CN108789458A - A kind of intelligent machine arm - Google Patents
A kind of intelligent machine arm Download PDFInfo
- Publication number
- CN108789458A CN108789458A CN201810617613.8A CN201810617613A CN108789458A CN 108789458 A CN108789458 A CN 108789458A CN 201810617613 A CN201810617613 A CN 201810617613A CN 108789458 A CN108789458 A CN 108789458A
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- Prior art keywords
- skin
- intelligent machine
- silica gel
- electronics
- machine arm
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- 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
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K3/00—Use of inorganic substances as compounding ingredients
- C08K3/02—Elements
- C08K3/04—Carbon
- C08K3/041—Carbon nanotubes
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K3/00—Use of inorganic substances as compounding ingredients
- C08K3/02—Elements
- C08K3/04—Carbon
- C08K3/042—Graphene or derivatives, e.g. graphene oxides
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K2201/00—Specific properties of additives
- C08K2201/011—Nanostructured additives
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medicinal Chemistry (AREA)
- Health & Medical Sciences (AREA)
- Polymers & Plastics (AREA)
- Organic Chemistry (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Materials Engineering (AREA)
- Nanotechnology (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Compositions Of Macromolecular Compounds (AREA)
- Carbon And Carbon Compounds (AREA)
Abstract
The invention discloses a kind of intelligent machine arms, including mechanical arm body, electronics tactile skin is coated in the mechanical arm body, signal amplification circuit and main control unit are additionally provided in mechanical arm body, skin sensor is provided on electronics tactile skin, the skin sensor connects main control unit by signal amplification circuit.The electronics tactile skin is made of silica gel, graphene and carbon nanotube, and the mass ratio of the silica gel, graphene and carbon nanotube is 90-110:0.5-1.5:The thickness of 1-6, the electronics tactile skin are 0.3-1mm.The electronics tactile skin of the present invention is at low cost, and sensitive precision is high, to expand application range, improves the safety of mechanical arm.
Description
Technical field
The present invention relates to mechanical arm technology more particularly to a kind of intelligent machine arms.
Background technology
Mechanical arm refer to high-precision, high speed glue dispensing machine hand, mechanical arm be a multiple-input and multiple-output, nonlinearity,
The complication system of close coupling.Because of its unique operating flexibility, answered extensively in industry assembling, safe explosion-proof lamp field
With.Machine is recognized system and is usually made of visual sensor, mechanical arm system and main control computer, and wherein mechanical arm system includes again
Modular mechanical arm and Dextrous Hand two parts.
Using there is a kind of electronics tactile skin on mechanical arm, that there are sensitivity is low, matches for the electronics tactile skin of mainstream at present
Line complexity, problem at high price.
Invention content
For overcome the deficiencies in the prior art, it the purpose of the present invention is to provide a kind of intelligent machine arm, can solve existing
The problem for having mechanical arm resistance skin sensitivity low.Further, electronics tactile skin can be after contacting in short-term with object
Interior output useful signal, detects contact, and the cost of electronic skin is greatly reduced, and improves it and feels precision, improves mechanical arm
Safety.
The purpose of the present invention is realized using following technical scheme：
A kind of intelligent machine arm, including mechanical arm body are coated with electronics tactile skin in the mechanical arm body, machinery
It is additionally provided with signal amplification circuit and main control unit on arm body, skin sensor, the skin are provided on electronics tactile skin
Sensor connects main control unit by signal amplification circuit.
Preferably, the signal amplification circuit includes operational amplifier and resistance, the homophase input of the operational amplifier
End and one end of resistance are connect with skin sensor, the reverse inter-input-ing ending grounding of operational amplifier, the other end and fortune of resistance
The output end for calculating amplifier is connect with main control unit, and skin sensor is also connected with main control unit.
Preferably, the electronics tactile skin is made of silica gel, graphene and carbon nanotube, the silica gel, graphene
And the mass ratio of carbon nanotube is 90-110:0.5-1.5:The thickness of 1-6, the electronics tactile skin are 0.3-1mm.
Preferably, the mass ratio of the silica gel, graphene and carbon nanotube is 100:1:4.
Preferably, the thickness of the electronics tactile skin is 0.5mm.
Preferably, the preparation method of the electronics tactile skin, includes the following steps：
Step 1：It is 1 by mass ratio:4 graphene and carbon nanotube is mixed, and the first mixture is for use；
Step 2：Silica gel is put into vessel in heating to melt, heating temperature is 200-300 DEG C, heating time 20-
40min obtains liquid silica gel；
Step 3：First mixture of graphene and carbon nanotube is added in liquid silica gel, and carries out sufficient machine
Tool stirs, and mixing time 25-35min obtains the second mixture；
Step 4：The second mixture in step 3 is poured into tactile skin mold, and is carried out at sufficient standing cooling
Reason, cooling time, 4-6h, obtained novel electron tactile skin.
Preferably, heating and melting mode is using electric-heating-wire-heating mode, heating time 30min in the step 2.
Preferably, mixing time is 30min in the step 3.
Preferably, cooling time is 5h in the step 4.
Compared with prior art, the beneficial effects of the present invention are：
1, electronics tactile skin of the invention is at low cost, and sensitive precision is high, to expand application range, improves mechanical arm
Safety.
2, electronics tactile skin of the invention can export useful signal after being contacted with object in the short time, detect
Contact, is greatly reduced the cost of electronics tactile skin, improves it and feels precision, improve the safety of mechanical arm, improves sensitivity
And it not will produce glitch.
3, preparation process of the invention is simple, cheap, can be exported in the short time after being contacted with object effective
Signal detects contact；Carbon material ratio can be in skin uniformly distributed with cutaneous sensitivity, carbon material, will not be produced
The problems such as raw glitch, high sensitivity.
Description of the drawings
Fig. 1 is the circuit structure diagram of the intelligent machine arm of the present invention.
Relational graphs of the Fig. 2 between external force and output level.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further：
As shown in Figure 1, the present invention provides a kind of intelligent machine arm comprising mechanical arm body, in the mechanical arm body
It is coated with electronics tactile skin, signal amplification circuit and main control unit are additionally provided in mechanical arm body, is set on electronics tactile skin
It is equipped with skin sensor, the skin sensor connects main control unit by signal amplification circuit.
Electronics tactile skin is also tactile skin, is formed by megohmite insulant and other conductive material co-manufactureds so that
Tactile skin is conductive, and electric conductivity is related with the internal exposure level of conductive material, and resistance follows it to connect
Touch degree changes and changes.After external force is applied to electronics tactile skin surface so that electronics tactile skin internal resistance is sent out
Changing, so as to cause change in electric.
Signal amplification circuit includes operational amplifier U1 and resistance R1, the homophase input of the operational amplifier in the present invention
End and one end of resistance are connect with skin sensor, the reverse inter-input-ing ending grounding of operational amplifier, the other end and fortune of resistance
The output end for calculating amplifier is connect with main control unit, and skin sensor is also connected with main control unit.Skin sensor detection contact
Activation signal is amplified and is transmitted to main control unit by point, amplifying circuit.
A kind of electronics tactile skin, is made of silica gel, graphene and carbon nanotube.Mass ratio between three kinds of materials is
90-110 silica gel：0.5-1.5 graphenes：1-6 carbon nanotubes.The thickness of the electronics tactile skin is 0.3-1mm.As optimal
The mass ratio of choosing is 100 silica gel：1 graphene：4 carbon nanotubes by being sufficiently mixed for each material, and are poured into mold and are formed newly
Type electronics tactile skin, thickness 0.5mm.
By carbon nanotube and graphene with 4:After 1 ratio is mixed and is doped in silica gel, silica gel will be conductive,
And electric conductivity is related with the exposure level of interior carbon material, and resistance changes with the contact dynamics of carbon material and changed.When having
Internal resistance changes when external force applies, and by detecting electric signal, can quickly detect the contact of skin and other objects.
Ratio between graphene and carbon material can influence the sensitivity of electronics tactile skin, as shown in Figure 2.Different stones
Ink and external force under the conditions of olefinic carbon nanotube ratio and electronics tactile skin output level relational graph, it can be seen in the drawing that working as stone
Mass ratio between black alkene and carbon nanotube reaches 1:When 4, external force reaches highest, i.e. sensitivity most with output level coefficient
It is high.The present invention can export useful signal after being contacted with object in the short time, detect contact, and electronics tactile is greatly reduced
The cost of skin improves it and feels precision, improves the safety of mechanical arm；It improves sensitivity and not will produce glitch.
A kind of preparation method of electronics tactile skin, using silica gel, graphene and carbon nanotube as raw material, including following step
Suddenly：
Step 1：It is 1 by mass ratio:4 graphene and carbon nanotube is mixed, and the first mixture is for use；
Step 2：Silica gel is put into vessel in heating to melt, heating temperature is 200-300 DEG C, and heating time is 20-
40min obtains liquid silica gel；
Step 3：First mixture of graphene and carbon nanotube is added in liquid silica gel, and carries out sufficient machine
Tool stirs, and mixing time 25-35min obtains the second mixture；
Step 4：The second mixture in step 3 is poured into tactile skin mold, and is carried out at sufficient standing cooling
Reason, cooling time, 4-6h, obtained novel electron tactile skin.
Melt silica gel, heating time 30min in its step 2 by the way of electric-heating-wire-heating.Machinery stirs in step 3
It is 30min to mix the time.Cooling time is 5h in step 4, is allowed to be cooled to room temperature.
Preparation process of the present invention is simple, cheap, can export useful signal in the short time after being contacted with object,
Detect contact；Carbon material ratio can be in skin uniformly distributed with cutaneous sensitivity, carbon material, not will produce false letter
Number the problems such as, high sensitivity.
After carbon nanotube and graphene are mixed in certain proportion and are doped in silica gel, silica gel will have conduction
Property, and electric conductivity is related with the exposure level of interior carbon material, and resistance changes with the contact dynamics of carbon material and is changed.When
Internal resistance changes when having external force application, by detecting electric signal, can detect the contact of skin and other objects.
It will be apparent to those skilled in the art that technical solution that can be as described above and design, make various other
Corresponding change and deformation, and all these changes and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (9)
1. a kind of intelligent machine arm, which is characterized in that including mechanical arm body, electronics tactile is coated in the mechanical arm body
Skin is additionally provided with signal amplification circuit and main control unit in mechanical arm body, skin sensor is provided on electronics tactile skin,
The skin sensor connects main control unit by signal amplification circuit.
2. intelligent machine arm as described in claim 1, which is characterized in that the signal amplification circuit include operational amplifier and
Resistance, the in-phase input end of the operational amplifier and one end of resistance are connect with skin sensor, operational amplifier it is anti-
Phase input end grounding, the other end of resistance and the output end of operational amplifier are connect with main control unit, and skin sensor also connects
Connect main control unit.
3. intelligent machine arm as described in claim 1, which is characterized in that the electronics tactile skin by silica gel, graphene with
And carbon nanotube composition, the mass ratio of the silica gel, graphene and carbon nanotube is 90-110:0.5-1.5:1-6, the electronics
The thickness of tactile skin is 0.3-1mm.
4. intelligent machine arm as claimed in claim 3, which is characterized in that the silica gel, graphene and carbon nanotube quality
Than being 100:1:4.
5. intelligent machine arm as claimed in claim 3, which is characterized in that the thickness of the electronics tactile skin is 0.5mm.
6. intelligent machine arm as claimed in claim 3, which is characterized in that the preparation method of the electronics tactile skin, including
Following steps：
Step 1：It is 1 by mass ratio:4 graphene and carbon nanotube is mixed, and the first mixture is for use；
Step 2：Silica gel is put into vessel in heating to melt, heating temperature is 200-300 DEG C, and heating time 20-40min is obtained
To liquid silica gel；
Step 3：First mixture of graphene and carbon nanotube is added in liquid silica gel, and carries out sufficient machinery and stirs
It mixes, mixing time 25-35min obtains the second mixture；
Step 4：The second mixture in step 3 is poured into tactile skin mold, and carries out sufficient standing cooling treatment, it is cold
But the time is 4-6h, obtains novel electron tactile skin.
7. intelligent machine arm as claimed in claim 6, which is characterized in that heating and melting mode is using electricity in the step 2
Heated filament mode of heating, heating time 30min.
8. intelligent machine arm as claimed in claim 6, which is characterized in that mixing time is 30min in the step 3.
9. intelligent machine arm as claimed in claim 6, which is characterized in that cooling time is 5h in the step 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810617613.8A CN108789458B (en) | 2018-06-15 | 2018-06-15 | Intelligent mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810617613.8A CN108789458B (en) | 2018-06-15 | 2018-06-15 | Intelligent mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108789458A true CN108789458A (en) | 2018-11-13 |
| CN108789458B CN108789458B (en) | 2020-12-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810617613.8A Active CN108789458B (en) | 2018-06-15 | 2018-06-15 | Intelligent mechanical arm |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106496884A (en) * | 2016-10-19 | 2017-03-15 | 钟光 | A kind of carbon functional nano-composites and preparation method thereof |
| WO2017130591A1 (en) * | 2016-01-29 | 2017-08-03 | 株式会社リコー | Pressure sensor, gripping device, and robot |
-
2018
- 2018-06-15 CN CN201810617613.8A patent/CN108789458B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017130591A1 (en) * | 2016-01-29 | 2017-08-03 | 株式会社リコー | Pressure sensor, gripping device, and robot |
| CN106496884A (en) * | 2016-10-19 | 2017-03-15 | 钟光 | A kind of carbon functional nano-composites and preparation method thereof |
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| Publication number | Publication date |
|---|---|
| CN108789458B (en) | 2020-12-11 |
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Effective date of registration: 20230417 Address after: 518000 1518J24, Building A, Xinghe Century, No. 3069, Caitian Road, Gangxia Community, Futian District, Shenzhen, Guangdong Province Patentee after: Guangdong Huasheng Xingcheng Intellectual Property Agency Co.,Ltd. Address before: 528400, Xueyuan Road, 1, Shiqi District, Guangdong, Zhongshan Patentee before: University OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA, ZHONGSHAN INSTITUTE Effective date of registration: 20230417 Address after: 324000 No. 89 Guangji Road, Longyou Economic Development Zone, Mohuan Township, Longyou County, Quzhou City, Zhejiang Province Patentee after: Zhejiang xinjiashuo Technology Co.,Ltd. Address before: 518000 1518J24, Building A, Xinghe Century, No. 3069, Caitian Road, Gangxia Community, Futian District, Shenzhen, Guangdong Province Patentee before: Guangdong Huasheng Xingcheng Intellectual Property Agency Co.,Ltd. |