CN206296892U - A kind of cooperation robot based on electronic skin - Google Patents
A kind of cooperation robot based on electronic skin Download PDFInfo
- Publication number
- CN206296892U CN206296892U CN201621206599.5U CN201621206599U CN206296892U CN 206296892 U CN206296892 U CN 206296892U CN 201621206599 U CN201621206599 U CN 201621206599U CN 206296892 U CN206296892 U CN 206296892U
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- CN
- China
- Prior art keywords
- electronic skin
- controller
- robot
- supporting plate
- support arm
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Abstract
The utility model discloses a kind of cooperation robot based on electronic skin of robotics,Including movable pedestal,Machine body is provided with the top of the movable pedestal,The surface of the machine body is provided with controller,The top of the machine body is connected with support arm by removable pin,By the setting of movable pedestal,Flexible movement can be allowed the robot to,By the setting of controller,The startup and stopping of robot can effectively be controlled,Impact pressure can be passed to by pressure sensor by pressure bar in time when robot collides human body or object at work,Pressure signal is timely fed back to by controller by pressure sensor,Stop the work of robot immediately by controller,After human body or object are moved away,The elastic reset that pressure bar passes through compression spring,The work of controller restarting robot,It is effectively protected the safety of human body or object.
Description
Technical field
The utility model is related to robotics, specially a kind of cooperation robot based on electronic skin.
Background technology
With the development of science and technology, robot has progressively climbed up the stage of modernization, robot is the machine for performing work automatically
Device device, can run the program of advance layout again, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology, it
Human work can be assisted or replaced, but in robot application environment, there is the potential safety hazard of diversified forms, because machine
People cannot perceive the presence of human body or object, and various collision accidents often occur, thus in robot kinematics, it is necessary to
Safety device is set, robot is run into barrier in motion and is voluntarily stopped, existing robot is most
Anti-collision mechanism is that side is touched in the anticollision that quality of rubber materials is set on robot body, and the tactile frontier defense collision effect of this anticollision is poor, no
Robot can be made to be automatically stopped work at once, therefore, we have proposed a kind of cooperation robot based on electronic skin.
Utility model content
The purpose of this utility model is to provide a kind of cooperation robot based on electronic skin, to solve above-mentioned background skill
The anticollision effect proposed in art is poor and robot can not be made to be automatically stopped the problem of work at once.
To achieve the above object, the utility model provides following technical scheme：A kind of cooperation machine based on electronic skin
People, including movable pedestal, are provided with machine body at the top of the movable pedestal, the surface of the machine body is provided with
Controller, the top of the machine body is connected with support arm by removable pin, and the removable pin that passes on left of the support arm connects
Working arm is connected to, hydraulic pressure is connected with by removable pin and support arm and working arm between the machine body and support arm
Expansion link, the surface of the movable pedestal, machine body, support arm and working arm is provided with electronic skin, the electronics
The inner chamber of skin is evenly arranged with compression spring, and the inner chamber right side of the electronic skin is evenly arranged with pressure sensor, and pressure
Force snesor is located at the inner chamber of compression spring, and the inner chamber left side of the electronic skin is provided with the pressure being adapted with pressure sensor
Power rod, and pressure bar is located at the inner chamber of compression spring, the controller electrically connects with hydraulically extensible bar and pressure sensor respectively
Connect.
Preferably, the controller is ADVANTECH robot controllers.
Preferably, the electronic skin is activity with the surface of movable pedestal, machine body, support arm and working arm
Connection.
Preferably, the surface of the movable pedestal is provided with supporting plate, is driven after being provided with the left of the supporting plate
Axle, the outer wall center of the rear drive shaft is arranged with drive gear, before the right side of the supporting plate is provided with by bearing
Drive rod, the removable pin that passes on left of the preceding drive rod is connected with two groups of guide hydraulic expansion links, and two groups of guide hydraulics are stretched
Respectively positioned at the top and bottom of supporting plate, the other end of the guide hydraulic expansion link is connected contracting bar with supporting plate, the branch
The surface of fagging is provided with battery, and the surface bottom portion of the supporting plate is provided with threephase asynchronous machine, the threephase asynchronous machine
Top clutch end gear is connected with by drive link, and gear is engaged with drive gear gear, the rear drive shaft with
Be provided with roller at the top and bottom of preceding drive rod, the guide hydraulic expansion link, threephase asynchronous machine be equal and battery with
Controller is electrically connected with.
Compared with prior art, the beneficial effects of the utility model are：By the setting of movable pedestal, machine can be made
People can flexibly move, and by the setting of controller, the startup and stopping of robot can effectively be controlled, by electronic skin
Setting, robot can be made to reach the purpose of anticollision, pass through when robot collides human body or object at work
Impact pressure can be passed to pressure sensor by pressure bar in time, timely be fed back to pressure signal by pressure sensor
Controller, the work of robot is stopped by controller immediately, and after human body or object are moved away, pressure bar passes through pressure bullet
The elastic reset of spring, controller restarting robot work, is effectively protected the safety of human body or object.
Brief description of the drawings
Fig. 1 is the utility model structural representation；
Fig. 2 is the utility model electronic skin structural representation；
Fig. 3 is the utility model movable pedestal structural representation.
In figure：Drive rod, 15 guide hydraulics before 1 movable pedestal, 11 supporting plates, 12 rear drive shafts, 13 drive gears, 14
Expansion link, 16 batteries, 17 threephase asynchronous machines, 18 gears, 19 rollers, 2 machine bodies, 3 controllers, 4 support arms, 5 working arms,
6 hydraulically extensible bars, 7 electronic skins, 71 pressure sensors, 72 pressure bars, 73 compression springs.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
Fig. 1-3 are referred to, the utility model provides a kind of technical scheme：A kind of cooperation robot based on electronic skin,
Including movable pedestal 1, the top of the movable pedestal 1 is provided with machine body 2, and the surface of the machine body 2 is set
There is a controller 3, the top of the machine body 2 is connected with support arm 4 by removable pin, the support arm 4 passes on left work
Dynamic pin connection has working arm 5, by activity and support arm 4 and working arm 5 between the machine body 2 and support arm 4
The surface that pin connection has hydraulically extensible bar 6, the movable pedestal 1, machine body 2, support arm 4 and working arm 5 is provided with
Electronic skin 7, the inner chamber of the electronic skin 7 is evenly arranged with compression spring 73, and the inner chamber right side of the electronic skin 7 is uniform
Pressure sensor 71 is provided with, and pressure sensor 71 is located at the inner chamber of compression spring 73, the inner chamber left side of the electronic skin 7
The pressure bar 72 being adapted with pressure sensor 71 is provided with, and pressure bar 72 is located at the inner chamber of compression spring 73, the control
Device 3 is electrically connected with hydraulically extensible bar 6 and pressure sensor 71 respectively.
Wherein, the controller 3 is ADVANTECH robot controllers, can more effectively control the application of robot
Operation, the electronic skin 7 is with the surface of movable pedestal 1, machine body 2, support arm 4 and working arm 5 and is flexibly connected,
The convenient maintenance to electronic skin 7 is changed, and the surface of the movable pedestal 1 is provided with supporting plate 11, the supporting plate 11
Left side is provided with rear drive shaft 12, and the outer wall center of the rear drive shaft 12 is arranged with drive gear 13, the supporting plate
11 right side is provided with preceding drive rod 14 by bearing, and the removable pin that passes on left of the preceding drive rod 14 is connected with two groups of guiding
Hydraulically extensible bar 15, and two groups of guide hydraulic expansion links 15 are respectively positioned at the top and bottom of supporting plate 11, the guide hydraulic
The other end of expansion link 15 is connected with supporting plate 11, and the surface of the supporting plate 11 is provided with battery 16, the supporting plate 11
Surface bottom portion is provided with threephase asynchronous machine 17, and the top clutch end of the threephase asynchronous machine 17 is connected by drive link
There is gear 18, and gear 18 is engaged with the gear of drive gear 13, the top and bottom of the rear drive shaft 12 and preceding drive rod 14
Roller 19 is provided with, the guide hydraulic expansion link 15, threephase asynchronous machine 17 electrically connect with battery 16 with controller 3
Connect, can preferably realize the flexible movement of robot.
Operation principle：When machine man-hour, by battery 16 for robot provides power supply, controller 3 is ADVANTECH
Robot controller, controls the left-right rotation of threephase asynchronous machine 17 to be rotated come band moving gear 18, by tooth by controller 3
Wheel 18 is engaged so as to drive rear drive shaft 12 and roller 19 to be moved forward or rearward, by controller with the gear of drive gear 13
3 control two groups of each self extendings of guide hydraulic expansion link 15, drive preceding drive rod 14 to put by guide hydraulic expansion link 15
It is dynamic, the purpose for making robot change moving direction can be played, the flexible of hydraulically extensible bar 6 is controlled by controller 3, can be with
Move back and forth support arm 4 and working arm 5, play the purpose of work, by the setting of electronic skin 7, can reach robot
To the purpose of anticollision, can in time by collision by pressure bar 72 when robot collides human body or object at work
Pressure signal is timely fed back to controller 3 by pressure transmission to pressure sensor 71 by pressure sensor 71, by control
Device 3 stops the work of robot immediately, and after human body or object are moved away, pressure bar 72 is answered by the elasticity of compression spring 73
Position, the restarting of controller 3 robot work, is effectively protected the safety of human body or object.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out various changes in the case where principle of the present utility model and spirit is not departed from, repaiies
Change, replace and modification, scope of the present utility model is defined by the appended claims and the equivalents thereof.
Claims (4)
1. a kind of cooperation robot based on electronic skin, including movable pedestal (1), it is characterised in that：The removable bottom
Machine body (2) is provided with the top of seat (1), the surface of the machine body (2) is provided with controller (3), the machine sheet
The top of body (2) is connected with support arm (4) by removable pin, and the removable pin that passes on left of the support arm (4) is connected with work
Arm (5), is connected and support arm (4) and working arm (5) between the machine body (2) and support arm (4) by removable pin
Hydraulically extensible bar (6) is connected to, the surface of the movable pedestal (1), machine body (2), support arm (4) and working arm (5) is equal
Electronic skin (7) is provided with, the inner chamber of the electronic skin (7) is evenly arranged with compression spring (73), the electronic skin (7)
Inner chamber right side be evenly arranged with pressure sensor (71), and pressure sensor (71) positioned at the inner chamber of compression spring (73), institute
The inner chamber left side for stating electronic skin (7) is provided with the pressure bar (72) being adapted with pressure sensor (71), and pressure bar (72)
Positioned at the inner chamber of compression spring (73), the controller (3) electrically connects with hydraulically extensible bar (6) and pressure sensor (71) respectively
Connect.
2. a kind of cooperation robot based on electronic skin according to claim 1, it is characterised in that：The controller
(3) it is ADVANTECH robot controllers.
3. a kind of cooperation robot based on electronic skin according to claim 1, it is characterised in that：The electronic skin
(7) it is with the surface of movable pedestal (1), machine body (2), support arm (4) and working arm (5) and is flexibly connected.
4. a kind of cooperation robot based on electronic skin according to claim 1, it is characterised in that：The removable bottom
The surface of seat (1) is provided with supporting plate (11), and rear drive shaft (12), the rear driving are provided with the left of the supporting plate (11)
The outer wall center of axle (12) is arranged with drive gear (13), and the right side of the supporting plate (11) is provided with forerunner by bearing
Lever (14), the removable pin that passes on left of the preceding drive rod (14) is connected with two groups of guide hydraulic expansion links (15), and two groups
Guide hydraulic expansion link (15) respectively positioned at supporting plate (11) top and bottom, the guide hydraulic expansion link (15) it is another
End is connected with supporting plate (11), and the surface of the supporting plate (11) is provided with battery (16), the surface bottom of the supporting plate (11)
Portion is provided with threephase asynchronous machine (17), and the top clutch end of the threephase asynchronous machine (17) is connected with by drive link
Gear (18), and gear (18) engages with drive gear (13) gear, the top of the rear drive shaft (12) and preceding drive rod (14)
Portion and bottom are provided with roller (19), and the guide hydraulic expansion link (15), threephase asynchronous machine (17) are and battery (16)
It is electrically connected with controller (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621206599.5U CN206296892U (en) | 2016-11-08 | 2016-11-08 | A kind of cooperation robot based on electronic skin |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621206599.5U CN206296892U (en) | 2016-11-08 | 2016-11-08 | A kind of cooperation robot based on electronic skin |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206296892U true CN206296892U (en) | 2017-07-04 |
Family
ID=59203608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621206599.5U Expired - Fee Related CN206296892U (en) | 2016-11-08 | 2016-11-08 | A kind of cooperation robot based on electronic skin |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206296892U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108262766A (en) * | 2018-01-03 | 2018-07-10 | 中科新松有限公司 | A kind of detection device for the robot that cooperates |
| CN109323783A (en) * | 2018-09-07 | 2019-02-12 | 成都新柯力化工科技有限公司 | A kind of scalability electronic skin and preparation method for intelligent control |
| CN110119136A (en) * | 2018-02-05 | 2019-08-13 | 苏州宝时得电动工具有限公司 | From mobile device and its obstacle detection method |
| CN110625618A (en) * | 2018-06-25 | 2019-12-31 | 中瑞福宁机器人（沈阳）有限公司 | Service robot based on electronic skin |
-
2016
- 2016-11-08 CN CN201621206599.5U patent/CN206296892U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108262766A (en) * | 2018-01-03 | 2018-07-10 | 中科新松有限公司 | A kind of detection device for the robot that cooperates |
| CN110119136A (en) * | 2018-02-05 | 2019-08-13 | 苏州宝时得电动工具有限公司 | From mobile device and its obstacle detection method |
| CN110625618A (en) * | 2018-06-25 | 2019-12-31 | 中瑞福宁机器人（沈阳）有限公司 | Service robot based on electronic skin |
| CN109323783A (en) * | 2018-09-07 | 2019-02-12 | 成都新柯力化工科技有限公司 | A kind of scalability electronic skin and preparation method for intelligent control |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170704 Termination date: 20201108 |