CN205111841U - Take simulation machine hand of pressure feedback - Google Patents
Take simulation machine hand of pressure feedback Download PDFInfo
- Publication number
- CN205111841U CN205111841U CN201520782909.7U CN201520782909U CN205111841U CN 205111841 U CN205111841 U CN 205111841U CN 201520782909 U CN201520782909 U CN 201520782909U CN 205111841 U CN205111841 U CN 205111841U
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- CN
- China
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- contact site
- motor starter
- servomotor
- microprocessor
- displacement transducer
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Abstract
The utility model provides a take simulation machine hand of pressure feedback, include: robotic arm, pressure sensor, displacement sensor, photoelectric encoder, RS485 bus, microprocessor, servo motor, motor starter, power, counter. The utility model provides a take simulation machine hand of pressure feedback, reasonable in design, advantages such as communication is convenient, have easy operation, the practicality is strong have not only been overcome now a lot of robotic arms can't realize taking the problem of the control of sense of touch, have still overcome present machine staff claw and have been difficult to keep steadily problem heavier or longer object, and this device market potential is big, can promote on market.
Description
Technical field
The utility model relates to a kind of simulation mechanical hand with pressure feedback, belongs to automation equipment application.
Background technology
Simulation mechanical hand is more and more extensive in now social use, but a lot of robotic arm cannot realize the control of being with sense of touch now, robot hand is difficult to stably keep heavier or longer object, and the robot for grasping object in industrial circle may be accidents caused due to landing object.
For this reason, design a kind of simulation mechanical hand with pressure feedback, control unit is provided, it is configured to when grasping object, the vertical stress component utilizing the vertical and horizontal range between arm end and measured by sensor unit, determine whether object center of gravity is positioned at the center between arm end, sensation on the spot in person can be produced, and the balance grasping thing can be remained.
Summary of the invention
The purpose of this utility model is to provide a kind of simulation mechanical hand with pressure feedback.
The utility model solves the technical scheme that its technical problem adopts: a kind of simulation mechanical hand with pressure feedback, comprise: robotic arm, pressure sensor, displacement transducer, photoelectric code disk, RS485 bus, microprocessor, servomotor, motor starter, power supply, counter, it is characterized in that: information acquisition module comprises pressure sensor, displacement transducer and photoelectric code disk, control module is microprocessor, pressure adjusting module is RS485 bus, servomotor and motor starter, counting module is counter, and supply module is power supply; Simulation mechanical hand with pressure feedback has two robotic arms, be respectively contact site and lower contact site, upper contact site and lower contact site are in described two robotic arm ends separately, when grasping object, described upper contact site contacts with bottom with the top of described object with described lower contact site, and described upper contact site and described lower contact site form the hemispherical with predetermined radii; The pressure sensor of information acquisition module, displacement transducer are arranged on described upper contact site and described lower contact site respectively, and displacement transducer is the photoelectric code disk having three degree of freedom; Microprocessor is pressure sensor, displacement transducer, the motor starter sum counter that control unit is connected to information acquisition module, and motor starter is connected with servomotor; Microprocessor and motor starter and motor starter are all be connected by RS485 bus with servomotor, when gripping objects, information acquisition module can measure object gravity and clip position, feed back to control module, control module can simulate weight drag torque at control end and act on staff, make people produce sensation on the spot in person, thus clip position and applied pressure can be regulated in time by motor starter and servomotor.
The beneficial effects of the utility model are: the control mode using band pressure feedback, produce sensation on the spot in person, control unit is provided, it is configured to when grasping object, the vertical stress component utilizing the vertical and horizontal range between arm end and measured by sensor unit, determine whether object center of gravity is positioned at the center between arm end, the balance grasping thing can be remained.
Accompanying drawing explanation
Fig. 1 is the simulation mechanical hand functional schematic of band pressure feedback.
Detailed description of the invention
Be described further below in conjunction with the simulation mechanical hand of accompanying drawing to the utility model band pressure feedback.
In Fig. 1,1-robotic arm, 2-pressure sensor, 3-displacement transducer, 4-photoelectric code disk, 5-microprocessor, 6-counter, 7-motor starter, 8-servomotor, 9-RS485 bus, 10-power supply.
Simulation mechanical hand with pressure feedback has two robotic arms 1, be respectively contact site and lower contact site, be arranged in the end that described two robotic arms 1 are respective, it is when grasping object, described upper contact site contacts with bottom with the top of described object with described lower contact site, and described upper contact site and described lower contact site form the hemispherical with predetermined radii.When grasping described object, pressure sensor 2 can measure the vertical force or horizontal force that are applied to described upper contact site or described lower contact site.Displacement transducer 3 uses the photoelectric code disk 4 of three degree of freedom, by three the direction displacements of three tunnel pulse detection.The center of gravity of the data determination object that microprocessor 5 can be sent by the information acquisition module center whether between the end of described arm, and send a command to motor starter 7 by RS485 bus 9 and drive servomotor 8, produce drag torque and act on staff, make people produce sensation on the spot in person, thus regulate clip position and applied pressure when can take into account.Counter 6 has count action, and power supply 10 provides electric energy to robotic arm 1 work.
Simulation mechanical hand with pressure feedback has two robotic arms 1, and it is inner that pressure sensor 2, displacement transducer 3, photoelectric code disk 4, microprocessor 5, counter 6, motor starter 7, servomotor 8, RS485 bus 9, power supply 10 are all positioned at two robotic arms 1.Upper contact site and the lower contact site of robotic arm 1 are arranged in arm end separately, and the pressure sensor 2 of information acquisition module, displacement transducer 3 are arranged on described upper contact site and described lower contact site.Displacement transducer 3 is for there being the photoelectric code disk 4 of three degree of freedom.Microprocessor 5 is control unit, is connected to the pressure sensor 2 of information acquisition module, displacement transducer 3, and motor starter 7 sum counter 6.Motor starter 7 is connected with servomotor 8.Microprocessor 8 and motor starter 7 and motor starter 7 are all be connected by RS485 bus 9 with servomotor 8.
User use band pressure feedback simulation mechanical hand gripping objects time, pressure sensor 2 and displacement transducer 3 can measure object gravity and clip position, feed back to microprocessor 5, microprocessor 5 can simulate weight drag torque at control end and act on staff, make people produce sensation on the spot in person, thus clip position and applied pressure can be regulated in time by motor starter 7 and servomotor 8.
The utility model provides a kind of simulation mechanical hand of Novel belt pressure feedback, reasonable in design, communication facilitates, has the advantages such as simple to operate, practical, not only overcome a lot of robotic arm now and cannot realize the problem of the control of being with sense of touch, also overcome existing robot hand to be difficult to stably to keep heavier or compared with the problem of long materials, this device market potential is large, can commercially promote.
Claims (1)
1. the simulation mechanical hand with pressure feedback, comprise: robotic arm, pressure sensor, displacement transducer, photoelectric code disk, RS485 bus, microprocessor, servomotor, motor starter, power supply, counter, it is characterized in that: information acquisition module comprises pressure sensor, displacement transducer and photoelectric code disk, control module is microprocessor, pressure adjusting module is RS485 bus, servomotor and motor starter, counting module is counter, and supply module is power supply; Simulation mechanical hand with pressure feedback has two robotic arms, be respectively contact site and lower contact site, upper contact site and lower contact site are in described two robotic arm ends separately, when grasping object, described upper contact site contacts with bottom with the top of described object with described lower contact site, and described upper contact site and described lower contact site form the hemispherical with predetermined radii; The pressure sensor of information acquisition module, displacement transducer are arranged on described upper contact site and described lower contact site respectively, and displacement transducer is the photoelectric code disk having three degree of freedom; Microprocessor is pressure sensor, displacement transducer, the motor starter sum counter that control unit is connected to information acquisition module, and motor starter is connected with servomotor; Microprocessor and motor starter and motor starter are all be connected by RS485 bus with servomotor, when gripping objects, information acquisition module can measure object gravity and clip position, feed back to control module, control module can simulate weight drag torque at control end and act on staff, make people produce sensation on the spot in person, thus clip position and applied pressure can be regulated in time by motor starter and servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520782909.7U CN205111841U (en) | 2015-10-10 | 2015-10-10 | Take simulation machine hand of pressure feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520782909.7U CN205111841U (en) | 2015-10-10 | 2015-10-10 | Take simulation machine hand of pressure feedback |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205111841U true CN205111841U (en) | 2016-03-30 |
Family
ID=55567486
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520782909.7U Expired - Fee Related CN205111841U (en) | 2015-10-10 | 2015-10-10 | Take simulation machine hand of pressure feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205111841U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673497A (en) * | 2018-05-04 | 2018-10-19 | 安徽三弟电子科技有限责任公司 | A kind of robot articulations digitorum manus regulator control system based on grip sensor monitoring |
-
2015
- 2015-10-10 CN CN201520782909.7U patent/CN205111841U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673497A (en) * | 2018-05-04 | 2018-10-19 | 安徽三弟电子科技有限责任公司 | A kind of robot articulations digitorum manus regulator control system based on grip sensor monitoring |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160330 Termination date: 20161010 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |