CN112873197A - Intelligent mechanical arm based on pressure film sensor and working process - Google Patents
Intelligent mechanical arm based on pressure film sensor and working process Download PDFInfo
- Publication number
- CN112873197A CN112873197A CN201911202660.7A CN201911202660A CN112873197A CN 112873197 A CN112873197 A CN 112873197A CN 201911202660 A CN201911202660 A CN 201911202660A CN 112873197 A CN112873197 A CN 112873197A
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- Prior art keywords
- palm
- film sensor
- pressure film
- pressure
- pulley
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of manipulators, in particular to an intelligent manipulator based on pressure film sensors and a working process, wherein a plurality of first pressure film sensors are uniformly distributed on a palm; the inner side surface of the palm is provided with a concave hole; a pulley is arranged in the concave hole; one end of the pulley body of the pulley extends out of the concave hole; a photoelectric encoder is fixed inside the palm; adjacent phalanges are connected through a steering engine; one end of the finger component is connected with the palm through the steering engine; the inner side surface of the phalanx is provided with a second pressure membrane sensor. When the device is used, the pulley is used for detecting whether an object has displacement or not in the structure to judge whether the manipulator grips the ceramic soft blank or not, and the pressure film sensor is arranged on each finger bone to detect the pressure of the finger bone, so that the force of gripping on the ceramic soft blank is more accurate.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to an intelligent manipulator based on a pressure film sensor and a working process.
Background
At present, in the carrying process of the ceramic soft blank, a manual carrying mode is generally adopted, a ceramic worker carries the ceramic soft blank by hands, the force is not well mastered, the blank is seriously deformed or damaged easily, the carrying time of the worker is long, the labor intensity is high, and the production efficiency is low.
Disclosure of Invention
The invention aims to provide an intelligent mechanical arm based on a pressure film sensor, aiming at the defects and shortcomings of the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention relates to an intelligent manipulator based on a pressure film sensor, which comprises a palm and a plurality of finger assemblies arranged on the palm; a plurality of first pressure film sensors are uniformly distributed on the palm; the inner side surface of the palm is provided with a concave hole; a pulley is arranged in the concave hole; the pulley is rotatably connected with the inner side wall of the concave hole; one end of the pulley body of the pulley extends out of the concave hole; a photoelectric encoder is fixed inside the palm; a rotating shaft of the photoelectric encoder is fixedly connected with a rotating center of the pulley;
the finger component is composed of at least one phalanx; adjacent phalanges are connected through a steering engine; one end of the finger component is connected with the palm through the steering engine; the inner side surface of the phalanx is provided with a second pressure film sensor.
Further, the upper surface of the palm is a palm upper surface; the surface of the palm of the hand is provided with at least one finger component; a finger assembly is arranged on the side surface of the palm.
Further, the side surface of the palm is a palm side surface; the finger component connected to the side surface of the palm is a thumb; the number of phalanges of the thumb is the number of phalanges of the thumb; the number of the thumb phalanges is two; the number of the components of the palm upper surface is four; the finger assembly on the upper surface of the palm consists of three finger bones.
Further, cushions are fixed on the inner side end faces of the palm and the phalanges.
The work flow of the intelligent mechanical arm based on the pressure film sensor comprises the following steps:
a. initializing a first pressure film sensor, a steering engine and a second pressure film sensor until the action of the manipulator returns to the initial setting;
b. the combination of the mechanical arms and the driving of the steering engine drive each phalanx to act, and meanwhile, the first pressure film sensor and the second pressure film sensor start to acquire data;
c. the data collected by the first pressure film sensor and the second pressure film sensor are transmitted to the control terminal and are compared with a preset pressure set value of the control terminal;
d. after the data collected by the first pressure film sensor and the second pressure film sensor are matched with the pressure set value of the control terminal, the manipulator lifts;
e. after the manipulator lifts up, the photoelectric encoder detects whether the pulley slides; when the pulley is not moved, the manipulator lifts the object by lifting action; after the pulley rotates, the photoelectric encoder sends a pulse signal to the control terminal, the control terminal sends a signal to drive the palm and the steering engine to move until the pulley does not rotate any more, the first pressure film sensor and the second pressure film sensor acquire pressure data again at the moment, the pressure data are changed into preset values of the first pressure film sensor and the second pressure film sensor through a data algorithm, and then the preset values are stored as new pressure set values.
Compared with the prior art, the invention has the beneficial effects that:
1. utilize the pulley to detect whether there is the displacement to judge whether manipulator holds tight ceramic soft blank, all be provided with pressure film sensor on every indicates the bone and carry out to indicating bone pressure detection for it is more accurate to hold tight dynamics on ceramic soft blank
2. The pressure set value is automatically updated after the first pressure film sensor, the pulley, the steering engine and the second pressure film sensor are matched for use, and self-adjustment can be carried out according to different product weights.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the finger assembly;
FIG. 3 is a schematic diagram of a mechanical palm;
FIG. 4 is a work flow diagram of a robot;
description of reference numerals:
1. a mechanical palm; 101. a concave-shaped hole; 2. a first pressure membrane sensor; 3. a pulley; 4. a steering engine;
5. a phalanx; 6. a second pressure membrane sensor; 7. a photoelectric encoder; 8. and controlling the terminal.
Detailed Description
The present invention will be described in detail with reference to specific examples, as shown in fig. 1 to 4, and the following examples and descriptions are only for explaining the present invention but not for limiting the present invention.
An intelligent mechanical arm based on a pressure film sensor comprises a palm 1 and a plurality of finger assemblies arranged on the palm 1; a plurality of first pressure film sensors 2 are uniformly distributed on the palm 1; the inner side surface of the palm 1 is provided with a concave hole 101; a pulley 3 is arranged in the concave hole 101; the pulley 3 is rotatably connected with the inner side wall of the concave hole 101; one end of the pulley body of the pulley 3 extends out of the concave hole 101; a photoelectric encoder 7 is fixed inside the palm 1; a rotating shaft of the photoelectric encoder 7 is fixedly connected with the rotary center of the pulley 3;
the finger component is composed of at least one phalanx 5; the adjacent phalanges 5 are connected through a steering engine 4; one end of the finger component is connected with the palm 1 through a steering engine 4; the inner side surface of the phalanx 5 is provided with a second pressure film sensor 6; the steering engine 4 has no essential difference from the prior art, so the details are not described; the first pressure film sensor 2 and the second pressure film sensor 6 are not essentially different from the prior art and therefore are not described in detail; the photoelectric encoder 7 is not substantially different from the prior art, and thus will not be described in detail.
As a preferred mode of the present invention, the upper surface of the palm 1 is a palm upper surface; the surface of the palm of the hand is provided with at least one finger component; a finger component is arranged on the side surface of the palm 1; finger subassembly sets up on the plane of difference for the manipulator can be gripped from the multidirection, improves the stability that the manipulator used.
As a preferred mode of the present invention, the side surface of the palm 1 is a palm side surface; the finger component connected to the side surface of the palm is a thumb; the number of phalanges 5 of the thumb is the number of phalanges of the thumb; the number of the thumb phalanges is two; the number of the components of the palm upper surface is four; the finger components on the upper surface of the palm are all composed of three finger bones 5; the manipulator is provided with an ergonomic human-shaped hand plate, and the hand plate is clamped by multiple fingers, so that the use stability is improved.
In a preferred embodiment of the present invention, cushions are fixed to both the inner end surface of the palm 1 and the inner end surface of the phalanges 5; the buffer pad is used for relieving the impact force at the moment when the manipulator contacts the ceramic soft blank.
The work flow of the intelligent mechanical arm based on the pressure film sensor comprises the following steps:
a. initializing a first pressure film sensor 2, a steering engine and a second pressure film sensor 4, namely a second pressure film sensor 6 until the action of the manipulator returns to the initial setting;
b. the combination of the mechanical arms and the steering engine 4 drive each phalanx 5 to act, and meanwhile, the first pressure film sensor 2 and the second pressure film sensor 6 start to acquire data;
c. the data collected by the first pressure film sensor 2 and the second pressure film sensor 6 are transmitted to the control terminal 8, and are compared with a preset pressure set value of the control terminal 8;
d. after the data collected by the first pressure film sensor 2 and the second pressure film sensor 2 are matched with the pressure set value of the control terminal 8, the manipulator lifts;
e. after the manipulator lifts up, the photoelectric encoder 7 detects whether the pulley 3 slides; when the pulley 3 is not moved, the manipulator lifts the object by lifting action; after the pulley 3 rotates, the photoelectric encoder sends a pulse signal to the control terminal 8, the control terminal sends a signal to drive the palm 1 and the steering engine 4 to move until the pulley 3 does not rotate, the first pressure film sensor 2 and the second pressure film sensor 6 collect pressure data again, the pressure data are changed into preset values of the first pressure film sensor 2 and the second pressure film sensor 6 through a data algorithm, and then the preset values are stored as new pressure set values.
Compared with the prior art, the invention has the beneficial effects that:
1. utilize the pulley to detect whether there is the displacement to judge whether manipulator holds tight ceramic soft blank, all be provided with pressure film sensor on every indicates the bone and carry out to indicating bone pressure detection for it is more accurate to hold tight dynamics on ceramic soft blank
2. The pressure set value is automatically updated after the first pressure film sensor, the pulley, the steering engine and the second pressure film sensor are matched for use, and self-adjustment can be carried out according to different product weights.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present invention are included in the scope of the present invention.
Claims (5)
1. The utility model provides an intelligent manipulator based on pressure film sensor which characterized in that: the palm comprises a palm (1) and a plurality of finger components arranged on the palm (1); a plurality of first pressure film sensors (2) are uniformly distributed on the palm (1); the inner side surface of the palm (1) is provided with a concave hole (101); a pulley (3) is arranged in the concave hole (101); the pulley (3) is rotatably connected with the inner side wall of the concave hole (101); one end of the pulley body of the pulley (3) extends out of the concave hole (101); a photoelectric encoder (7) is fixed inside the palm (1); a rotating shaft of the photoelectric encoder (7) is fixedly connected with the rotary center of the pulley (3);
the finger component is composed of at least one phalanx (5); the adjacent phalanges (5) are connected through a steering engine (4); one end of the finger component is connected with the palm (1) through a steering engine (4); the inner side surface of the phalanx (5) is provided with a second pressure film sensor (6).
2. The intelligent mechanical arm based on the pressure film sensor as claimed in claim 1, wherein: the upper surface of the palm (1) is the palm upper surface; the surface of the palm of the hand is provided with at least one finger component; a finger component is arranged on the side surface of the palm (1).
3. The intelligent mechanical arm based on the pressure film sensor as claimed in claim 2, wherein: the side surface of the palm (1) is a palm side surface; the finger component connected to the side surface of the palm is a thumb; the number of the phalanges (5) of the thumb is the number of the phalanges of the thumb; the number of the thumb phalanges is two; the number of the components of the palm upper surface is four; the finger assembly on the upper surface of the palm consists of three finger bones (5).
4. The intelligent mechanical arm based on the pressure film sensor as claimed in claim 1, wherein: cushions are fixed on the inner side end face of the palm (1) and the inner side end face of the phalanx (5).
5. The utility model provides a work flow of intelligent machine hand based on pressure film sensor which characterized in that: it comprises the following steps:
a. initializing a first pressure film sensor (2), a steering engine and a second pressure film sensor (4) (6) until the action of the manipulator returns to the initial setting;
b. the combination of the mechanical arms and the steering engine (4) drive each phalanx (5) to act, and meanwhile, the first pressure film sensor (2) and the second pressure film sensor (6) start to acquire data;
c. the data collected by the first pressure film sensor (2) and the second pressure film sensor (6) are transmitted to the control terminal (8) and are compared with a preset pressure set value of the control terminal (8);
d. after the data collected by the first pressure film sensor (2) and the second pressure film sensor (2) are matched with the pressure set value of the control terminal (8), the manipulator lifts;
e. after the manipulator lifts up, the photoelectric encoder (7) detects whether the pulley (3) slides; when the pulley (3) is not moved, the manipulator lifts the object by lifting action; after the pulley (3) rotates, the photoelectric encoder sends a pulse signal to the control terminal (8), the control terminal sends a signal to drive the palm (1) and the steering engine (4) to move until the pulley (3) does not rotate, the first pressure film sensor (2) and the second pressure film sensor (6) collect pressure data again at the moment, and the pressure data are changed into preset values of the first pressure film sensor (2) and the second pressure film sensor (6) through a data algorithm and then stored as new pressure set values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911202660.7A CN112873197A (en) | 2019-11-29 | 2019-11-29 | Intelligent mechanical arm based on pressure film sensor and working process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911202660.7A CN112873197A (en) | 2019-11-29 | 2019-11-29 | Intelligent mechanical arm based on pressure film sensor and working process |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112873197A true CN112873197A (en) | 2021-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911202660.7A Pending CN112873197A (en) | 2019-11-29 | 2019-11-29 | Intelligent mechanical arm based on pressure film sensor and working process |
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| CN (1) | CN112873197A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08323678A (en) * | 1995-05-25 | 1996-12-10 | Sanyo Electric Co Ltd | Soft object grip device |
| CN104802181A (en) * | 2015-04-09 | 2015-07-29 | 上海大学 | Three-finger flexible hand performing device of robot |
| CN206201003U (en) * | 2016-11-28 | 2017-05-31 | 山东科技大学 | One kind gripping adjustable electromagnetic mechanical paw of power |
| CN206373923U (en) * | 2016-12-19 | 2017-08-04 | 浙江大学 | A kind of apery type mechanical finger with temperature and tactile force sensing function |
| CN109249415A (en) * | 2018-12-03 | 2019-01-22 | 吉林大学 | A kind of flexible manipulator based on the perception of bionical strain transducer array |
| CN109773816A (en) * | 2019-04-01 | 2019-05-21 | 吉林大学 | A kind of driving five-needle pines blister rust structure and control system entirely |
-
2019
- 2019-11-29 CN CN201911202660.7A patent/CN112873197A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08323678A (en) * | 1995-05-25 | 1996-12-10 | Sanyo Electric Co Ltd | Soft object grip device |
| CN104802181A (en) * | 2015-04-09 | 2015-07-29 | 上海大学 | Three-finger flexible hand performing device of robot |
| CN206201003U (en) * | 2016-11-28 | 2017-05-31 | 山东科技大学 | One kind gripping adjustable electromagnetic mechanical paw of power |
| CN206373923U (en) * | 2016-12-19 | 2017-08-04 | 浙江大学 | A kind of apery type mechanical finger with temperature and tactile force sensing function |
| CN109249415A (en) * | 2018-12-03 | 2019-01-22 | 吉林大学 | A kind of flexible manipulator based on the perception of bionical strain transducer array |
| CN109773816A (en) * | 2019-04-01 | 2019-05-21 | 吉林大学 | A kind of driving five-needle pines blister rust structure and control system entirely |
Non-Patent Citations (1)
| Title |
|---|
| 戚玉强 任玲 主编: "《传感器与检测技术（第4版）》", 31 August 2018, 北京航空航天大学出版社 * |
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Application publication date: 20210601 |