CN205870604U - Through detecting robot sense of touch device that shell pressure was realized - Google Patents
Through detecting robot sense of touch device that shell pressure was realized Download PDFInfo
- Publication number
- CN205870604U CN205870604U CN201620770963.4U CN201620770963U CN205870604U CN 205870604 U CN205870604 U CN 205870604U CN 201620770963 U CN201620770963 U CN 201620770963U CN 205870604 U CN205870604 U CN 205870604U
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- China
- Prior art keywords
- sensor
- robot
- touch
- support
- shell
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- Expired - Fee Related
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Abstract
The utility model provides a through detecting robot sense of touch device that shell pressure was realized, is including setting up the support in the shell, the support is connected with pickup assembly, pickup assembly and the interior wall connection of shell, and pickup assembly includes sensor and elastic element, the sensor is connected with arresting gear of robot and alarm device. The health collision must take place for the robot after vision sensor and distance sensor trouble, sensed the back by the sense of touch device and brake rapidly and report to the police. The utility model discloses install pickup assembly additional to the robot shell, realize the sense of touch of robot, form one last security defense line of robot, robot vision's strong replenishment can be regarded as in the robot sense of touch, especially is directed against the collision detection of vision blind area, had the support of sense of touch, the robot can as far as only pay close attention to the things in the vision, otherwise need constantly adjust vision sensor alignment blind area and detect.
Description
Technical field
This utility model relates to robotics, is specifically related to a kind of tactile sensing device of robot's device, and this haptic device leads to
Cross detection case pres-sure and realize its feeling function.
Background technology
Robot is after vision sensor and range sensor fault, it should can also possess basic ability to work, especially
It is environment can not to be damaged, more people can not be damaged；Universal machine is lost the job after sensor fault completely
Ability, even welding, injure the mankind.
Utility model content
This utility model is solved the technical problem that: machine is lost the job ability after sensor fault completely, the most broken
Bad environment, injures the mankind.
For solving above-mentioned technical problem, this utility model provides following technical scheme: a kind of real by detection case pres-sure
Existing tactile sensing device of robot's device, including the support arranged in the enclosure；Described support is connected with sensor cluster, sensor cluster
Being connected with outer casing inner wall, sensor cluster includes sensor and flexible member, sensor and robot brake unit and dress of reporting to the police
Put connection.
By technique scheme, robot, after vision sensor and range sensor fault, inherently occurs health to touch
Hit, brake rapidly after being sensed by haptic device and report to the police, sexual behaviour can be avoided damage to.Concrete, the shell of robot is subject to
To collision, shell acts on sensor cluster, sensor sensing, sends the signal to brake unit and alarm device.
When described sensor is touch-switch, touch-switch is arranged on outer casing inner wall, one end of described flexible member
Being connected with touch-switch, the other end of flexible member is connected with support；Or, touch-switch is arranged on support, described elasticity
One end of element is connected with touch-switch, and the other end of flexible member is connected with outer casing inner wall.When the shell of robot is touched
Hitting, flexible member is squeezed, and flexible member acts on touch-switch, touch-switch action.
When described sensor is infrared distance sensor, and infrared distance sensor is arranged on support, described flexible member
Left end be connected with infrared distance sensor, and, the left end of flexible member is against on support, in the right-hand member of flexible member and shell
Wall connects.Or, infrared distance sensor is arranged on outer casing inner wall, the left end of described flexible member and infrared distance sensor
Connect, and, the left end of flexible member is against on outer casing inner wall, and the right-hand member of flexible member is connected with support.Preferred as one, institute
Stating flexible member is coil tension spring, and described infrared distance sensor is plugged in one end of coil tension spring, and this end of coil tension spring supports
On shell, and infrared distance sensor is fixed with shell and is connected, and the other end of coil tension spring is connected with support；Or, institute
Stating infrared distance sensor and be plugged in one end of coil tension spring, this end of coil tension spring is against on support, and infrared distance measurement sensing
Device is fixing with support to be connected, and the other end of coil tension spring is connected with housing.Stressed skin can change the distance with support, according to
The data of infrared distance sensor can calculate stress size, can calculate stress point more accurately in conjunction with multiple spot stressing conditions
Position.
The quantity at least two of described sensor cluster, the sensor at least one sensor cluster is for touching out
Closing, the sensor at least one sensor cluster is infrared distance sensor.Being so designed that, shell pressurized can trigger to touch and hold
Closing, robot is braked and sends alarm, meanwhile, infrared distance sensor can according to shell and set spacing from change meter
Calculate stress size, the position of stress point can be calculated in conjunction with multiple spot stressing conditions more accurately.
The lightweight shell of robot is fixed on robot support by the sensor cluster of multiple spot band flexible member, different
The pressure in direction can trigger the sensor of diverse location, such that it is able to judge the position of collision.
To sum up, robot shells is improved by this utility model, installs sensor cluster additional, it is achieved the sense of touch of robot,
Form last one security perimeter of robot；Tactile sensing device of robot can supplement as the strong of robot vision, particularly pin
Collision detection to vision dead zone；Having had the support of sense of touch, robot can only focus on the things in vision as far as possible, otherwise
Need constantly to adjust vision sensor alignment blind area to detect.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings this utility model is described further:
Fig. 1 is the structural representation of a kind of tactile sensing device of robot's device realized by detection case pres-sure of this utility model；
Fig. 2 is the knot of a kind of tactile sensing device of robot's device first embodiment realized by detection case pres-sure of this utility model
Structure schematic diagram；
Fig. 3 is the knot of a kind of tactile sensing device of robot's device the second embodiment realized by detection case pres-sure of this utility model
Structure schematic diagram.
Symbol description in figure:
10, support；
20, sensor cluster；21, sensor；210, holding wire；22, flexible member；
30, shell.
Detailed description of the invention
First embodiment:
In conjunction with Fig. 1, Fig. 2, a kind of tactile sensing device of robot's device realized by detection case pres-sure, including being arranged on shell 30
Interior support 10；Described support is connected with sensor cluster 20, and sensor cluster is connected with outer casing inner wall, and sensor cluster includes
Sensor 21 and flexible member 22, sensor is connected with robot brake unit and alarm device.
Described sensor 21 is touch-switch, and touch-switch is arranged on shell 30 inwall, the one of described flexible member 22
End is connected with touch-switch, and the other end of flexible member is connected with support 10.
Second embodiment:
In conjunction with Fig. 1, Fig. 3, a kind of tactile sensing device of robot's device realized by detection case pres-sure, including being arranged on shell 30
Interior support 10；Described support is connected with sensor cluster 20, and sensor cluster is connected with outer casing inner wall, and sensor cluster includes
Sensor 21 and flexible member 22, sensor is connected with robot brake unit and alarm device.
Described sensor 21 is infrared distance sensor, and infrared distance sensor is arranged over the mount 10, described elastic unit
The left end of part 22 is connected with infrared distance sensor, and, the left end of flexible member is against on support, and the right-hand member of flexible member is with outer
Shell 30 inwall connects.Wherein, flexible member is coil tension spring, and infrared distance sensor is plugged in the left end of coil tension spring, and, red
Outer distance measuring sensor is fixing with support to be connected, and, the left end of coil tension spring is against on support, in the right-hand member of coil tension spring and shell
Wall connects.
3rd embodiment:
In conjunction with Fig. 1 to Fig. 3, a kind of tactile sensing device of robot's device realized by detection case pres-sure, including being arranged on shell
Support 10 in 30；Described support is connected with sensor cluster 20, and sensor cluster is connected with outer casing inner wall, sensor cluster bag
Including sensor 21 and flexible member 22, sensor is connected with robot brake unit and alarm device.
The quantity at least two of described sensor cluster 20, the sensor 21 at least one sensor cluster is for touching
Switch, the sensor at least one sensor cluster is infrared distance sensor.Wherein, in touch-switch is arranged on shell 30
On wall, one end of described flexible member 22 is connected with touch-switch, and the other end of flexible member is connected with support 10.Wherein, red
Outer distance measuring sensor is arranged over the mount 10, and the left end of described flexible member 22 is connected with infrared distance sensor, and, elastic unit
The left end of part is against on support, and the right-hand member of flexible member is connected with shell 30 inwall.
Above content is only better embodiment of the present utility model, for those of ordinary skill in the art, according to this
The thought of utility model, the most all will change, and this specification content should not be understood
For to restriction of the present utility model.
Claims (6)
1. the tactile sensing device of robot's device realized by detection case pres-sure, including the support being arranged in shell (30)
(10)；It is characterized in that: described support is connected with sensor cluster (20), and sensor cluster is connected with outer casing inner wall, sensor
Assembly includes sensor (21) and flexible member (22), and sensor is connected with robot brake unit and alarm device.
A kind of tactile sensing device of robot's device realized by detection case pres-sure, it is characterised in that: institute
Stating sensor (21) is touch-switch, and touch-switch is arranged on shell (30) inwall, one end of described flexible member (22) with
Touch-switch connects, and the other end of flexible member is connected with support (10).
A kind of tactile sensing device of robot's device realized by detection case pres-sure, it is characterised in that: institute
Stating sensor (21) is touch-switch, and touch-switch is arranged on support (10), one end of described flexible member (22) with touch
Switch connects, and the other end of flexible member is connected with shell (30) inwall.
A kind of tactile sensing device of robot's device realized by detection case pres-sure, it is characterised in that: institute
Stating sensor (21) is infrared distance sensor, and infrared distance sensor is arranged on support (10), described flexible member (22)
Left end be connected with infrared distance sensor, and, the left end of flexible member is against on support, the right-hand member of flexible member and shell
(30) inwall connects.
A kind of tactile sensing device of robot's device realized by detection case pres-sure, it is characterised in that: institute
Stating sensor (21) is infrared distance sensor, and infrared distance sensor is arranged on shell (30) inwall, described flexible member
(22) left end is connected with infrared distance sensor, and, the left end of flexible member is against on outer casing inner wall, the right-hand member of flexible member
It is connected with support (10).
A kind of tactile sensing device of robot's device realized by detection case pres-sure, it is characterised in that: institute
Stating the quantity at least two of sensor cluster (20), the sensor (21) at least one sensor cluster is touch-switch,
Sensor at least one sensor cluster is infrared distance sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620770963.4U CN205870604U (en) | 2016-07-20 | 2016-07-20 | Through detecting robot sense of touch device that shell pressure was realized |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620770963.4U CN205870604U (en) | 2016-07-20 | 2016-07-20 | Through detecting robot sense of touch device that shell pressure was realized |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205870604U true CN205870604U (en) | 2017-01-11 |
Family
ID=57697337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620770963.4U Expired - Fee Related CN205870604U (en) | 2016-07-20 | 2016-07-20 | Through detecting robot sense of touch device that shell pressure was realized |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205870604U (en) |
-
2016
- 2016-07-20 CN CN201620770963.4U patent/CN205870604U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170111 Termination date: 20180720 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |