CN201970313U - Contact and press sensing device of mechanical arm surface - Google Patents
Contact and press sensing device of mechanical arm surface Download PDFInfo
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- CN201970313U CN201970313U CN2010206487545U CN201020648754U CN201970313U CN 201970313 U CN201970313 U CN 201970313U CN 2010206487545 U CN2010206487545 U CN 2010206487545U CN 201020648754 U CN201020648754 U CN 201020648754U CN 201970313 U CN201970313 U CN 201970313U
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- support frame
- pressure
- sensing device
- contact surfaces
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Abstract
The utility model discloses a contact and press sensing device of a mechanical arm surface, which comprises a support frame and an elastic contact surface for clamping objects, a sealing cavity body with an elastic contact surface is arranged on the support frame, the inner side of the sealing cavity body is provided with a gas, liquid or elastic support body, the sealing cavity body is communicated with an input end of a pressure sensing element through an inlet pressure transmission connection channel, the output end of the pressure sensing element is communicated with an outlet pressure transmission connection channel, and a signal conditioning circuit is assembled on the pressure sensing element. Consequently, compared with the prior art, the contact and press sensing device disclosed by the utility model has the characteristics of simple structure, low manufacturing cost and benefit in popularization, and the stability and reliability of a probe can be ensured.
Description
Technical field
The utility model relates to the touch-pressure sensation sensing device on a kind of manipulator surface, belongs to the manipulator technical field.
Background technology
Manipulator at first will have basic extracting ability.At the object that grasps attribute the unknown, must be to the grip of the best size of object effect, should guarantee to grasp object and do not produce slip, be unlikely to again because of excessive make object generation excessive deformation or the damage of exerting oneself.Carry out grasping body and finish dynamics control purpose for reaching, at first need corresponding vibrational state and static pressure and detect the touch-pressure sensation sensing arrangement, relative motion state and pressure state between robot finger and the crawled object contact-making surface are detected, for manipulator clamping dynamics control system provides suitable seized condition signal, and then judge and control, finally crawled object is applied the suitable grasp force of size and Orientation.
Manipulator surface touch-pressure sensation sensing device commonly used at present is to utilize the material property principle to remove to develop sensor, common carbon fibre and conductive silicon rubber, when these touch-pressure sensation sensing devices particularly grasp for special-shaped object, object that the weight change scope is big, often sensitivity is low, mechanical hysteresis is big, and cost is very high.Consider that from the practical application angle problem of aspects such as manufacturing process complexity has limited its range of application.
Summary of the invention
The purpose of this utility model is: the touch-pressure sensation sensing device that a kind of manipulator surface is provided.Can with crawled object between contact, slide and when finishing grasping, detect the static state and the dynamic change of vibration signal and pressure change signal, and carry out corresponding signal process, the mechanical hand system that the dynamics of finishing can be controlled automatically, and have simple in structure, low cost of manufacture, the characteristics of favourable popularization.
The utility model is to constitute like this: the touch-pressure sensation sensing device on a kind of manipulator of the present utility model surface, comprise support frame and the resilient contact surfaces that is used for the clamping object, support frame is provided with the seal chamber with resilient contact surfaces, in the seal chamber is gas or liquid or elastic support, seal chamber transmits interface channel through entrance pressure power and is communicated with the pressure sensor input, the pressure sensor output transmits interface channel and is communicated with going out pressure, is furnished with signal conditioning circuit on pressure sensor.
On above-mentioned support frame, be provided with one or more seal chamber with resilient contact surfaces.
Aforementioned seal chamber is communicated with at least one pressure sensor.
When the aforementioned pressure sensing element was two or more, its pressure sensor had structure identical or inequality or characterisitic parameter, and also had electrology characteristic parameter identical or inequality with the signal conditioning circuit of pressure sensor corresponding configuration.
Aforementioned seal chamber is the integrated molding hermetically-sealed construction with resilient contact surfaces, is combined with the integrated seal chamber with resilient contact surfaces by support frame to constitute the sensing device structure.
Aforementioned resilient contact surfaces is for constituting a member of seal chamber, and seal chamber is combined with resilient contact surfaces by support frame and constitutes.
Elastic support constitutes by spring structure or by elastomeric material in the aforementioned cavities, and the resilient contact surfaces of seal chamber is for relying on the elastic construction that elastic support constitutes in the chamber on the support frame.
The relative structural relation with seal chamber of aforementioned support frame is that seal chamber embeds support frame, or the relative structural relation with seal chamber of support frame is a seal chamber parcel support frame.
Be provided with at least one and be used for the protruding contact that auxiliary clamping object is used on above-mentioned resilient contact surfaces, this protruding contact is platform-like, hemispherical or special-shaped platform shape.
Be provided with space pattern or lines on the surface of above-mentioned resilient contact surfaces and/or on the surface of protruding contact.
Owing to adopted technique scheme, the utility model is made up of pressure sensor, signal conditioning circuit and seal chamber with resilient contact surfaces.Resilient contact surfaces on its support frame or the contact that passes through to add thereon contact with crawled object and the clamping object, the effect of being stressed, resilient contact surfaces generation deformation, producing pressure in the annular seal space body cavity changes, transmit the pressure sensor pressure input that interface channel passes to connection through excess pressure, the pressure differential that makes turnover pressure transmit interface channel changes, consequent activation signal input signal conditioning circuit is for manipulator clamping dynamics control system provides suitable seized condition signal.Therefore, the utility model compared with prior art, the utlity model has simple in structure, advantage of low manufacturing cost, the characteristics of favourable popularization can guarantee the stability and the reliability of popping one's head in.
Description of drawings
Fig. 1 the utlity model has embedded single cavity single pressure sensor structural representation;
Fig. 2 the utlity model has embedded single cavity single pressure sensor structural representation that elastomer supports;
Fig. 3 is the embedded single cavity multiple pressure power sensor construction schematic diagram that the utlity model has elastic support body;
Fig. 4 is the spring-supported embedded single cavity single pressure sensor structural representation of the utility model.
Fig. 5 is the embedded single cavity multiple pressure power sensor construction schematic diagram that the utlity model has the spring-loaded body;
Fig. 6 is the embedded multi-cavity body of a utility model multiple pressure power sensor construction schematic diagram;
Fig. 7 is the embedded multi-cavity body multiple pressure power sensor construction schematic diagram that the utlity model has elastic support body;
Fig. 8 is the embedded single cavity single pressure sensor structural representation of the utility model integrated molding;
Fig. 9 is that the utility model integrated molding elastomer supports embedded single cavity single pressure sensor structural representation;
Figure 10 is that the utility model integrated molding elastomer supports embedded single cavity multiple pressure power sensor construction schematic diagram;
Figure 11 is the single cavity single pressure sensor of a utility model integrated molding outer wrapping formula structural representation;
Figure 12 is that the utility model integrated molding elastomer supports the single cavity single pressure sensor of outer wrapping formula structural representation;
Figure 13 is that the utility model integrated molding elastomer supports the single cavity multiple pressure of outer wrapping formula power sensor construction schematic diagram;
Figure 14 is the single cavity single pressure sensor structural representation that the utlity model has protruding contact;
Figure 15 is the single cavity single pressure sensor structural representation that the utlity model has protruding contact and elastomer support;
Figure 16 the utlity model has protruding contact and spring-supported single cavity single pressure sensor structural representation;
Figure 17 is the single cavity multiple pressure power sensor construction schematic diagram that the utlity model has protruding contact;
Figure 18 is the utility model multi-cavity body multiple pressure power sensor construction schematic diagram.
Description of reference numerals: the 1-support frame, the 2-resilient contact surfaces, the 3-seal chamber, the 4-elastic support, 5-entrance pressure power is transmitted interface channel, and 6-goes out pressure and transmits interface channel, 7-pressure sensor, 8-signal conditioning circuit, the protruding contact of 9-.
The utility model is described in further detail below in conjunction with drawings and Examples.
Embodiment of the present utility model: the structural representation of the touch-pressure sensation sensing device on a kind of manipulator of the present utility model surface as shown in Figure 1, this device comprises support frame 1 and is used for the resilient contact surfaces 2 of clamping object, support frame 1 is provided with the seal chamber 3 with resilient contact surfaces 2, in the seal chamber 3 is gas or liquid or elastic support 4, seal chamber 3 transmits interface channel 5 through entrance pressure power and is communicated with pressure sensor 7 inputs, pressure sensor 7 outputs with go out pressure and transmit interface channel 6 and be communicated with, be furnished with signal conditioning circuit 8 on pressure sensor 7, this signal conditioning circuit 8 can directly adopt the finished product of selling on the existing market to install and get final product.
During making, on support frame 1, can make one or morely have the seal chamber 3(of resilient contact surfaces 2 shown in Fig. 2,6,7,18).
Shown in Fig. 3,4,5,6,7,14,15,16,17, resilient contact surfaces 2 is for constituting a member of seal chamber 3, seal chamber 3 is combined with resilient contact surfaces 2 by support frame 1 and constitutes, described support frame 1 is that seal chamber 3 embeds support frame 1 with seal chamber 3 relative structural relations, or support frame 1 is seal chamber 3 parcel support frames 1 with seal chamber 3 relative structural relations.
Shown in Fig. 3,4,7,9,10,12,13,15,16, elastic support 4 constitutes by spring structure or by elastomeric material in the chamber, and the resilient contact surfaces 2 of seal chamber 3 is for relying on the elastic construction that elastic support 4 constitutes in the chamber on the support frame 1.
Shown in Fig. 8,9,10,11,12,13, the integrated molding hermetically-sealed construction of seal chamber 3 for having resilient contact surfaces 2, the sensing device structure is combined with the integrated seal chamber 3 with resilient contact surfaces 2 by support frame 1 and constitutes; Described support frame 1 is that seal chamber 3 embeds support frame 1 with seal chamber 3 relative structural relations, or support frame 1 is seal chamber 3 parcel support frames 1 with seal chamber 3 relative structural relations.
In order to make resilient contact surfaces 2 clamping object more reliably, a protruding contact 9 is set on resilient contact surfaces 2 at least, protruding contact 9 can be made as platform-like, hemispherical or special-shaped platform shape (shown in Figure 14,15,16,17); In order to improve the skin-friction force of resilient contact surfaces 2 or protruding contact 9, some space pattern or lines arbitrarily can produced on the surface of resilient contact surfaces 2 and/or on the surface of protruding contact 9.
When using the utility model, touch-pressure sensation sensing device of the present utility model is installed on the mechanical hand, when being in contact with one another and grasping between mechanical hand and the crawled object, resilient contact surfaces 2 on the support frame 1 or the contact 9 that passes through to add thereon contact with crawled object and the clamping object, the effect of being stressed, deformation takes place in resilient contact surfaces 2, producing pressure in seal chamber 3 chambeies changes, transmit the pressure sensor 7 pressure inputs that interface channel 5 passes to connection through excess pressure, making pressure transmit interface channel 5 changes with the pressure differential that goes out pressure transmission interface channel 6, consequent activation signal input signal conditioning circuit 8 is for manipulator clamping dynamics control system provides suitable seized condition signal.
Bigger for obtaining, erose strain, seal chamber liner elastic support, elastic support 4 constitutes by spring structure or by elastomeric material in the chamber, the elastic construction of the resilient contact surfaces 2 of seal chamber 3 for relying on elastic support 4 to constitute.
Claims (9)
1. the touch-pressure sensation sensing device on a manipulator surface, comprise support frame (1) and be used for the resilient contact surfaces (2) of clamping object, it is characterized in that: support frame (1) is provided with the have resilient contact surfaces seal chamber (3) of (2), in the seal chamber (3) is gas or liquid or elastic support (4), seal chamber (3) transmits interface channel (5) through entrance pressure power and is communicated with pressure sensor (7) input, pressure sensor (7) output transmits interface channel (6) and is communicated with going out pressure, is furnished with signal conditioning circuit (8) on pressure sensor (7).
2. according to the touch-pressure sensation sensing device on the described manipulator of claim 1 surface, it is characterized in that: on support frame (1), be provided with one or more seal chamber (3) with resilient contact surfaces (2).
3. according to the touch-pressure sensation sensing device on claim 1 or 2 described manipulator surfaces, it is characterized in that: seal chamber (3) is communicated with at least one pressure sensor (7).
4. according to the touch-pressure sensation sensing device on the described manipulator of claim 3 surface, it is characterized in that: when described pressure sensor (7) is two or more, its pressure sensor (7) has structure identical or inequality or characterisitic parameter, and also has electrology characteristic parameter identical or inequality with the signal conditioning circuit (8) of pressure sensor (7) corresponding configuration.
5. according to the touch-pressure sensation sensing device on the described manipulator of claim 1 surface, it is characterized in that: the integrated molding hermetically-sealed construction of seal chamber (3) for having resilient contact surfaces (2) combines formation sensing device structure by support frame (1) with the integrated seal chamber (3) with resilient contact surfaces (2).
6. according to the touch-pressure sensation sensing device on the described manipulator of claim 1 surface, it is characterized in that: resilient contact surfaces (2) is for constituting a member of seal chamber (3), and seal chamber (3) combines formation by support frame (1) with resilient contact surfaces (2).
7. according to the touch-pressure sensation sensing device on the described manipulator of claim 1 surface, it is characterized in that: elastic support in the described chamber (4) constitutes by spring structure or by elastomeric material, and support frame (1) is gone up the resilient contact surfaces (2) of seal chamber (3) for relying on the elastic construction that elastic support (4) constitutes in the chamber.
8. according to the touch-pressure sensation sensing device on the described manipulator of claim 1 surface, it is characterized in that: described support frame (1) is that seal chamber (3) embeds support frame (1) with the relative structural relation of seal chamber (3), or support frame (1) is seal chamber (a 3) parcel support frame (1) with the relative structural relation of seal chamber (3).
9. according to the touch-pressure sensation sensing device on the described manipulator of claim 1 surface, it is characterized in that: be provided with at least one and be used for the protruding contact (9) that auxiliary clamping object is used on resilient contact surfaces (2), this protruding contact (9) is platform-like, hemispherical or special-shaped platform shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206487545U CN201970313U (en) | 2010-12-09 | 2010-12-09 | Contact and press sensing device of mechanical arm surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206487545U CN201970313U (en) | 2010-12-09 | 2010-12-09 | Contact and press sensing device of mechanical arm surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201970313U true CN201970313U (en) | 2011-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206487545U Expired - Fee Related CN201970313U (en) | 2010-12-09 | 2010-12-09 | Contact and press sensing device of mechanical arm surface |
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| CN (1) | CN201970313U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070526A (en) * | 2013-03-29 | 2014-10-01 | 联想(北京)有限公司 | Intelligent machine |
| CN106239548A (en) * | 2016-09-14 | 2016-12-21 | 苏州驱指自动化科技有限公司 | Embrace tool head |
| CN109152560A (en) * | 2015-12-28 | 2019-01-04 | 株式会社卡特路谷好物思 | The application method of grip testing agency and sports apparatus and the sports apparatus with the grip testing agency |
| CN109551504A (en) * | 2017-09-26 | 2019-04-02 | 丰田研究所股份有限公司 | Robot gripper finger |
| CN113891787A (en) * | 2019-06-05 | 2022-01-04 | 索尼集团公司 | Support device |
-
2010
- 2010-12-09 CN CN2010206487545U patent/CN201970313U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104070526A (en) * | 2013-03-29 | 2014-10-01 | 联想(北京)有限公司 | Intelligent machine |
| CN104070526B (en) * | 2013-03-29 | 2017-03-01 | 联想(北京)有限公司 | Intelligent machine |
| CN109152560A (en) * | 2015-12-28 | 2019-01-04 | 株式会社卡特路谷好物思 | The application method of grip testing agency and sports apparatus and the sports apparatus with the grip testing agency |
| CN106239548A (en) * | 2016-09-14 | 2016-12-21 | 苏州驱指自动化科技有限公司 | Embrace tool head |
| CN109551504A (en) * | 2017-09-26 | 2019-04-02 | 丰田研究所股份有限公司 | Robot gripper finger |
| CN109551504B (en) * | 2017-09-26 | 2023-08-11 | 丰田研究所股份有限公司 | Robot gripper finger |
| CN113891787A (en) * | 2019-06-05 | 2022-01-04 | 索尼集团公司 | Support device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110914 Termination date: 20131209 |