CN106625712B - The adaptive operational instrument of hard disk handle item with force sensing function - Google Patents
The adaptive operational instrument of hard disk handle item with force sensing function Download PDFInfo
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- CN106625712B CN106625712B CN201611261692.0A CN201611261692A CN106625712B CN 106625712 B CN106625712 B CN 106625712B CN 201611261692 A CN201611261692 A CN 201611261692A CN 106625712 B CN106625712 B CN 106625712B
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- adaptive
- hard disk
- cylindrical portion
- angle
- spring
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The adaptive operational instrument of hard disk handle item with force sensing function is related to the operating mechanism with adaptive adjustment function of hard disk array cabinet operation robot end, in order to meet the operational requirements of hard disk handle item.Angle clamper includes cylindrical portion and angle clamping part, one end of cylindrical portion is fixed with angle clamping part, angle clamping part is equipped with dovetail groove, second straight line bearing, sliding plunger and indentation spring are successively cased in cylindrical portion from one end of cylindrical portion to the other end, across cylindrical portion and sliding plunger, the other end of cylindrical portion is connected pin with one end of adaptive spring；The other end of adaptive spring is connected with one end of operator connector, is cased with first straight line bearing outside operator connector, the other end of operator connector is fixed with one-dimensional bilateral transducer.The present invention is suitable for operation hard disk handle item.
Description
Technical field
The present invention relates to the operating mechanisms with adaptive adjustment function of hard disk array cabinet operation robot end.
Background technique
Currently, plug operation is carried out to hard disk handle item using hard disk array automated handling machines people, it is extensive to complete
The performance test of hard disk array system.Realize plug operation it should be noted that following problems to it:
1, hard disk belongs to compared with precise electronic product, and operates to it and belong to electrification hot plug, should ensure that when operating to it
Robot end's tool and hard disk handle compliant contact；
2, end-of-arm tooling movement position when robot operates hard disk is then calculated by calibration specified point in advance
What all hard disk handle positions determined, and place the hard disk array cabinet of hard disk handle item there are certain errors, cause each hard
There are certain errors with physical location for the calibrated and calculated position of disk Handle Bar, this requires robot end's tool to be adapted to these
Error；
3, certain hard disk handle items due to many reasons cause it is carried out plug operation when, can not be wanted really in technology
It asks in range and realizes, it is desirable that robot end's tool must have force sensing function, so that operation force threshold is arranged, work as operating force
When transfiniting, stop operation in time, in order to avoid damage hard disk handle item；
Therefore, the demand for robot system to end effector tool needs a kind of hard disk with force sensing function
The adaptive operational instrument of Handle Bar.
Summary of the invention
The present invention is in order to meet the operational requirements of hard disk handle item, to provide the hard disk handle item with force sensing function
Adaptive operational instrument.
Hard disk handle item adaptive operational instrument of the present invention with force sensing function, including adaptively clamp
Device, operator connector, first straight line bearing and one-dimensional two-way force snesor；
Adaptive clamper includes angle clamper, second straight line bearing, sliding plunger, pin, indentation spring and adaptive
Spring；
Angle clamper includes cylindrical portion and angle clamping part, and one end of cylindrical portion is fixed with angle clamping part, angle folder
Portion is held equipped with dovetail groove, be successively cased in cylindrical portion from one end of cylindrical portion to the other end second straight line bearing, sliding plunger and
It is pressed into spring, is sold across cylindrical portion and sliding plunger, the other end of cylindrical portion is connected with one end of adaptive spring；
The other end of adaptive spring is connected with one end of operator connector, and first straight line is cased with outside operator connector
Bearing, the other end of operator connector are fixed with one-dimensional bilateral transducer.
It preferably, further include check ring, check ring covers between second straight line bearing and sliding plunger oblique
In the cylindrical portion of mouth clamper.
Preferably, further include operator supporting element, operator supporting element is cased on first straight line bearing.
It preferably, further include clamp support, second straight line bearing, sliding plunger, pin, indentation spring and adaptive
Spring is respectively positioned in clamp support, and the angle retaining part of angle clamper is outside clamp support.
It preferably, further include attachment base, clamp support is fixedly connected by attachment base with operator connector.
A kind of adaptive operational instrument of hard disk handle item with force sensing function of the invention, the tool are installed on machine
Human body end for cooperating robot to realize to hard disk handle item into and out operation, and is arranged one-dimensional bidirectional force and passes
Pressing-in force and extraction of the sensor with real-time perception robot to the plug operating force of hard disk handle item, when including insertion Handle Bar
Withdrawal force when Handle Bar.According to the hard disk handle shape and Handle Bar plugging technique requirement to be operated, operational instrument
Angle clamper is designed using angle mode, under the cooperative movement of mechanical arm, is played and is clutched needed for extracting hard disk handle item
The effect of Elastic buckle and operation handle.The tool uses dual spring sliding equipment, and operational instrument is made to guarantee that completing operation appoints
On the basis of business, it is provided with preferable operation flexibility and adaptability.
The invention has the advantages that for hard disk handle specific operation task development with force sensing function from
Operational instrument is adapted to, meets auxiliary robot and completes the technical requirements operated to hard disk handle item.The tool has power perception function
Can, hard disk handle item can be effectively protected, there is adaptivity, with certain flexibility when making to operate, and can eliminate hard
Influence of the disk Handle Bar error in mounting position to operation, reduces the position accuracy demand to hard disk handle item, to realize big rule
The automation and standardization of mould hard disk array system test provide effective guarantee.
The present invention is suitable for operation hard disk handle item.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of hard disk in background technique；C1 is Elastic buckle, and C2 is operation handle；
Fig. 2 is the adaptive operational instrument of hard disk handle item and machine described in specific embodiment one with force sensing function
The schematic diagram of device people connection；
A is the adaptive operational instrument of hard disk handle item with force sensing function, and B is mechanical arm；
Fig. 3 is the adaptive operational instrument clamping of hard disk handle item described in specific embodiment one with force sensing function
Schematic diagram；
C is hard disk handle item；
The section view of the adaptive operational instrument of hard disk handle item described in Fig. 4 specific embodiment one with force sensing function
Figure；
Fig. 5 is the schematic perspective view of the adaptive clamper in specific embodiment one；
Fig. 6 is the cross-sectional view of the adaptive clamper in specific embodiment one.
Specific embodiment
Specific embodiment 1: illustrating present embodiment in conjunction with Fig. 2 to Fig. 6, there is power described in present embodiment
The adaptive operational instrument of hard disk handle item of perceptional function, including adaptive clamper 1, operator connector 2, first straight line axis
Hold 3 and one-dimensional two-way force snesor 4；
Adaptive clamper includes angle clamper 1-1, second straight line bearing 1-2, sliding plunger 1-3, pin 1-4, indentation
Spring 1-5 and adaptive spring 1-6；
Angle clamper 1-1 includes cylindrical portion and angle clamping part, and one end of cylindrical portion is fixed with angle clamping part, angle
Clamping part is equipped with dovetail groove, is successively cased with second straight line bearing 1-2 in cylindrical portion from one end of cylindrical portion to the other end, sliding is lived
1-3 and indentation spring 1-5 are filled in, pin 1-4 passes through cylindrical portion and sliding plunger 1-3, the other end of cylindrical portion and adaptive spring 1-6
One end be connected；
The other end of adaptive spring 1-6 is connected with one end of operator connector 2, and operator connector 2 is cased with the outside
One linear bearing 3, the fixed strong one-dimensional two-way force snesor 4 of the other end of operator connector 2.
The operating process that manually hard disk handle item is extracted from hard disk array cabinet are as follows: clutched with two fingers elastic
Buckle and operation handle, open the bayonet of Elastic buckle；Along operation handle rotary shaft rotation process handle, until hard disk handle
Item is extracted.
The manually step that the operating procedure of hard disk handle item insertion hard disk array cabinet is fairly simple, specific are as follows: with hand pressure
It is inserted into along hard disk array cabinet pull handle slot, when its insertion groove bottom, presses Handle Bar by the firmly boss of Handle Bar end face
Operation handle makes Elastic buckle block bayonet, that is, completes the insertion of hard disk handle item.
In the operating method and step of researching and analysing above-mentioned artificial plug hard disk handle item and hard disk handle structure spy
On the basis of point, the adaptive operational instrument of hard disk handle item with force sensing function of present embodiment is obtained.
First straight line bearing 3 plays the role of allowing axial force transmission.When adaptive clamper is in operation hard disk handle item
When, operating force can pass to force snesor by adaptive clamper, operator connector, to realize the real-time of operating force
Detection.
When extracting hard disk handle, angle clamper reaches a left side for Handle Bar operation handle under the movement of mechanical arm
Side as shown in figure 3, mechanical arm, which drives angle clamper to move to, clutches elastic card buckle, and continues to move, and angle clamps at this time
Elastic buckle and operation handle are clutched when the special designing opening angle of device can play the role of similar manual operation, makes elastic card
The bayonet of button opens, and after bayonet opens completely, mechanical arm can block left side of the Handle Bar operation handle into Fig. 3 and move
Hard disk handle item is extracted from hard disk array cabinet.
Angle holder designs shown in Fig. 3 at can in adaptive operator inside and outside sliding mode, it is internal adaptive
Spring withstands angle clamper in its bottom, makes it when sliding axially with certain elasticity, so angle shown in Fig. 3
When clamper is gradually moved to hard disk handle direction to play the role of gradually clutching Elastic buckle and operation handle, angle folder
Holder inside and outside in adaptive operational instrument can be slided to adapt to the shape camber line of Handle Bar operation handle, and this angle
Form and can Elastic Sliding design can also offset due to hard disk handle item the existing error in the installation of hard disk array cabinet, reach
Adaptive purpose.
When being pressed into hard disk, hard disk handle item directly can be withstood using the inclined-plane of angle clamper top special designing
Operation handle then by Handle Bar insertion groove bottom under the auxiliary of mechanical arm, and is done directly Elastic buckle and blocks bayonet step.
Since adaptive spring will adapt to Handle Bar location error when pulling out Handle Bar, its coefficient of elasticity it requires not
Can design it is too big, be otherwise easy stuck, and when being pressed into Handle Bar, too small the elastic coefficient can be such that spring travel exhausts to lead
Cause operational instrument and Handle Bar rigid contact, location error existing for such Handle Bar will make operator moment and Handle Bar
Operation handle rigid contact, transfinites so as to cause operating force, so the biggish indentation spring of design flexibility coefficient, the spring are being pressed
It works when entering Handle Bar, since the elastic coefficient is big compared with adaptive the elastic coefficient, when guaranteeing that Handle Bar is completely forced into
The impulse stroke of spring is always Elastic Contact to make operational instrument when being pressed into Handle Bar there are also residue between the two, with
Solve the problems, such as that the two contact forces rigid contact causes abrupt transients in operation to transfinite.
Specific embodiment 2: present embodiment is to the hard disk described in specific embodiment one with force sensing function
The adaptive operational instrument of Handle Bar is described further, and further includes check ring 1-9 in present embodiment, and check ring 1-9
Between second straight line bearing 1-2 and sliding plunger 1-3, cover in the cylindrical portion of angle clamper 1-1.
Check ring 1-9 prevents second straight line bearing 1-2 and sliding plunger 1-3 axial float.
Specific embodiment 3: present embodiment is to the hard disk described in specific embodiment one with force sensing function
The adaptive operational instrument of Handle Bar is described further, and further includes operator supporting element 5, first straight line axis in present embodiment
It holds and is cased with operator supporting element 5 on 3.
Further include clamp support 1-7, second straight line bearing 1-2, sliding plunger 1-3, pin 1-4, indentation spring 1-5 and
Adaptive spring 1-6 is respectively positioned in clamp support 1-7, and the angle retaining part of angle clamper 1-1 is in clamp support
Outside part 1-7.
One-dimensional two-way force snesor 4 passes through multiple first attachment screws 7 and clamp support 1-7 and operator connector
2 is fixed.First straight line bearing 3 is fixedly connected with clamp support 1-7 by the second attachment screw 6.
Clamp support 1-7 includes end cap 1-7-1 and cylindrical shell, and end cap 1-7-1 is connected by screw thread and cylindrical shell
It connects.
Specific embodiment 4: present embodiment is to the hard disk described in specific embodiment one with force sensing function
The adaptive operational instrument of Handle Bar is described further, and further includes attachment base 1-8, clamp support 1-7 in present embodiment
It is fixedly connected by attachment base 1-8 with operator connector 2.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, without departing from spirit of the invention as defined in the appended claims
And range.It should be understood that different appurtenances can be combined by being different from mode described in original claim
Benefit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can be used
In other described embodiments.
Claims (4)
1. the adaptive operational instrument of hard disk handle item with force sensing function, which is characterized in that including adaptive clamper
(1), operator connector (2), first straight line bearing (3) and one-dimensional two-way force snesor (4)；
Adaptive clamper include angle clamper (1-1), second straight line bearing (1-2), sliding plunger (1-3), pin (1-4),
It is pressed into spring (1-5), adaptive spring (1-6), clamp support (1-7) and attachment base (1-8)；
Angle clamper (1-1) includes cylindrical portion and angle clamping part, and one end of cylindrical portion is fixed with angle clamping part, angle folder
It holds portion and is equipped with dovetail groove, be successively cased with second straight line bearing (1-2) in cylindrical portion from one end of cylindrical portion to the other end, sliding is lived
Fill in (1-3) and indentation spring (1-5), pin (1-4) across cylindrical portion and sliding plunger (1-3), the other end of cylindrical portion with it is adaptive
One end of spring (1-6) is answered to be connected, second straight line bearing (1-2) is located in clamp support (1-7), clamp support
(1-7) is fixedly connected by attachment base (1-8) with operator connector (2)；
The other end of adaptive spring (1-6) is connected with one end of operator connector (2), is cased with outside operator connector (2)
First straight line bearing (3), the other end of operator connector (2) are fixed with one-dimensional two-way force snesor (4).
2. the hard disk handle item adaptive operational instrument according to claim 1 with force sensing function, which is characterized in that
It further include check ring (1-9), check ring (1-9) is located between second straight line bearing (1-2) and sliding plunger (1-3), set
In the cylindrical portion of angle clamper (1-1).
3. the hard disk handle item adaptive operational instrument according to claim 1 or 2 with force sensing function, feature exist
In further including operator supporting element (5), operator supporting element (5) be cased on first straight line bearing (3).
4. the hard disk handle item adaptive operational instrument according to claim 1 with force sensing function, which is characterized in that
Sliding plunger (1-3), pin (1-4), indentation spring (1-5) and adaptive spring (1-6) are respectively positioned on clamp support (1-7)
Interior, the angle retaining part of angle clamper (1-1) is external in clamp support (1-7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611261692.0A CN106625712B (en) | 2016-12-30 | 2016-12-30 | The adaptive operational instrument of hard disk handle item with force sensing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611261692.0A CN106625712B (en) | 2016-12-30 | 2016-12-30 | The adaptive operational instrument of hard disk handle item with force sensing function |
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| CN106625712A CN106625712A (en) | 2017-05-10 |
| CN106625712B true CN106625712B (en) | 2019-03-08 |
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| CN201611261692.0A Active CN106625712B (en) | 2016-12-30 | 2016-12-30 | The adaptive operational instrument of hard disk handle item with force sensing function |
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| CN112976040B (en) * | 2021-03-04 | 2022-04-26 | 内蒙古工业大学 | Terminal quick change device of rotary electromagnetic control claw type robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4452480A (en) * | 1981-12-21 | 1984-06-05 | International Jensen Incorporated | Record handling device |
| DE102010005673A1 (en) * | 2010-01-26 | 2011-07-28 | INA - Drives & Mechatronics GmbH & Co. OHG, 98527 | Gripper for a handling device |
| CN104398346A (en) * | 2014-11-07 | 2015-03-11 | 上海交通大学 | Intelligent wheelchair capable of opening door independently and independent door opening method of intelligent wheelchair |
| CN205363932U (en) * | 2016-02-22 | 2016-07-06 | 武汉需要智能技术有限公司 | Desktop humanoid robot is with automatic centre gripping ware |
-
2016
- 2016-12-30 CN CN201611261692.0A patent/CN106625712B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4452480A (en) * | 1981-12-21 | 1984-06-05 | International Jensen Incorporated | Record handling device |
| DE102010005673A1 (en) * | 2010-01-26 | 2011-07-28 | INA - Drives & Mechatronics GmbH & Co. OHG, 98527 | Gripper for a handling device |
| CN104398346A (en) * | 2014-11-07 | 2015-03-11 | 上海交通大学 | Intelligent wheelchair capable of opening door independently and independent door opening method of intelligent wheelchair |
| CN205363932U (en) * | 2016-02-22 | 2016-07-06 | 武汉需要智能技术有限公司 | Desktop humanoid robot is with automatic centre gripping ware |
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| CN106625712A (en) | 2017-05-10 |
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