CN209793796U

CN209793796U - pressure sensing piece and manipulator

Info

Publication number: CN209793796U
Application number: CN201920576468.3U
Authority: CN
Inventors: 郭香敏
Original assignee: Sichuan Technology and Business University
Current assignee: Sichuan Technology and Business University
Priority date: 2019-04-25
Filing date: 2019-04-25
Publication date: 2019-12-17
Anticipated expiration: 2029-04-25

Abstract

The utility model belongs to the technical field of mechanical arms, in particular to a pressure sensing part and a mechanical arm, which comprises a moving end, a swing rod, an angle sensor, a spring groove and a spring stop block, wherein one end of the swing rod is connected with the moving end, the middle of the swing rod is connected with the angle sensor, the other end of the swing rod is connected with the spring stop block, the spring stop block is arranged in the spring groove in a sliding way, the structure can realize that when the moving end is pressed, the swing rod rotates to obtain the rotating angle of the swing rod through the angle sensor, simultaneously, the swing rod rotates to compress the spring in the spring groove to generate corresponding acting force, the current pressure can be obtained through the rotating angle of the swing rod, the pressure of the moving end can be increased along with the increase of the rotating angle of the swing rod, when a clamping mechanism drives a clamping arm to clamp, a clamping surface is in contact with the surface of, so that the clamping force can be adjusted in each clamping process.

Description

Pressure sensing piece and manipulator

Technical Field

The utility model belongs to the technical field of the manipulator, especially, relate to a forced induction spare and manipulator.

background

the manipulator can imitate the functions of human hands and arms, realizes a device for automatically operating, such as grabbing, carrying objects or operating tools and the like according to programs, is widely applied to automatic production lines, the most basic operation of the manipulator is grabbing, the manipulator needs two mechanical fingers capable of moving relatively to realize grabbing action, two or more mechanical fingers clamp the side surface of a workpiece, the static friction force generated by the mechanical finger on the side surface of the workpiece is enough, the gravity of the workpiece is overcome by the static friction force of the mechanical finger and the workpiece, thereby grabbing the workpiece, the pressure of the existing manipulator to the workpiece is usually preset to ensure the grabbing, however, due to the abrasion of the anti-skid structure, dirt on the surface of the manipulator, deformation of a clamped workpiece and the like, the friction force provided by the preset pressure of the manipulator is insufficient, so that the problem of skidding is caused, and the pressure cannot be adjusted in the grabbing process.

SUMMERY OF THE UTILITY MODEL

A brief summary of the present invention is provided below in order to provide a basic understanding of some aspects of the present invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to identify key or critical elements of the invention or to delineate the scope of the invention. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is discussed later.

In view of this, the utility model provides a simple structure, reasonable in design's manipulator can realize learning the size of clamp force through the pressure-sensitive part, adjusts the clamp force at the in-process that snatchs to solve the problem that current manipulator skidded at least.

the technical scheme of the utility model:

The utility model provides a pressure-sensitive part, is including removing end, pendulum rod, angle sensor, spring groove and spring dog, be provided with the connecting axle on the removal end, the one end of pendulum rod is provided with first connecting axle sleeve, and first connecting axle sleeve cup joints on removing the connecting axle of end, the centre of pendulum rod is provided with second connecting axle sleeve, and the coaxial rigid coupling of second connecting axle sleeve is in angle sensor's pivot, and the other end and the spring dog of pendulum rod are connected, and the spring dog slides and sets up at the spring inslot, is provided with the spring between the one end of spring dog and the bottom in spring groove.

furthermore, the spring groove is annular, and the center of the annular circle is coaxial with the rotating shaft of the angle sensor.

Furthermore, the spring stopper further comprises a limiting block, the limiting block is arranged in the spring groove, and the limiting block is arranged on one side, far away from the spring, of the spring stopper.

the utility model provides a be provided with manipulator of forced induction spare, includes centre gripping arm, clamping face, fixture, the centre gripping arm sets up along vertical direction, and one side of centre gripping arm is provided with the holding tank, angle sensor and spring groove all set up in the holding tank, remove end and clamping face fixed connection, fixture has the tip that can horizontal migration, the tip with the clamping arm is connected.

the angle sensor, the clamping mechanism and the slip sensor are electrically connected with the controller.

The utility model has the advantages that:

1) The utility model discloses a forced induction spare, including removing the end, the pendulum rod, angle sensor, spring groove and spring dog, the one end and the expansion end of pendulum rod are connected, the centre is connected with angle sensor, the other end is connected with spring dog, spring dog slides and sets up at the spring inslot, from this structure, can realize, when removing the end and receiving pressure, the pendulum rod rotates, the turned angle who obtains the pendulum rod through angle sensor, the pendulum rod rotates the spring that compresses the spring inslot simultaneously, produce corresponding effort, can learn the size of current pressure through pendulum rod pivoted angle, can realize along with the increase of pendulum rod turned angle simultaneously, and increase the pressure of removing the end.

2) The utility model discloses a manipulator, including the centre gripping arm, grip surface and fixture, fixture can drive the grip arm horizontal migration, and the grip arm passes through pressure-sensitive part and is connected with the grip surface, and from this structure can realize, when fixture drive grip arm carries out the centre gripping, grip surface and work piece surface contact obtain current clamping pressure's size through pressure-sensitive part to can be at the size of clamping process adjustment clamp force at every turn.

Drawings

FIG. 1 is a schematic view of an overall structure of a pressure sensing member;

FIG. 2 is a force relationship diagram of the pressure sensing member;

FIG. 3 is a schematic structural view of a robot;

FIG. 4 is a control relationship diagram of the robot;

FIG. 5 is a schematic diagram of a specific structure of a robot

in the figure: 1-a mobile terminal; 2-oscillating bar; 3-an angle sensor; 4-spring groove; 5-a spring stop; 6-a limiting block; 7-a clamping arm; 8-a clamping surface; 9-a clamping mechanism; 10-slip sense sensor.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings:

Detailed description of the invention

The pressure sensing part disclosed in this embodiment, as shown in fig. 1, includes a moving end 1, a swing rod 2, an angle sensor 3, a spring slot 4, and a spring stop block 5, wherein the moving end 1 is provided with a connecting shaft, one end of the swing rod 2 is provided with a first connecting shaft sleeve, the first connecting shaft sleeve is sleeved on the connecting shaft of the moving end 1, the middle of the swing rod 2 is provided with a second connecting shaft sleeve, the second connecting shaft sleeve is coaxially and fixedly connected to a rotating shaft of the angle sensor 3, the other end of the swing rod 2 is connected with the spring stop block 5, the spring stop block 5 is slidably disposed in the spring slot 4, and a spring is disposed between one end of the spring stop block 5 and the bottom of the spring slot 4;

specifically, the spring slot 4 is annular, and the center of the annular circle is coaxial with the rotating shaft of the angle sensor 3;

Specifically, the spring stop block device further comprises a limiting block 6, wherein the limiting block 6 is arranged in the spring groove 4, and the limiting block 6 is arranged on one side, far away from the spring, of the spring stop block 5; the limiting block 6 limits the moving position of the spring stop 5;

When the movable end 1 is stressed with pressure, the movable end 1 pushes the swing rod 2 to rotate, a second connecting shaft sleeve in the middle of the swing rod 2 drives a rotating shaft of the angle sensor 3 to rotate, the angle of the swing rod 2 relative to the initial position is obtained through the angle sensor 3, the rear end of the swing rod 2 drives the spring stop block 5 to slide in the spring groove 4 while the swing rod 2 rotates, the spring is compressed, the pressure of the movable end 1 is increased along with the increase of the compression amplitude of the spring, and therefore the corresponding relation between the rotation angle of the swing rod 2 relative to the initial position and the compression amount of the spring, namely the pressure of the movable end 1 can be established, and the current pressure is obtained by detecting the rotation angle of the swing rod 2;

As shown in fig. 2, the movable end 1 is subjected to a pressure F₂Distance L between moving end 1 and rotating shaft of angle sensor 3₂Distance L of spring stop 5 from the rotating shaft of angle sensor 3₁force F of spring on spring stop 5₁(ii) a Because the stress balance can be obtained:

F₁L₁＝F₂L₂

spring acting force F on spring stop 5₁Is the product of the spring rate K and the amount of compression M:

F₁＝K*M

The compression amount M of the spring is the radian A and the radius L of the swing rod 2 rotating from the initial position₁The product of (a):

M＝A*L₁

The corresponding relation between the radian A of the swing rod 2 rotating from the initial position and the pressure F2 applied to the moving end 1 can be obtained:

K*A*L₁*L₁＝F₂*L₂

namely, it is

F₂＝K*A*L₁*L₁/L₂

detailed description of the invention

The manipulator of the pressure sensing part disclosed in this embodiment is shown in fig. 3, and includes a clamping arm 7, a clamping surface 8, and a clamping mechanism 9, where the clamping arm 7 is disposed along a vertical direction, an accommodating groove is disposed on one side of the clamping arm 7, the angle sensor 3 and the spring groove 4 are both disposed in the accommodating groove, the moving end 1 is fixedly connected with the clamping surface 8, the clamping mechanism 9 has a clamping end capable of moving horizontally, and the clamping end is connected with the clamping arm 7;

The clamping framework 9 drives the two clamping arms 7 to move oppositely, the two clamping surfaces 8 are in contact with the side surfaces of the workpiece, the clamping surfaces 8 push the swing rod 2 to rotate under extrusion, and the swing rod is obtained through the angle sensor 32, the included angle alpha between the horizontal direction and the horizontal direction can obtain the pressure F of the clamping surface 8 to the workpiece₂' is:

F₂’＝Sinα*F₂

in the clamping process, when the clamping surface 8 moves towards the corresponding clamping arm 7 along the horizontal direction, a plurality of pressure sensing parts are arranged, so that the clamping arm 7, the clamping surface 8 and the swing rod 2 form a four-bar structure, the clamping surface 8 has an upward movement component in the clamping process, the clamping surface 8 slides upwards along the side surface of the workpiece, meanwhile, the pressure of the clamping surface 8 on the side surface of the workpiece is increased until the friction force generated by the increased pressure of the clamping surface 8 is enough to overcome the gravity of the workpiece, the clamping surface 8 stops sliding, the workpiece moves upwards along with the upward movement component of the clamping surface 8, therefore, in the clamping process, the minimum clamping force required for clamping the workpiece is obtained until the workpiece stops sliding through the continuously increased clamping force, the size of the clamping force is adjusted in the clamping process, in the clamping process of the paper box body, the problem that due to the fact that stains are stuck to individual boxes, friction surfaces are abraded and the like, the preset clamping force is not consistent with the required clamping force is avoided, and the error probability of a manipulator is reduced.

Detailed description of the invention

In this embodiment, on the basis of the second embodiment, specifically, as shown in fig. 3 and 4, the present invention further includes a controller and a sliding sensor 10, the sliding sensor 10 is disposed on the side surface of the clamping surface 8, and the angle sensor 3, the clamping mechanism 9, and the sliding sensor 10 are all electrically connected to the controller;

The controller obtains the current clamping force from the pressure sensing part by presetting a clamping force threshold value, when the clamping force exceeds the threshold value, the clamping is stopped, the workpiece is prevented from being damaged, whether the workpiece slides relative to the clamping surface 8 is judged through the slip sensor 10 in the clamping process, when the workpiece slides, the clamping mechanism 9 is controlled to clamp the two clamping arms 7, the clamping force is increased, the clamping force can be adjusted in the clamping process, and when the workpiece slides relative to the clamping surface 8 in the workpiece moving process, the controller clamps the workpiece through controlling the clamping mechanism 9, so that the workpiece is prevented from falling off;

As shown in fig. 5, the upper end of the clamping arm 7 is provided with a slide block, the slide block is sleeved on a positive and negative tooth lead screw, two ends of the positive and negative tooth lead screw are fixed on the clamping mechanism 9 through a shaft seat, and the middle of the positive and negative tooth lead screw is driven by a lead screw motor;

when the paper box of the different quality of centre gripping, the manipulator can obtain the size of minimum clamp force at the clamping process to adapt to the box of different quality, restrict the biggest clamp force simultaneously, avoid causing the damage to the paper box.

the above embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.

Claims

1. the utility model provides a pressure-sensitive part, its characterized in that, is including removing end (1), pendulum rod (2), angle sensor (3), spring groove (4) and spring dog (5), be provided with the connecting axle on removing end (1), the one end of pendulum rod (2) is provided with first connecting axle sleeve, and first connecting axle sleeve cup joints on removing the connecting axle of end (1), the centre of pendulum rod (2) is provided with the second connecting axle sleeve, and the coaxial rigid coupling of second connecting axle sleeve is in the pivot of angle sensor (3), and the other end and the spring dog (5) of pendulum rod (2) are connected, and spring dog (5) slide to set up in spring groove (4), are provided with the spring between the one end of spring dog (5) and the bottom of spring groove (4).

2. Pressure sensitive member according to claim 1, wherein the spring slot (4) is annular, the centre of the annular ring being arranged coaxially with the axis of rotation of the angle sensor (3).

3. the pressure sensing member according to claim 1, further comprising a limiting block (6), wherein the limiting block (6) is disposed in the spring groove (4), and the limiting block (6) is disposed on a side of the spring stopper (5) away from the spring.

4. The manipulator adopting the pressure sensing piece as claimed in claim 1, 2 or 3, characterized by comprising a clamping arm (7), a clamping surface (8) and a clamping mechanism (9), wherein the clamping arm (7) is arranged in a vertical direction, one side of the clamping arm (7) is provided with a containing groove, the angle sensor (3) and the spring groove (4) are both arranged in the containing groove, the moving end (1) is fixedly connected with the clamping surface (8), the clamping mechanism (9) is provided with a clamping end capable of moving horizontally, and the clamping end is connected with the clamping arm (7).

5. the manipulator according to claim 4, characterized by further comprising a controller and a slip sensor (10), wherein the slip sensor (10) is arranged on the side surface of the clamping surface (8), and the angle sensor (3), the clamping mechanism (9) and the slip sensor (10) are all electrically connected with the controller.