CN108422437A - Touch sensing device for robot - Google Patents
Touch sensing device for robot Download PDFInfo
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- CN108422437A CN108422437A CN201810204148.5A CN201810204148A CN108422437A CN 108422437 A CN108422437 A CN 108422437A CN 201810204148 A CN201810204148 A CN 201810204148A CN 108422437 A CN108422437 A CN 108422437A
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- 230000009466 transformation Effects 0.000 claims abstract description 12
- 239000004020 conductor Substances 0.000 claims description 40
- 230000001052 transient effect Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 6
- 229920006351 engineering plastic Polymers 0.000 claims description 4
- 239000000956 alloy Substances 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 claims description 3
- 238000003032 molecular docking Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 abstract description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 4
- 229910052802 copper Inorganic materials 0.000 description 4
- 239000010949 copper Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 235000003392 Curcuma domestica Nutrition 0.000 description 1
- 244000008991 Curcuma longa Species 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 235000003373 curcuma longa Nutrition 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 235000013976 turmeric Nutrition 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of sensing technical design, and provides a touch sensing device for a robot, which is characterized in that a mode of combining a bottom plate and a mainboard is adopted, a power supply male socket for receiving a power supply signal and a voltage transformation module for carrying out voltage transformation on the power supply signal are arranged on the bottom plate, and a main control module and a sensing module for sensing whether a conductive body is touched by a charged body are arranged on the mainboard, so that the touch sensing device has the advantages of small volume, easiness in disassembly and capability of being matched with various sensing devices; meanwhile, the robot can be controlled only by touching the charged body with fingers by a user through sensing whether the conductive body is touched by the charged body, so that the mechanical key is required to be pressed forcibly, the experience of the user is improved, and the problems that the existing touch sensing device for the robot is large in size and not easy to assemble or disassemble are solved.
Description
Technical field
The invention belongs to sensing technology design fields, the more particularly, to touch sensing device of robot.
Background technology
Now, people’s lives tend to be intelligent, and the application of robot is also more and more universal, and robot itself need to have
A variety of sensing devices, including the sensing device that tests the speed, ranging sensing device, acoustic control sensing device and touch sensing device etc., and
And each sensing device may include multiple, however, above-mentioned a series of sensing device is all larger there is volume and not
The problem of being easily assembled or dismantling.
Therefore, the existing touch sensing device for robot is larger there is volume and is not easy assembly and disassembly
The problem of.
Invention content
The purpose of the present invention is to provide the touch sensing devices for robot, it is intended to solve existing for robot
Touch sensing device it is larger there is volume and the problem of be not easy assembly and disassembly.
The present invention provides a kind of touch sensing device for robot, the touch sensing device is equipped with electric conductor,
The touch sensing device includes bottom plate and mainboard, and the bottom plate and the mainboard are electrically connected；
The bottom plate is equipped with：
For being docked with the matching of power supply female seat, to receive the power supply male seat of power supply signal；With
It is connected with the power supply male seat, the voltage changing module for carrying out voltage transformation to the power supply signal；
The mainboard is equipped with：
Main control module；With
For sensing whether the electric conductor is touched by electrical body, and feed back biography of the touch information to the main control module
Feel module.
Provided by the present invention for the touch sensing device of robot, by using the mode that bottom plate is combined with mainboard, and
And it is equipped with the power supply male seat for receiving power supply signal on bottom plate and carries out the voltage changing module of voltage transformation, Yi Ji to power supply signal
Mainboard be equipped with main control module and for sense electric conductor whether the sensing module touched by electrical body, it is thus achieved that this touch
Touch sensing device small volume, and effect that is quick detachable, being matched with multiple sensors part；Simultaneously as being led by sensing
Whether electric body is touched by electrical body, and user need to only be touched with finger can control robot, and machinery is pressed instead of that need to exert oneself
Button, to improve the experience sense of user, solve the existing touch sensing device for robot there is volumes it is larger,
And the problem of being not easy assembly and disassembly.
Description of the drawings
Fig. 1 is the structural schematic diagram provided by the present invention for the touch sensing device of robot.
Fig. 2 is the attachment structure schematic diagram that needle is arranged in the touch sensing device provided by the present invention for robot.
Fig. 3 is that female attachment structure schematic diagram is arranged in the touch sensing device provided by the present invention for robot.
Fig. 4 is the exemplary circuit figure of main control module in the touch sensing device provided by the present invention for robot.
Fig. 5 is the exemplary circuit figure of sensing module in the touch sensing device provided by the present invention for robot.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The above-mentioned touch sensing device for robot can be with the power supply of carry magnet using the power supply male seat of carry magnet
Female seat is attracted, and realizes electric property conducting.The touch sensing device can be applied to the fields such as education formula robot, smart home device
Scape realizes effect that is quick detachable and being matched with multiple sensors as soft-touch control.The finger or electrical body of people is close to electricity
When copper sheet (electric conductor) charged on the plate of road, the capacitance of finger or electrical body between copper sheet changes at a distance from the two, touches
Module connection copper sheet is touched, by detecting the variation of capacitance to determine the presence of human body touch or close to electric conductor.Which is electricity
Appearance formula touch sensible, instead of mechanical key.Wherein, sensing module can carry out I2C outputs, can configure register address, also may be used
The state etc. of setting button and indicator light.
Fig. 1 shows the structure of the touch sensing device provided by the present invention for robot, for convenience of description, only shows
Part related to the present embodiment is gone out, details are as follows：
The above-mentioned touch sensing device for robot, touch sensing device are equipped with electric conductor, the touch sensing device packet
Bottom plate 101 and mainboard 102 are included, bottom plate 101 and mainboard 102 are electrically connected.
Above-mentioned bottom plate 101 is equipped with power supply male seat 1011 and voltage changing module 1012, and power supply male seat 1011 is used for and robot master
The power supply female seat matching docking of body, to receive power supply signal and carry out signal transmission；Voltage changing module 1012 and power supply male seat
1011 electrical connections, for carrying out voltage transformation to power supply signal.
Above-mentioned mainboard 102 is equipped with main control module 1021 and sensing module 1022, and sensing module 1022 is for sensing electric conductor
Whether touched by electrical body, and feeds back touch information to main control module 1021.
As an embodiment of the present invention, above-mentioned electric conductor can be copper sheet, iron plate etc., and the electric conductor in the present embodiment includes
First electric conductor 1023 and the second electric conductor 1024, sensing module 1022 simultaneously with the first electric conductor 1023 and the second electric conductor
1024 electrical connections, above-mentioned electrical body can be a part of human body.
As an embodiment of the present invention, above-mentioned bottom plate 101 and mainboard 102 are by be respectively arranged on two plates two groups
Row needle J3 and row mother J2 are docked.It is 2*3Pin to arrange needle J3 and row mother J2, it is preferred that spacing 1.27mm.Above-mentioned sensing mould
Block 1022 is set to the middle position of the first surface of mainboard 102, and the first electric conductor 1023 and the second electric conductor 1024 are sequentially disposed at
Two side positions of the first surface of mainboard 102, main control module 1021 are set to opposite another table with first surface of mainboard 102
On face.
Fig. 2 and Fig. 3 respectively illustrates row's needle and row in the touch sensing device for robot that present embodiment provides
Female connection structure, for convenience of description, only the parts related to this embodiment are shown, and details are as follows：
Power supply signal is carried out as a preferred embodiment of the present invention, the first pin and the second pin of above-mentioned row's needle J3 connect
The third pin of power voltage terminal VDD_3V3 after voltage transformation, row's needle J3 are hanging, the 4th pin, the 5th pin of row's needle J3
And the 6th pin ground connection.
As a preferred embodiment of the present invention, the first pin of above-mentioned mother row J2 by bus I2C2_SDA/UART_RX with
The Second terminal of power supply male seat 1011 and the first end of the first transient voltage suppressor diode D1 connect altogether, the second pipe of row mother J2
The third terminal and the second transient voltage suppressor diode that foot passes through bus I2C2_SCL/UART_TX and power supply male seat 1011
The first end of D2 connects altogether, and the third pin of row mother J2 is hanging, and first terminal and the third transient voltage of power supply male seat 1011 inhibit
The first end of diode D3 accesses power supply signal, the forth terminal ground connection of power supply male seat 1011, and the first transient voltage inhibits two poles
The second end and third transient voltage suppressor diode D3 of the second end of pipe D1 and the second transient voltage suppressor diode D2
Second end is grounded, the 4th pin, the 5th pin and the 6th pin ground connection of the mother row J2.
As an embodiment of the present invention, above-mentioned power supply male seat 1011 is equipped with for female with the power supply on the robot body
Seat is attracted the magnet and four spring needles of docking, and four spring needles are respectively as above-mentioned first terminal, Second terminal, third terminal
And forth terminal, four spring needles play the function of providing power supply signal and communicated.
The power supply male seat 1011 in the touch sensing device, voltage changing module 1012 and row mother are set as a pcb board as a result,
On, main control module 1021, sensing module 1022, the first electric conductor 1023, the second electric conductor 1024 and row's needle are set as another PCB
On plate, row's needle and row mother are in the layout of the left and right sides, and two pcb boards are by row's needle and the female connection of row and fix, and formed complete main
Body.Power supply male seat 1011 is located at the bottom of main body, and sensing module 1022 is located at the top center position of main body.
As an embodiment of the present invention, above-mentioned voltage changing module is specially low pressure difference linear voltage regulator.Low pressure difference linearity voltage stabilizing
Device is used to that the power supply signal decompression of 5V to be 3.3V and be powered main control module 1021 and sensing module 1022.
Fig. 4 shows the exemplary circuit of main control module in the touch sensing device provided by the present invention for robot, is
Convenient for explanation, only the parts related to this embodiment are shown, details are as follows：
As an embodiment of the present invention, above-mentioned main control module 1021 includes main control chip U2, first resistor R1, the 6th resistance
R6, the 7th resistance R7, the 4th capacitance C4, the 5th capacitance C5 and the 6th capacitance C6.
The first termination of the first power end VDDA and the 4th capacitance C4 of main control chip U2 carry out voltage change to power supply signal
The first end and the 5th capacitance of the reset terminal NRST and first resistor R1 of power voltage terminal VDD_3V3 after changing, main control chip U2
Node connection between the first end of C5, the second termination power voltage terminal VDD_3V3 of first resistor R1, main control chip U2's connects
The second end of the second end and the 5th capacitance C5 of ground terminal BOOT0 and the 4th capacitance C4 is grounded, the first communication of main control chip U2
End PA7 and the second communication ends PB1 connects sensing module 1022, main control chip U2 with I2C1_SDA by bus I2C2_SCL respectively
Second source end VDD and the 6th capacitance C6 first termination power voltage terminal VDD_3V3, the 6th capacitance C6 second termination
The first end on ground, the output end PA9 and the 7th resistance R7 of main control chip U2 passes through bus I2C2_SCL/UART_TX connecting bottom boards
The receiving terminal PA10 of 101, main control chip U2 connect bottom with the first end of the 6th resistance R6 by bus I2C2_SDA/UART_RX
Plate 101, the second end of the 6th resistance R6 and the second termination power voltage terminal VDD_3V3 of the 7th resistance R7.Above-mentioned voltage transformation
Power supply signal afterwards is transmitted by power voltage terminal VDD_3V3,1021 small package of main control module, low-power consumption, and band I2C goes here and there
Interfaces, the outside such as mouth and USB connect 8MHz system crystal oscillators.Main control module 1021 and sensing module 1022 carry out I2C communications, master control mould
Block 1021 reads the register value of sensing module 1022 and processing.
Fig. 5 shows the exemplary circuit of sensing module in the touch sensing device provided by the present invention for robot, is
Convenient for explanation, only the parts related to this embodiment are shown, details are as follows：
As an embodiment of the present invention, above-mentioned sensing module 1022 includes sensing chip U1, second resistance R2,3rd resistor
R3, the 4th resistance R4, the 5th resistance R5, the 8th resistance R8, the 9th resistance R9, the tenth resistance R10, eleventh resistor R11, first
Light emitting diode D1, the second light emitting diode D2, the tenth capacitance C10, the 11st capacitance C11, the 12nd capacitance C12 and the tenth
Three capacitance C13.
The first end of the first communication ends I2C_SCL and second resistance R2 of sensing chip U1 and the first of the 4th resistance R4
Node connection between end, the first end of the second communication ends I2C_SDA and 3rd resistor R3 of sensing chip U1 and the 5th electricity
The node connection between the first end of R5 is hindered, the second end of the 4th resistance R4 passes through bus respectively with the second end of the 5th resistance R5
I2C1_SCL connects main control module 1021, the second end of second resistance R2 and the second termination electricity of 3rd resistor R3 with I2C1_SDA
The first receiving terminal CS0/PS0 of source voltage end VDD_3V3, sensing chip U1 meet the first end of the 8th resistance R8, the 8th resistance R8
Second the first electric conductor 1023 of termination, the second receiving terminal CS1/PS1 of sensing chip U1 connects the first of eleventh resistor R11
The first sensing end CMOD at end, second the second electric conductor 1024 of termination of eleventh resistor R11, sensing chip U1 connects the tenth capacitance
The first end of C10, the second sensing end VCC of sensing chip U1 connect the first end of the 13rd capacitance C13, and the of the tenth capacitance C10
The second end of two ends and the 13rd capacitance C13 are grounded, the first power end VDD_IO and second source end VDD of sensing chip U1 with
The first end of 11st capacitance C11 and the first termination power voltage terminal VDD_3V3 of the 12nd capacitance C12, the 11st capacitance
The second end of C11 and the second end of the 12nd capacitance C12 are grounded, and the first serial end CS4/GPO0 of sensing chip U1 connects the second hair
The cathode of optical diode D2, the second serial end CS5/GPO1 of sensing chip U1 connect the cathode of the first light emitting diode D1, and first
The anode of light emitting diode D1 is connect by the 9th resistance R9 and the tenth resistance R10 respectively with the anode of the second light emitting diode D2
Power voltage terminal VDD_3V3.Sensing chip U1 provides 4 tunnel touch detections, 4 road GPO mouthfuls of outputs, you can 4 touches of connection are pressed
The delivery outlet that key (electric conductor) inputs and 4 road low and high levels can configure, delivery outlet can drive LED.Its high sensitivity touches distance
Small, preferably 5mm or so can carry out I2C communications, and by I2C bus configuration internal registers, peripheral circuit is simple.
Above-mentioned touch sensing device is packaged using engineering plastic alloy shell, and power supply male seat 1011 and sensing mould
1022 partial denudation of block is in the surface of engineering plastic alloy shell.The overall dimensions of the touch sensing device are about 41mm*
13mm*12.5mm。
The first electric conductor 1023 and the second electric conductor 1024 in above-mentioned touch sensing device are designed as the square of 14mm*9mm
Shape structure, quadrangle rounded corner, and use turmeric technique.The middle part of first electric conductor 1023 and the second electric conductor 1024 hollows out 2mm*
The oval groove of 3mm, the LED light encapsulated using SMD, back side patch make LED light be embedded into slot, and light-emitting surface is slightly below electric conductor.
It is configurable to touch lightening LED lamp, touch LED light is flashed, LED light is delayed and flickers duration etc..Main control module 1021 can also be known
The button and LED light for not going out touch judge the first electric conductor 1023 and the second electric conductor such as when receiving digital signaling zero 0
1024 are not all touched；When receiving digital signaling zero 1, judgement only (is the first electric conductor 1023 positioned at the electric conductor on the right
Or depending on the second electric conductor 1024 is according to the position of setting) it is touched；When receiving digital signal 10, judgement is only located at
The electric conductor on the left side is touched；When receiving digital signal 11, the first electric conductor 1023 and the second electric conductor 1024 are judged all
It is touched.
Above-mentioned touch sensing device carries power supply male seat, and the robot or other needs that can connect charged female seat touch control
The equipment of system.It is used for biped robot, can replace mechanical key, makes robot stress without directly touching robot,
Appearance looks elegant is durable.Simultaneously for entertaining, educating, servicing formula robot, when teaching knowledge, is demonstrated and is experienced, and also can be used as
The tactile of robot is demonstrated.
To sum up, the touch sensing device provided in an embodiment of the present invention for robot, by using bottom plate and mainboard knot
The mode of conjunction, and the transformation for receiving the power supply male seat of power supply signal and carrying out voltage transformation to power supply signal is equipped on bottom plate
Module, and on mainboard be equipped with main control module and for sense electric conductor whether the sensing module touched by electrical body, by
This realizes the touch sensing device small volume, and effect that is quick detachable, being matched with multiple sensors part；Meanwhile by
In by sensing whether electric conductor is touched by electrical body, user need to only be touched with finger can control robot, instead of needing
Mechanical key is firmly pressed, to improve the experience sense of user, the existing touch sensing device for robot is solved and deposits
It is larger in volume and the problem of be not easy assembly and disassembly.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. a kind of touch sensing device for robot, the touch sensing device is equipped with electric conductor, which is characterized in that described
Touch sensing device includes bottom plate and mainboard, and the bottom plate and the mainboard are electrically connected；
The bottom plate is equipped with：
For being docked with the matching of power supply female seat, to receive the power supply male seat of power supply signal；With
It is connected with the power supply male seat, the voltage changing module for carrying out voltage transformation to the power supply signal；
The mainboard is equipped with：
Main control module；With
For sensing whether the electric conductor is touched by electrical body, and feed back sensing mould of the touch information to the main control module
Block.
2. touch sensing device as described in claim 1, which is characterized in that the bottom plate and the mainboard are electrically connected specifically
For：
It is docked by arranging needle and row mother.
3. touch sensing device as claimed in claim 2, which is characterized in that the first pin and the second pin of row's needle connect
The power voltage terminal after voltage transformation, the 4th pin, the 5th pin and the 6th of row's needle are carried out to the power supply signal
Pin is grounded.
4. touch sensing device as claimed in claim 2, which is characterized in that the first pin of the row mother and the power supply are male
The Second terminal of seat and the first end of the first transient voltage suppressor diode connect altogether, the second pin and the electricity of the row mother
The third terminal of source male seat and the first end of the second transient voltage suppressor diode connect altogether, the first terminal of the power supply male seat
The power supply signal is accessed with the first end of third transient voltage suppressor diode, the forth terminal of the power supply male seat is grounded,
Second end and institute of the second end of first transient voltage suppressor diode with second transient voltage suppressor diode
State the second end ground connection of third transient voltage suppressor diode, the 4th pin, the 5th pin and the 6th pin of the row mother
Ground connection.
5. touch sensing device as claimed in claim 4, which is characterized in that the power supply male seat be equipped with for the power supply
Female seat is attracted the magnet and four spring needles of docking, and four spring needles are respectively as the first terminal, the second end
Sub, the described third terminal and the forth terminal.
6. touch sensing device as described in claim 1, which is characterized in that the voltage changing module is specially that low pressure difference linearity is steady
Depressor.
7. touch sensing device as described in claim 1, which is characterized in that the main control module includes：
Main control chip, first resistor, the 6th resistance, the 7th resistance, the 4th capacitance, the 5th capacitance and the 6th capacitance；
First power end of the main control chip and the first termination of the 4th capacitance carry out voltage change to the power supply signal
The of power voltage terminal after changing, the first end of the reset terminal of the main control chip and the first resistor and the 5th capacitance
Node connection between one end, the second termination power voltage terminal of the first resistor, the ground terminal of the main control chip
Be grounded with the second end of the 4th capacitance and the second end of the 5th capacitance, the first communication ends of the main control chip and
Described in first termination of the second communication termination sensing module, the second source end of the main control chip and the 6th capacitance
Power voltage terminal, the second end ground connection of the 6th capacitance, the output end of the main control chip and the first of the 7th resistance
Terminate the bottom plate, the first termination bottom plate of the receiving terminal of the main control chip and the 6th resistance, the 6th electricity
The second termination power voltage terminal of the second end of resistance and the 7th resistance.
8. touch sensing device as described in claim 1, which is characterized in that the sensing module includes：
Sensing chip, second resistance, 3rd resistor, the 4th resistance, the 5th resistance, the 8th resistance, the 9th resistance, the tenth resistance,
Eleventh resistor, the first light emitting diode, the second light emitting diode, the tenth capacitance, the 11st capacitance, the 12nd capacitance and
13 capacitances；
Between first communication ends of the sensing chip and the first end of the second resistance and the first end of the 4th resistance
Node connection, the first of the second communication ends of the sensing chip and the first end of the 3rd resistor and the 5th resistance
Node connection between end, the second end of the 4th resistance and the second termination main control module of the 5th resistance, institute
Second termination of the second end for stating second resistance and the 3rd resistor carries out the power supply signal power supply after voltage transformation
Voltage end, the first of the sensing chip receives the first end for terminating the 8th resistance, the second termination of the 8th resistance
First electric conductor, the second of the sensing chip receives the first end for terminating the eleventh resistor, the eleventh resistor
Second the second electric conductor of termination, the first sensing of the sensing chip terminate the first end of the tenth capacitance, the sensing core
Second sensing of piece terminates the first end of the 13rd capacitance, second end and the 13rd capacitance of the tenth capacitance
Second end is grounded, the first end and institute of the first power end of the sensing chip and second source end with the 11st capacitance
State the first termination power voltage terminal of the 12nd capacitance, second end and the 12nd capacitance of the 11st capacitance
Second end is grounded, and the first serial of the sensing chip terminates the cathode of second light emitting diode, the sensing chip
Second serial terminates the cathode of first light emitting diode, the anode of first light emitting diode and described second luminous two
The anode of pole pipe connects the power voltage terminal by the 9th resistance with the tenth resistance respectively.
9. touch sensing device as described in claim 1, which is characterized in that the touch sensing device is closed using engineering plastics
Golden shell is packaged.
10. touch sensing device as claimed in claim 9, which is characterized in that the power supply male seat and the electrical conductor portion
It is exposed to the surface of the engineering plastic alloy shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810204148.5A CN108422437B (en) | 2018-03-13 | 2018-03-13 | Touch sensing device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810204148.5A CN108422437B (en) | 2018-03-13 | 2018-03-13 | Touch sensing device for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108422437A true CN108422437A (en) | 2018-08-21 |
| CN108422437B CN108422437B (en) | 2023-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810204148.5A Active CN108422437B (en) | 2018-03-13 | 2018-03-13 | Touch sensing device for robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100228395A1 (en) * | 2009-03-03 | 2010-09-09 | Hong Fu Jin Precision Industry(Shenzhen)Co., Ltd. | Touch sensitive robot |
| CN102968074A (en) * | 2012-11-19 | 2013-03-13 | 浙江水利水电专科学校 | Touch wired and wireless controller with power supply indication |
| CN103892995A (en) * | 2014-03-21 | 2014-07-02 | 哈尔滨工程大学 | Electronic seeing-eye dog robot |
| CN104317294A (en) * | 2014-10-15 | 2015-01-28 | 天津大学 | Infrared sensing and wireless control based multifunctional robot achieving intelligent navigation |
| CN206743210U (en) * | 2017-03-23 | 2017-12-12 | 广东科学中心 | Touch robot |
-
2018
- 2018-03-13 CN CN201810204148.5A patent/CN108422437B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100228395A1 (en) * | 2009-03-03 | 2010-09-09 | Hong Fu Jin Precision Industry(Shenzhen)Co., Ltd. | Touch sensitive robot |
| CN102968074A (en) * | 2012-11-19 | 2013-03-13 | 浙江水利水电专科学校 | Touch wired and wireless controller with power supply indication |
| CN103892995A (en) * | 2014-03-21 | 2014-07-02 | 哈尔滨工程大学 | Electronic seeing-eye dog robot |
| CN104317294A (en) * | 2014-10-15 | 2015-01-28 | 天津大学 | Infrared sensing and wireless control based multifunctional robot achieving intelligent navigation |
| CN206743210U (en) * | 2017-03-23 | 2017-12-12 | 广东科学中心 | Touch robot |
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| CN108422437B (en) | 2023-08-04 |
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