim 1, which is characterized in that the trigger switch is installed on the interior bar assembly
The one end for exposing to the outer shaft assembly, triggering end towards the outer shaft assembly or perpendicular to the outer shaft assembly, and with
There is certain interval between the outer shaft assembly.
7. device for force feedback according to claim 1, which is characterized in that the trigger switch is sheathed on the interior bar assembly
The one end for exposing to the outer shaft assembly, triggering end is towards the outer shaft assembly.
8. device for force feedback according to claim 1, which is characterized in that be provided in the outer shaft assembly limiting groove/
Limited block, the interior bar assembly are equipped with limited block/limiting groove, and the limited block is with the movement of the outer shaft assembly described
It is moved in limiting groove.
9. a kind of end effector characterized by comprising
Device for force feedback of any of claims 1-8；
Gripper assembly is connected on the outside of the outer shaft assembly of the device for force feedback.
10. a kind of robot characterized by comprising
End effector as claimed in claim 9；And
Controller connect with interior bar assembly one end of the device for force feedback of the end effector and controls the interior bar assembly
It is mobile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821806012.3U CN209177478U (en) | 2018-11-02 | 2018-11-02 | Sense the device for force feedback of object and end effector and robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821806012.3U CN209177478U (en) | 2018-11-02 | 2018-11-02 | Sense the device for force feedback of object and end effector and robot with it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209177478U true CN209177478U (en) | 2019-07-30 |
Family
ID=67363127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821806012.3U Active CN209177478U (en) | 2018-11-02 | 2018-11-02 | Sense the device for force feedback of object and end effector and robot with it |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209177478U (en) |
-
2018
- 2018-11-02 CN CN201821806012.3U patent/CN209177478U/en active Active
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Address after: H6-2 depot of Chiwan oil base, No.2 zuobaotai Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: H6-2 depot of Chiwan oil base, No.2 zuobaotai Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: SHENZHEN DORABOT ROBOTICS Co.,Ltd. |
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Address after: 518000 h6-1, H6 reservoir, Chiwan oil base, H6 reservoir, Chiwan left battery Road, Chiwan community, zhaoshang street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: H6-2 depot of Chiwan oil base, No.2 zuobaotai Road, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: Shenzhen Lan pangzi machine intelligence Co., Ltd |