CN205363937U - Grabhook with touch sensing - Google Patents
Grabhook with touch sensing Download PDFInfo
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- CN205363937U CN205363937U CN201620003249.2U CN201620003249U CN205363937U CN 205363937 U CN205363937 U CN 205363937U CN 201620003249 U CN201620003249 U CN 201620003249U CN 205363937 U CN205363937 U CN 205363937U
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- tactile sensing
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- grabbing
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Abstract
The utility model provides a grabhook with touch sensing, its characterized in that: including stroke base and a plurality of bent claw, the tail end of this a little bent claws and this stroke base pivotally connected to, the thing front end of grabbing of these a little bent claws is equipped with the touch sensing component, this touch sensing component include cover in grab thin flaky substrate, a plurality of springs form electrical conductivity fiber of evenly distributed in this thin flaky substrate of thing front end to and it is built -in in this thin flaky substrate's a set of electrode, should organize the electrode and connect leadedly. The utility model discloses a take the end to set up the touch sensing component grabbing of grabhook, is easily mincing when touching because of small deformation produces the sensitive signal of telecommunication, then can accurate judgement easily mince and the grabhook between position relation, has solved grabbing of always being difficult to to break through in the conventional art and has taken dynamics control problem.
Description
Technical field
This utility model, with relating to a kind of gripper with tactile sensing, can be applicable on all types of industries or experiment gripper, for grabbing of breakables is taken.
Background technology
Fast development along with robotics, robotic arm is all applied at a lot of production fields, for instance in hatching field, and robotic arm can substitute the manpower egg holder to whole dish and move, dramatically reduce the carrying pressure of workman, production efficiency can be effectively improved；But the application of robotic arm is also just only limitted to move operation at present, grabbing of egg must manually performed by operation, trace it to its cause, be: different egg sizes there are differences, and robotic arm is according to controlling program mechanical action, cannot accurately judging the size of egg as staff thus changing the opening degree of gripper, often causing scratching or falling of egg.For solving this problem, having research is the opening degree that the mode by visual determination controls gripper, namely photographic head is installed on gripper and obtains the video of egg, the size of egg is calculated again through evaluation algorithm, which is not first explained clearly and right can be adjusted suitable size, only it is that evaluation algorithm is just sufficiently complex, needs the factors such as thorough consideration background artifacts, environment light are dark, hardly result in real enforcement.
Sensing element described in Japanese Unexamined Patent Publication 2005-49331 uses the micro-carbon spring of double circumvolution, it presses detection and is based on LCR resonance circuit, object all can cause its deformation from which direction with contacting of sensing element, then the change of L, C, R, Z, θ in LCR resonance circuit is caused, obtain comparatively sensitive signal of telecommunication reaction, as long as so utilizing this signal of telecommunication it may determine that position relationship between object and sensing element.
Utility model content
Based on problem mentioned in background technology, the utility model proposes a kind of gripper scheme with tactile sensing, solve to grab by dynamics control problem such as egg one class breakable object, its concrete technical scheme is as follows:
A kind of gripper with tactile sensing, including stroke pedestal and some bent pawls, the tail end of those bent pawls is pivotally connected with the trip pedestal, the thing front end of grabbing of those bent pawls is provided with tactile sensing element, this tactile sensing element include being covered in described in grab thing front end laminar matrix, multiple spring-like conductive fibers of being uniformly distributed in this flake matrix, and it being built in one group of electrode of this flake matrix, this group electrode is connected to lead-in wire.
In the middle of one or more embodiments of the present utility model, this flake matrix is for having elastic matrix resin, and it is with those spring-like conductive fiber composite integrateds.
In the middle of one or more embodiments of the present utility model, this spring-like conductive fiber is orientations in flake matrix, and this orientation is the direction perpendicular with this group electrode.
In the middle of one or more embodiments of the present utility model, this spring-like conductive fiber is carbon fiber.
In the middle of one or more embodiments of the present utility model, the thing front end of grabbing of this song pawl is provided with the grip block for clamping object, and the one side that this grip block contacts with object is coated with this tactile sensing element.
In the middle of one or more embodiments of the present utility model, this grip block and bent pawl are grabbed between thing front end as being pivotally connected.
In the middle of one or more embodiments of the present utility model, the trip pedestal includes stator department, mover portion, link arm and travel screw, this mover portion is located at the end of travel screw, its tail end with this song pawl is pivotally connected, this stator department is sheathed on the trip screw rod, being provided with pivot joint ear outside it, this pivot joint ear is pivotally connected by this link arm and this song pawl.
In the middle of one or more embodiments of the present utility model, this song pawl has 2 to 6.
This utility model is compared with prior art, its advantageous exists: by arranging tactile sensing element grabbing of gripper by end, produce the signal of telecommunication of sensitivity with it because of miniature deformation when breakable object touches, then can accurately judge the position relationship between breakable object and gripper, solve grabbing by dynamics control problem of being always difficult in conventional art to break through.
Accompanying drawing explanation
Fig. 1 is the structural representation of the gripper with tactile sensing of the present utility model.
Fig. 2 is the structural representation of tactile sensing element of the present utility model.
Detailed description of the invention
Below in conjunction with attached Fig. 1 and 2, the application scheme is further described:
A kind of gripper with tactile sensing, including stroke pedestal and some bent pawls 2；
The trip pedestal includes stator department 11, mover portion 12, travel screw 13 and link arm 14, this mover portion 12 is located at the end of travel screw 13, its tail end with this song pawl 2 is pivotally connected, this stator department 11 is sheathed on the trip screw rod 13, being provided with pivot joint ear outside it, this pivot joint ear is pivotally connected with this song pawl 2 by this link arm 14；
The thing front end of grabbing of those bent pawls 2 is provided with tactile sensing element 3, this tactile sensing element 3 include being covered in described in grab thing front end laminar matrix 31, multiple spring-like conductive fibers 32 of being uniformly distributed in this flake matrix 31, and it is built in one group of electrode 33a and 33b of this flake matrix 31, this group electrode 33a and 33b is connected to lead-in wire, those lead-in wires are connected to a controller, the transducing signal that this controller feeds back according to tactile sensing element 3, adjust the actuating length of travel screw 13, thus realizing grabbing the control by dynamics.
This flake matrix 31 is for having elastic matrix resin, and it is with those spring-like conductive fiber 32 composite integrateds.
This spring-like conductive fiber 32 is orientations in flake matrix 31, and this orientation is the direction perpendicular with this group electrode 33a and 33b, when being embodied as, preferably by the axis direction of each spring-like conductive fiber 32 towards being grabbed thing, when being grabbed thing and touching this tactile sensing element 3 and produce deformation, spring-like conductive fiber 32 is axially compressed, and small deformation quantity also can cause the electric parameter of LCR circuit comparatively to change significantly, it is thus possible to there is the more sensitive signal of telecommunication to produce.
This spring-like conductive fiber 32 is carbon fiber.
The thing front end of grabbing of this song pawl 2 is provided with the grip block 4 for clamping object, and the one side that this grip block 4 contacts with object is coated with this tactile sensing element 3.
This grip block 4 and bent pawl 2 grab for being pivotally connected between thing front end, when being grabbed thing contact again according to mending the outline fine rotation grabbing thing, such micro-pose adjustment makes grip block 4 and is better contacted between thing with grabbing, and also ensures the accuracy sensed.
When being embodied as, this song pawl 2 can have 2 to 6.
Above-mentioned preferred implementation should be regarded as the illustration of the application scheme embodiment; the application scheme can apply on all types of industries or experiment gripper; all identical with the application scheme, approximate or make based on this technology deduction, replacement, improvement etc., be regarded as the protection domain of this patent.
Claims (8)
1. a gripper with tactile sensing, it is characterized in that: include stroke pedestal and some bent pawls, the tail end of those bent pawls is pivotally connected with the trip pedestal, the thing front end of grabbing of those bent pawls is provided with tactile sensing element, this tactile sensing element include being covered in described in grab thing front end laminar matrix, multiple spring-like conductive fibers of being uniformly distributed in this flake matrix, and it being built in one group of electrode of this flake matrix, this group electrode is connected to lead-in wire.
2. the gripper with tactile sensing according to claim 1, it is characterised in that: this flake matrix is for having elastic matrix resin, and it is with those spring-like conductive fiber composite integrateds.
3. the gripper with tactile sensing according to claim 1, it is characterised in that: this spring-like conductive fiber is orientations in flake matrix, and this orientation is the direction perpendicular with this group electrode.
4. the gripper with tactile sensing according to claim 2, it is characterised in that: this spring-like conductive fiber is carbon fiber.
5. the gripper with tactile sensing according to claim 1 or 4, it is characterised in that: the thing front end of grabbing of this song pawl is provided with the grip block for clamping object, and the one side that this grip block contacts with object is coated with this tactile sensing element.
6. the gripper with tactile sensing according to claim 5, it is characterised in that: this grip block and bent pawl are grabbed between thing front end as being pivotally connected.
7. the gripper with tactile sensing according to claim 1 or 4, it is characterized in that: the trip pedestal includes stator department, mover portion, link arm and travel screw, this mover portion is located at the end of travel screw, its tail end with this song pawl is pivotally connected, this stator department is sheathed on the trip screw rod, being provided with pivot joint ear outside it, this pivot joint ear is pivotally connected by this link arm and this song pawl.
8. the gripper with tactile sensing according to claim 7, it is characterised in that: this song pawl has 2 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620003249.2U CN205363937U (en) | 2016-01-05 | 2016-01-05 | Grabhook with touch sensing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620003249.2U CN205363937U (en) | 2016-01-05 | 2016-01-05 | Grabhook with touch sensing |
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| CN205363937U true CN205363937U (en) | 2016-07-06 |
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Cited By (32)
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| CN106346510A (en) * | 2016-10-11 | 2017-01-25 | 佛山科学技术学院 | Flexible three-finger clamp holder having touch sensing function |
| CN106938458A (en) * | 2017-03-24 | 2017-07-11 | 广西大学 | A kind of structure state of tilting-type full hydraulic drive three becomes the training of cell type trees and cut down trees robot |
| CN106954476A (en) * | 2017-03-24 | 2017-07-18 | 广西大学 | A kind of three structure states with three kinds of mapping of freedom degree become cell type trees training tree felling machine |
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| CN106965150A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion combination drive training are cut down trees robot |
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| CN106965176A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | A kind of structure state of tilting-type combination drive large space two becomes cell type training and cut down trees robot |
| CN106962134A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom become transformation cell type trees training tree felling machine |
| CN106973755A (en) * | 2017-03-24 | 2017-07-25 | 广西大学 | A kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine |
| CN107018858A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of double two and single-degree-of-freedom conversion servo-drive become cell type training and cut down trees robot |
| CN107018857A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees robot |
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| CN107020625A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of structure state of tilting-type combination drive three becomes the training of cell type trees and cut down trees robot |
| CN107018856A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of training of structure state metamorphic mechanisms formula trees of combination drive three is cut down trees robot |
| CN107088879A (en) * | 2017-03-24 | 2017-08-25 | 广西大学 | A kind of training of structure state metamorphic mechanisms formula trees of hydraulic-driven three is cut down trees robot |
| CN107087531A (en) * | 2017-03-24 | 2017-08-25 | 广西大学 | A kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees robot |
| CN107087530A (en) * | 2017-03-24 | 2017-08-25 | 广西大学 | A kind of training of structure state metamorphic mechanisms formula trees of large space two is cut down trees all-in-one |
| CN107097237A (en) * | 2017-03-24 | 2017-08-29 | 广西大学 | A kind of tilting-type automation large space two structure state becomes cell type training and cut down trees robot |
| CN107116619A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of double two and the change cell type automation training of single-degree-of-freedom conversion cut down trees robot |
| CN107135825A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion automation training are cut down trees robot |
| CN107135902A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot |
| CN107135824A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees robot |
| CN107155662A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | A kind of structure state of tilting-type three becomes born of the same parents trees training tree felling machine |
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| CN107409789A (en) * | 2017-03-24 | 2017-12-01 | 广西大学 | A kind of automation trees training of the structure state metamorphic mechanisms formula of tilting-type three is cut down trees robot |
| CN107414843A (en) * | 2017-03-24 | 2017-12-01 | 广西大学 | A kind of structure state of combination drive large space two becomes the training of cell type trees and cut down trees robot |
| CN107984491A (en) * | 2017-11-28 | 2018-05-04 | 广东工贸职业技术学院 | Automatic change mechanical clamping jaw |
| CN108068123A (en) * | 2017-12-27 | 2018-05-25 | 苏州博众机器人有限公司 | Hair fastener robot with no card arbitration functions |
| CN108994871A (en) * | 2017-06-06 | 2018-12-14 | 赵运成 | Intelligent precise electronic device processing equipment hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346510A (en) * | 2016-10-11 | 2017-01-25 | 佛山科学技术学院 | Flexible three-finger clamp holder having touch sensing function |
| CN107087531A (en) * | 2017-03-24 | 2017-08-25 | 广西大学 | A kind of structure state of servo-drive large space two becomes the training of cell type trees and cut down trees robot |
| CN107155662A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | A kind of structure state of tilting-type three becomes born of the same parents trees training tree felling machine |
| CN107088879A (en) * | 2017-03-24 | 2017-08-25 | 广西大学 | A kind of training of structure state metamorphic mechanisms formula trees of hydraulic-driven three is cut down trees robot |
| CN106965150A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion combination drive training are cut down trees robot |
| CN106965149A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | One kind automation large space two structure state becomes the training of cell type trees and cut down trees robot |
| CN106965176A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | A kind of structure state of tilting-type combination drive large space two becomes cell type training and cut down trees robot |
| CN106962134A (en) * | 2017-03-24 | 2017-07-21 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom become transformation cell type trees training tree felling machine |
| CN106973755A (en) * | 2017-03-24 | 2017-07-25 | 广西大学 | A kind of structure state metamorphic mechanisms formula trees of tilting-type large space two training tree felling machine |
| CN107018858A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of double two and single-degree-of-freedom conversion servo-drive become cell type training and cut down trees robot |
| CN107018857A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion servo-drive training are cut down trees robot |
| CN107020626A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of structure state of tilting-type servo-drive large space two becomes cell type training and cut down trees robot |
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| CN107020625A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of structure state of tilting-type combination drive three becomes the training of cell type trees and cut down trees robot |
| CN107018856A (en) * | 2017-03-24 | 2017-08-08 | 广西大学 | A kind of training of structure state metamorphic mechanisms formula trees of combination drive three is cut down trees robot |
| CN106954477A (en) * | 2017-03-24 | 2017-07-18 | 广西大学 | A kind of pair two and the three structure states change cell type trees training tree felling machine of single-degree-of-freedom conversion |
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| CN106954476A (en) * | 2017-03-24 | 2017-07-18 | 广西大学 | A kind of three structure states with three kinds of mapping of freedom degree become cell type trees training tree felling machine |
| CN107097237A (en) * | 2017-03-24 | 2017-08-29 | 广西大学 | A kind of tilting-type automation large space two structure state becomes cell type training and cut down trees robot |
| CN107116619A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of double two and the change cell type automation training of single-degree-of-freedom conversion cut down trees robot |
| CN107135825A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion automation training are cut down trees robot |
| CN107135902A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of double two and single-degree-of-freedom conversion hydraulic-driven become cell type training and cut down trees robot |
| CN107135824A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of tilting-type double two and single-degree-of-freedom conversion hydraulic-driven training are cut down trees robot |
| CN107087530A (en) * | 2017-03-24 | 2017-08-25 | 广西大学 | A kind of training of structure state metamorphic mechanisms formula trees of large space two is cut down trees all-in-one |
| CN107155811A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | A kind of structure state of tilting-type servo-drive three becomes the training of cell type trees and cut down trees robot |
| CN107414843A (en) * | 2017-03-24 | 2017-12-01 | 广西大学 | A kind of structure state of combination drive large space two becomes the training of cell type trees and cut down trees robot |
| CN107409788A (en) * | 2017-03-24 | 2017-12-01 | 广西大学 | A kind of three structure state metamorphic mechanisms formulas automation trees training is cut down trees robot |
| CN107409789A (en) * | 2017-03-24 | 2017-12-01 | 广西大学 | A kind of automation trees training of the structure state metamorphic mechanisms formula of tilting-type three is cut down trees robot |
| CN108994871A (en) * | 2017-06-06 | 2018-12-14 | 赵运成 | Intelligent precise electronic device processing equipment hand |
| CN107297739A (en) * | 2017-08-21 | 2017-10-27 | 芜湖挺优机电技术有限公司 | A kind of convenient conveying robot rotated |
| CN107984491A (en) * | 2017-11-28 | 2018-05-04 | 广东工贸职业技术学院 | Automatic change mechanical clamping jaw |
| CN108068123A (en) * | 2017-12-27 | 2018-05-25 | 苏州博众机器人有限公司 | Hair fastener robot with no card arbitration functions |
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