CN208269827U - Slip detection device - Google Patents
Slip detection device Download PDFInfo
- Publication number
- CN208269827U CN208269827U CN201820803045.6U CN201820803045U CN208269827U CN 208269827 U CN208269827 U CN 208269827U CN 201820803045 U CN201820803045 U CN 201820803045U CN 208269827 U CN208269827 U CN 208269827U
- Authority
- CN
- China
- Prior art keywords
- lens
- mounting plate
- pcb board
- detection device
- slip detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
Technical solutions of the utility model disclose a kind of slip detection device, including pedestal, mounting plate, pcb board, light emitting diode, lens, optical inductor and image analysis chip, the pcb board is removably installed on the pedestal, the mounting plate is set on the pcb board, the optical inductor is installed between the mounting plate and the pcb board, described image analysis chip is placed in the mounting plate and is electrically connected with the optical inductor, the light emitting diode is set in the mounting plate, the both ends of the lens are separately connected mounting plate and the pedestal and pass through the pcb board, the light emitting diode is contacted with the lens, the optical inductor is located above the lens；Technical solutions of the utility model realize control of the manipulator in crawl to torque, reduce the demand to installation space, and reduce the equipment manufacturing costs of sliding detection by the way that slip detection device is arranged in the robot.
Description
Technical field
The utility model relates to robot mechanical arm technical fields, more particularly, to a kind of slip detection device.
Background technique
In recent years, no matter robot technology has development at full speed in industry or in the application of civil field, and it is mechanical
Hand is the final executing agency of robot work.Therefore, having the exploitation of the manipulator of high dexterity as people is very must
It wants.
Slip detection device on existing manipulator generally use multiple foil gauges (foil gauge is also known as resistance strain gage,
Working principle is made based on strain effect, i.e., conductor or semiconductor material generate mechanically deform under the action of external force
When, resistance value changes accordingly, this phenomenon be known as " strain effect ") superposition carry out using.Due to foil gauge
Higher cost, this mode frequently can lead to the expensive and biggish problem that takes up space.Also, it was grabbed in manipulator
Cheng Zhong, the control for power needed for the different hardness of surface are to need to pay attention to very much, and the application of foil gauge can hardly be realized
Control to power.
Utility model content
The technical issues of the utility model solves is existing manipulator detection device higher cost, installation space compared with
Greatly, it can not achieve the control to power.
In order to solve the above technical problems, technical solutions of the utility model provide a kind of slip detection device, are installed on machine
In the manipulator of device people, wherein including pedestal, mounting plate, pcb board, light emitting diode, lens, optical inductor and image analysis
Chip, the pcb board are removably installed on the pedestal, and the mounting plate is set on the pcb board, the optical inductor
Be installed between the mounting plate and the pcb board, described image analysis chip be placed in the mounting plate and with the light sensation
Device is answered to be electrically connected, the light emitting diode is set in the mounting plate, and the both ends of the lens are separately connected mounting plate and described
Pedestal simultaneously passes through the pcb board, and the light emitting diode is contacted with the lens, and the optical inductor is located on the lens
Side.
Optionally, the lens are polymorphic structure, and the lens middle section is formed with the dome being directed downward, described
The polymorphic structure of mirror enters light in one end, after reflexing to object to be detected surface, then reflect converge to it is described
In dome.
Optionally, the induction mouth of the optical inductor is located at the surface of the dome, the induction mouth of the optical inductor
For receiving the image information passing through the light that reflection converges in the dome and being formed.
Optionally, the hole passed through for the light of the reflection from lens is equipped in the pedestal, the dome is located at the hole
Top, and the straight line where the protrusion direction of the dome is vertical with the plane where the base-plates surface.
Optionally, the installation cavity for optical inductor installation is formed between the mounting plate and the pcb board.
Optionally, the mounting groove for installing the light emitting diode is equipped in the mounting plate.
Optionally, the opening passed through for the lens is equipped in the pcb board.
Optionally, it is installed between the pedestal and the pcb board by toothrow, row hole structure.
The beneficial effect of technical solutions of the utility model is:
The utility model realizes manipulator in crawl to torque by the way that slip detection device is arranged in the robot
Control, reduces the demand to installation space, and reduces the equipment manufacturing costs of sliding detection.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of slip detection device in the utility model embodiment.
Specific embodiment:
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, but not as the utility model
It limits.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood as the case may be
Concrete meaning in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature the "upper" of second feature or it
"lower" may include that the first and second features directly contact, and also may include that the first and second features are not direct contacts but lead to
Cross the other characterisation contact between them.Moreover, fisrt feature includes above the second feature " above ", " above " and " above "
One feature is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.First is special
Sign includes fisrt feature right above second feature and oblique upper under the second feature " below ", " below " and " below ", or only
Indicate that first feature horizontal height is less than second feature.
It is shown in Figure 1, a kind of slip detection device of embodiment is shown, is installed in the manipulator of robot,
At the joint position for the manipulator for being specifically installed on robot and/or at palm position.Including pedestal 1, mounting plate 2, pcb board
3, light emitting diode 4, lens 5, optical inductor 6 and image analysis chip (due to being installed in mounting plate, therefore being not shown), PCB
Plate 3 is removably installed on pedestal 1, and mounting plate 2 is set on pcb board 3, optical inductor 6 be installed on mounting plate 2 and pcb board 3 it
Between, image analysis chip is placed in mounting plate 2 and is electrically connected with optical inductor 6, and light emitting diode 4 is set in mounting plate 2, lens
5 both ends are separately connected mounting plate 2 and pedestal 1 and pass through pcb board 3, and light emitting diode 4 is contacted with lens 5, and optical inductor 6
Above lens 5.
In the present embodiment, lens 5 are polymorphic structure, and 5 middle section of lens is formed with the dome 51 being directed downward, lens 5
Polymorphic structure make light one end enter, after reflexing to 200 surface of object to be detected, then reflect and converge to dome
In 51.There is fulcrum below further lens 5, be supported on pedestal 1, and have to be supported on support foot 52 on pedestal 1,
Increase the mounting stability of lens 5.
In the present embodiment, the induction mouth of optical inductor 6 is located at the surface of dome 51, and the induction mouth of optical inductor 6 is used for
Receive the image information that the formation of the light in dome 51 is converged to by reflection.
In the present embodiment, the hole 10 passed through for the light that lens 5 reflect is equipped in pedestal 1, dome 51 is located at the upper of hole 10
Side, and the straight line where the protrusion direction of dome 51 is vertical with the plane where 1 surface of pedestal.
In the present embodiment, the installation cavity 9 installed for optical inductor 6 is formed between mounting plate 2 and pcb board 3, further
Supporting element 7 further to support lens 5 is installed, supporting element 7 is contacted with lens, and contact portion profile in installation cavity 9
With 5 profile of lens.
In the present embodiment, the mounting groove 8 of installation light emitting diode 5, the stitch 41 of light emitting diode 4 are equipped in mounting plate 2
Across pcb board 3, it is equipped with the opening 33 passed through for lens 5 in pcb board 3, passes through toothrow 11, round 31 between pedestal 1 and pcb board 3
Structure installation, toothrow 11 pass through round 31 and pcb board 3 are fixed on pedestal 1, and pcb board 3 has support leg 32, and supporting element 32 supports
Firmly 1 surface of pedestal.
In the present embodiment, further includes driving motor (not shown) at robotic hand joint position and be installed on joint
In motor drive ic (not shown), driving motor is electrically connected with motor drive ic, and driving motor is to driving manipulator
Joint.
Pass through the following characteristic and function for illustrating further insight the utility model.
A kind of detection method according to above-mentioned arbitrary slip detection device is also provided in the present embodiment, wherein detection side
Method is as follows:
As shown in Figure 1, slip detection device 100 is placed in above object to be detected 200,10 face object to be detected 200 of hole,
Light emitting diode 4 emits light, by the reflection repeatedly (referring to direction shown in arrow in Fig. 1) of lens 5 to object to be detected 200
Surface, then reflective portion light and converge in dome 51, dome 51 again converges to light in optical inductor 6, photoinduction
Device 6 receives image information and sends that information to image analysis chip, and image analysis chip carries out the image received
Analysis.
When object to be detected 200 slides, optical inductor 6 will record down its sliding trace and form one group of high-speed capture
Coherent image, then analyzed by the variation that image analysis chip carries out characteristic point position to the image group received to judge
The direction and distance that object to be detected 200 slides；After obtaining the glide direction and distance of object to be detected 200, background controller
The motor drive ic that CPU control is installed in robot adjusts the upper current limit of driving motor, to increase manipulator crawl
Torque.
In the present embodiment, image analysis chip, motor drive ic background communication are connected to CPU, image analysis chip, electricity
Information exchange between machine driving chip is controlled by CPU, i.e. the good data information of image analysis chip analysis is sent to CPU,
CPU control motor drive ic after reprocessing operates to control driving motor.
It is further explained below:
The utility model installs vision slip detection device 100 on manipulator finger and palm, for installation accuracy
There is no particular/special requirements.Vision slip detection device 100 detects the distance planar slided within the unit time and direction.?
After vision slip detection device 100 detects sliding, manipulator is grabbed according to the distance and direction slided in the unit time, adjustment
Torque needed for taking object.
Vision slip detection device 100 is mainly by a light emitting diode 4, optical lens 5, optical inductor 6 and image point
Chip composition is analysed, light emitting diode 4 illuminates the surface detected required for vision slip detection device 100, so by emitting beam
A part of light returned afterwards by detection surface reflection, and be transferred in optical inductor 6 by optical lens 5 and form image.
When object to be detected 200 is mobile, optical inductor 6 will record down its motion track and form one group of high-speed capture
Coherent picture, then analyzed by the variation that image analysis chip carries out characteristic point position to these images to judge to be detected
The mobile direction of object and distance.
After the glide direction and distance for obtaining testee, the upper limit of electric current is adjusted by motor drive ic, thus
Increase the torque of manipulator crawl.
Optionally, the model ADNS9500 of vision slip detection device 100, the type of the motor drive ic of adjustable current
It number is TB659FTG, the vision slip detection device manufacturing cost of the utility model is low, and installation is simple, to installation accuracy without spy
It is different to require, it is small in size, light-weight, it can be realized Torque Control when manipulator crawl.
The above is only the utility model preferred embodiments, are not intended to limit the embodiments of the present invention and protection
Range should can appreciate that all with the utility model specification and diagramatic content institute to those skilled in the art
The equivalent replacement made and obviously change obtained scheme, the protection scope of the utility model should all be included in
It is interior.
Claims (8)
1. a kind of slip detection device, is installed in the manipulator of robot, which is characterized in that including pedestal, mounting plate, PCB
Plate, light emitting diode, lens, optical inductor and image analysis chip, the pcb board are removably installed on the pedestal,
The mounting plate is set on the pcb board, and the optical inductor is installed between the mounting plate and the pcb board, the figure
It is placed in the mounting plate as analysis chip and is electrically connected with the optical inductor, the light emitting diode is set to the mounting plate
In, the both ends of the lens be separately connected mounting plate and the pedestal and pass through the pcb board, the light emitting diode with it is described
Lens contact, the optical inductor are located above the lens.
2. slip detection device according to claim 1, which is characterized in that the lens are polymorphic structure, the lens
Middle section is formed with the dome being directed downward, and the polymorphic structure of the lens enters light in one end, by reflection
To object to be detected surface, then reflects and converge in the dome.
3. slip detection device according to claim 2, which is characterized in that the induction mouth of the optical inductor is located at described
The surface of dome, the induction mouth of the optical inductor are used to receive the light formation converged in the dome by reflection
Image information.
4. slip detection device according to claim 3, which is characterized in that be equipped in the pedestal and supply the reflection from lens
The hole that passes through of light, the dome is located at the top in the hole, and the straight line where the protrusion direction of the dome with it is described
Plane where base-plates surface is vertical.
5. slip detection device according to claim 1, which is characterized in that shape between the mounting plate and the pcb board
At the installation cavity having for optical inductor installation.
6. slip detection device according to claim 1, which is characterized in that be equipped in the mounting plate and install described shine
The mounting groove of diode.
7. slip detection device according to claim 1, which is characterized in that be equipped in the pcb board and worn for the lens
The opening crossed.
8. slip detection device according to claim 1, which is characterized in that pass through between the pedestal and the pcb board
Toothrow, row hole structure installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820803045.6U CN208269827U (en) | 2018-05-28 | 2018-05-28 | Slip detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820803045.6U CN208269827U (en) | 2018-05-28 | 2018-05-28 | Slip detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208269827U true CN208269827U (en) | 2018-12-21 |
Family
ID=64685092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820803045.6U Active CN208269827U (en) | 2018-05-28 | 2018-05-28 | Slip detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208269827U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108507469A (en) * | 2018-05-28 | 2018-09-07 | 上海岭先机器人科技股份有限公司 | Slip detection device and its detection method |
-
2018
- 2018-05-28 CN CN201820803045.6U patent/CN208269827U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108507469A (en) * | 2018-05-28 | 2018-09-07 | 上海岭先机器人科技股份有限公司 | Slip detection device and its detection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104062577B (en) | Keyboard testing machine | |
| CN203759201U (en) | Flying probe testing machine and flying probe testing shaft thereof | |
| CN104166085A (en) | PCBA board testing device | |
| CN203773021U (en) | PCBA board test device | |
| CN103207293A (en) | Probe needle pressure correction method and correction equipment thereof | |
| CN103399176B (en) | Test system for acceleration sensor | |
| CN208269827U (en) | Slip detection device | |
| CN109884508A (en) | A kind of display screen mechanism for testing | |
| CN105425140A (en) | Testing device and testing method of PCB half-finished product | |
| CN108507469A (en) | Slip detection device and its detection method | |
| CN108533610B (en) | Linear motion module | |
| CN108372345A (en) | A kind of laser scanning weld tracker | |
| CN207300175U (en) | A kind of grating displacement sensor | |
| CN214583974U (en) | Screen-scratching test tool | |
| CN210514377U (en) | Coil winding displacement test equipment of wireless charging device | |
| CN204480007U (en) | A kind of fully-automatic intelligent servicing unit | |
| CN208399098U (en) | A kind of motor for cell phone vibration detection device | |
| CN207424449U (en) | A kind of LED light bar and backlight module | |
| CN108874230A (en) | Based on can precorrection touch control film process equipment processing method | |
| CN207113806U (en) | A kind of laser measuring device for measuring for being used to measure plant haulm diameter | |
| CN206883481U (en) | A kind of IC positioners | |
| CN110148369A (en) | A kind of testing impedance pressure head | |
| CN107525470A (en) | A kind of grating displacement sensor | |
| CN219736304U (en) | Height detection equipment | |
| CN203179859U (en) | Logo alignment device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |