CN210256224U - Cooperative robot surface covering type touch sensing device - Google Patents
Cooperative robot surface covering type touch sensing device Download PDFInfo
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- CN210256224U CN210256224U CN201920837666.0U CN201920837666U CN210256224U CN 210256224 U CN210256224 U CN 210256224U CN 201920837666 U CN201920837666 U CN 201920837666U CN 210256224 U CN210256224 U CN 210256224U
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Abstract
The utility model relates to an industrial robot technical field discloses a cooperation robot surface coverage formula touch sensing device, include: the deformation mechanism is used for covering a part to be measured of the cooperative robot and responds to an external contact force applied to the deformation mechanism to generate a deformation amount corresponding to the external contact force; and the transmission amplifying structure is connected with the deformation mechanism and is used for transmitting the deformation motion generated by the deformation mechanism and amplifying the deformation quantity of the deformation mechanism to obtain the displacement of the transmission amplifying structure. The transmission is enlargied the structure and is played the amplification, carries out the transmission with the deformation motion of deformation mechanism to the deformation volume of enlarging deformation mechanism obtains the transmission and enlargies the displacement volume of structure, and then converts external contact force into and measures easily, audio-visual volume, the utility model discloses simple structure easily disposes on a large scale, conveniently measures external contact force.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a surface covering type touch sensing device of a cooperative robot.
Background
With the continuous development of the field of robots, one development direction of industrial robots is cooperative robots. The cooperative robot is a robot that can work together with an operator in the same work space, and therefore, the robot must have the ability to sense external contact.
At present, the robot mainly has the following modes of sensing external contact, one mode is that the contact force with the outside is determined by measuring joint torque and a dynamic equation, and joint force estimation is generally carried out by using modes of joint installation torque sensor feedback, current feedback and the like; the other is that the contact between the robot and the external environment can be effectively detected by covering the surface of the robot with the electronic skin sensor. The electronic skin sensor can accurately position the collision position, accurately measure the contact force, and has the characteristics of good effect, quick response and the like, but due to the use of materials, a manufacturing process and the like, the manufacturing cost of the electronic skin sensor is very high, and at present, the electronic skin sensor is only in a research stage of a laboratory, does not have a mature product and is not applied in an industrial field.
In order to effectively detect collision and reduce cost, a surface covering type detection sensor through a mechanical transmission mode is provided. The material deformation covered on the surface of the mechanical arm is transmitted and converted through a mechanical transmission structure, the deformation is converted into more easily measured and visualized quantity, and the contact point position and the contact force strength are identified through analysis. The method has simple structure, easily obtained devices and low price, can achieve the aim of detecting the external contact, and is easy for large-scale configuration.
Therefore, how to amplify the deformation applied to the robot arm becomes an urgent technical problem to be solved.
Disclosure of Invention
The invention aims to solve the technical problem of how to amplify the deformation applied to the mechanical arm in a transmission way.
To this end, according to a first aspect, an embodiment of the present invention discloses a cooperative robotic surface covering tactile sensing device, comprising: the deformation mechanism is used for covering a part to be measured of the cooperative robot and responds to an external contact force applied to the deformation mechanism to generate a deformation amount corresponding to the external contact force; and the transmission amplifying structure is connected with the deformation mechanism and is used for transmitting the deformation motion generated by the deformation mechanism and amplifying the deformation quantity of the deformation mechanism to obtain the displacement of the transmission amplifying structure.
Optionally, the method further comprises: and the displacement detection sensor is arranged at the output end of the transmission amplification structure and used for detecting the displacement output by the transmission amplification structure and converting the displacement into an external contact force applied to the deformation mechanism.
Optionally, the deformation mechanism comprises: the upper flange plate is of a circular ring structure; the lower flange plate is arranged at one end of the upper flange plate in parallel and is of a circular ring structure; the steel wire mesh is used for transmitting external contact force and converting the external contact force into deformation of the steel wire mesh.
Optionally, the steel mesh comprises: one end of the steel wire is fixedly connected with the lower flange plate, and the other end of the steel wire penetrates through the upper flange plate; the steel wires are arranged in a cross way.
Optionally, the transmission amplifying structure comprises: the first flange plate is arranged on the inner side of the upper flange plate; and the lever mechanism is arranged at one end of the first flange plate and used for inputting the deformation quantity generated by the deformation mechanism, amplifying the deformation quantity and outputting the amplified deformation quantity.
Optionally, the lever mechanism comprises: the elastic piece is arranged on the deformation mechanism and used for transmitting the deformation quantity of the external contact force to the deformation mechanism; one end of the lever is fixedly connected with the elastic piece, the lever is used for transmitting and amplifying the deformation quantity of the deformation mechanism, and the other end of the lever amplifies and outputs the deformation quantity of the elastic piece; and the lever fulcrum is arranged on one side of the lever close to the elastic piece and used for supporting the lever.
Optionally, the resilient member is a spring.
The invention has the following beneficial effects: the deformation mechanism is connected with the transmission amplification structure, when external contact force is applied to the deformation mechanism, the deformation mechanism plays a sensing role, the deformation mechanism deforms due to the external contact force, the external contact force is converted into a deformation quantity of the deformation mechanism, the transmission amplification structure plays an amplification role, deformation motion of the deformation mechanism is transmitted, the deformation quantity of the deformation mechanism is amplified to obtain a displacement quantity of the transmission amplification structure, and the external contact force is converted into an easily-measured and visual quantity.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of the overall structure of a cooperative robotic surface covering tactile sensing device according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a wire mesh in a cooperative robotic surface covering tactile sensor apparatus according to an embodiment of the disclosure;
FIG. 3 is a schematic illustration of a linkage of a lever mechanism in a cooperative robotic surface covering tactile sensing apparatus according to an embodiment of the disclosure;
FIG. 4 is a schematic diagram of the transmission of a cooperative robotic surface covering tactile sensing device according to an embodiment of the disclosure.
Reference numerals: 1. a deformation mechanism; 11. an upper flange plate; 12. a lower flange plate; 13. steel wire mesh; 131. a steel wire; 2. a transmission amplifying structure; 21. a first flange plate; 22. a lever mechanism; 221. an elastic member; 222. a lever 223, a lever fulcrum; 3. a displacement detection sensor; 4. a robotic arm.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
A cooperative robotic surface covering tactile sensing device, as shown in fig. 1, comprising: the deformation mechanism 1 and the transmission amplifying structure 2, the deformation mechanism 1 is used for covering a to-be-detected part of the cooperative robot, and the deformation mechanism 1 responds to an external contact force applied to the deformation mechanism 1 to generate a deformation amount corresponding to the external contact force; the transmission amplifying structure 2 is connected with the deformation mechanism 1, and the transmission amplifying structure 2 is used for transmitting the deformation motion generated by the deformation mechanism 1 and amplifying the deformation quantity of the deformation mechanism 1 to obtain the displacement quantity of the transmission amplifying structure 2.
It should be noted that, the deformation mechanism 1 is connected with the transmission amplifying structure 2, when an external contact force is applied to the deformation mechanism 1, the deformation mechanism 1 plays a sensing role, the deformation mechanism 1 generates deformation due to the external contact force, and further converts the external contact force into a deformation quantity of the deformation mechanism 1, and as the transmission amplifying structure 2 plays an amplifying role, the deformation of the deformation mechanism 1 is amplified and transmitted, and the deformation quantity of the deformation mechanism is amplified to obtain a displacement quantity of the transmission amplifying structure, so that the external contact force is converted into an easily-measured and intuitive quantity.
Further comprising: and the displacement detection sensor 3 is arranged at the output end of the transmission amplification structure 2, and the displacement detection sensor 3 is used for detecting the displacement output by the transmission amplification structure 2 and converting the displacement into the external contact force applied to the deformation mechanism 1.
It should be noted that, the displacement detecting sensor 3 detects the displacement output by the transmission amplifying structure 2 to obtain the contact strength of the contact point, and then converts the external contact force into an easily measured and intuitive amount, so that the robot can quickly sense the external contact.
As shown in fig. 1 and 2, the deformation mechanism 1 includes: the device comprises an upper flange plate 11, a lower flange plate 12 and a steel wire mesh 13, wherein the upper flange plate 11 is of a circular ring structure; the lower flange plate 12 is arranged at one end of the upper flange plate 11 in parallel, and the lower flange plate 12 is of a circular structure; the steel wire mesh 13 is used for transmitting external contact force and converting the external contact force into deformation of the steel wire mesh 13.
It should be noted that, both ends of the steel wire mesh 13 are respectively connected with the upper flange 11 and the lower flange 12, and when an external contact force acts on the steel wire mesh 13, the steel wire mesh 13 deforms under the stress, so that the external contact force is converted into a deformation amount of the steel wire mesh 13.
As shown in fig. 1 and 2, the steel wire mesh 13 includes: one end of the steel wire 131 is fixedly connected with the lower flange plate 12, and the other end of the steel wire passes through the upper flange plate 11; the steel wires 131 are arranged in a crossing manner.
It should be noted that the steel wires 131 are arranged in a crossing manner to form the steel wire mesh 13, and when an external contact force acts on the steel wire mesh 13, the steel wires 131 are pressed, so that the steel wires 131 deform, and the external contact force is converted into a deformation amount of the steel wire mesh 13.
As shown in fig. 4, the transmission amplifying structure 2 includes: a first flange 21 and a lever mechanism 22, wherein the first flange 21 is arranged on the inner side of the upper flange 11; one end of the lever mechanism 22 is connected with the upper flange 11, and the other end of the lever mechanism 22 is used for inputting the deformation quantity generated by the deformation mechanism 1, amplifying the deformation quantity and outputting the amplified deformation quantity.
It should be noted that, deformation mechanism 1 links to each other with transmission amplification structure 2, when external contact force was applied in deformation mechanism 1, deformation mechanism 1 played the perception effect, convert external contact force into the deformation volume of deformation mechanism 1, because transmission amplification structure 2 plays the amplification effect, enlarge the deformation volume of deformation mechanism 1 and handle, displacement detection sensor 3 detects the displacement volume of transmission amplification structure 2 output, obtain the contact strength of contact point, and then convert external contact force into easily measuring, audio-visual volume, thereby make the quick perception external contact of robot ability.
As shown in fig. 4, the lever mechanism 22 includes: the elastic part 221 is arranged on the deformation mechanism 1, and the elastic part 221 is used for transmitting the deformation quantity generated by the external contact force to the deformation mechanism 1; one end of the lever 222 is fixedly connected with the elastic part 221, the lever 222 is used for transmitting and amplifying the deformation quantity of the deformation mechanism 1, and the other end of the lever 222 amplifies and outputs the deformation quantity of the elastic part 221; a lever fulcrum 223 is provided at a side of the lever 222 close to the elastic member 221, and the lever fulcrum 223 is used to support the lever 222. In the embodiment, the lever mechanism 22 amplifies the displacement of the wire 131, so that the measurement accuracy of the displacement sensor 3 can be reduced.
It should be noted that, deformation mechanism 1 links to each other with transmission amplification structure 2, when external contact force was applied to deformation mechanism 1, deformation mechanism 1 played the perception effect, convert external contact force into the deformation volume of deformation mechanism 1, because displacement detection sensor 3 played the detection effect, displacement detection sensor 3 detected the deformation volume of deformation mechanism 1, and amplify the deformation volume of deformation mechanism 1 through the amplification effect of lever 222, obtain the contact strength of contact point, and then convert external contact force into and easily measure, audio-visual volume, thereby make the quick perception external contact of robot.
As shown in fig. 3 and 4, the elastic member 221 is a spring. In the embodiment shown, one end of the spring is welded to the upper flange 11 and the other end of the spring is welded to the lever 222.
It should be noted that the spring is always in a compressed state, when the wire 131 receives an external contact force, the wire 131 receives a pulling force, and drives the lever 222 to move along a lower side direction of the spring, so as to compress the spring, and through the movement of the lever 222, a deformation amount of the wire 131 is converted into a displacement amount of the lever 222, and an input amount of the lever mechanism 22 is equal to a deformation amount of the spring, and due to a supporting effect of the lever fulcrum 223, the lever 222 amplifies the deformation amount of the wire 131.
As shown in fig. 1, the cooperative robot body includes: and the mechanical arm 4 is sleeved in the deformation mechanism 1 and is used for realizing the action of the cooperative robot body.
It should be noted that, in the deformation mechanism 1 was located to the arm 4 cover, certain clearance was kept during the installation between wire net 13 and the arm 4 to guarantee that steel wire 131 has certain deformation space, thereby make the wire net 13 perception external contact force that can be better, improved deformation mechanism 1's adaptability.
The working principle is as follows: one end of a steel wire mesh 13 is welded with the lower flange 12, the other end of a steel wire 131 is movably connected with the upper flange 11, when external contact force acts on the steel wire mesh 13, the steel wire mesh 13 deforms due to stress, a contact point of the steel wire mesh 13 is sunken due to stress, the steel wire 131 corresponding to the contact point moves due to tensile force, the steel wire 131 drives the lever 222 to move, the spring is stressed and compressed, the deformation of the steel wire mesh 13 is amplified through the supporting effect of the lever fulcrum 223 and the movement transmission of the lever 222, and the displacement amplified by the lever 222 is detected through the displacement detection sensor 3; because the sensor after installation is fixed in position, the position of a stress point can be determined by judging the maximum displacement variation of the lever 222 and the two steel wires 131 which are mutually crossed, and the displacement of the lever 222 and the elastic coefficient of the spring are known, so that the stress of the steel wires 131 at the contact point can be obtained through testing, and finally the stress strength of the contact point can be converted through processing; as the density of the steel wires 131 is higher, the resolution of the cooperative robot surface covering type tactile sensing device is also higher.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (7)
1. A cooperative robotic surface covering tactile sensing device, comprising:
the deformation mechanism (1) is used for covering a part to be measured of the cooperative robot, and the deformation mechanism (1) responds to an external contact force applied to the deformation mechanism (1) to generate a deformation amount corresponding to the external contact force;
and the transmission amplification structure (2) is connected with the deformation mechanism (1) and is used for transmitting the deformation motion generated by the deformation mechanism (1) and amplifying the deformation quantity of the deformation mechanism (1) to obtain the displacement of the transmission amplification structure (2).
2. The cooperative robotic surface covering tactile sensing device of claim 1, further comprising:
and the displacement detection sensor (3) is arranged at the output end of the transmission amplification structure (2) and is used for detecting the displacement output by the transmission amplification structure (2) and converting the displacement into the external contact force applied to the deformation mechanism (1).
3. Cooperative robotic surface covering tactile sensing device according to claim 1, wherein the deformation mechanism (1) comprises:
the upper flange plate (11) is of a circular ring structure;
the lower flange plate (12) is arranged at one end of the upper flange plate (11) in parallel and is of a circular structure;
the steel wire mesh (13), steel wire mesh (13) are used for transmitting external contact force, and convert external contact force into the deformation volume of steel wire mesh (13).
4. Cooperative robotic surface-covering tactile sensing device according to claim 3, characterized in that the steel mesh (13) comprises:
one end of the steel wire (131) is fixedly connected with the lower flange plate (12), and the other end of the steel wire penetrates through the upper flange plate (11); the steel wires (131) are arranged in a crossed manner.
5. Cooperative robotic surface covering tactile sensing device according to any of claims 3-4, wherein the transmission amplification structure (2) comprises:
a first flange (21) provided on the inner side of the upper flange (11);
and one end of the lever mechanism (22) is connected with the upper flange plate (11), and the other end of the lever mechanism is used for inputting the deformation quantity generated by the deformation mechanism (1), amplifying and outputting the deformation quantity.
6. Cooperative robotic surface-covering tactile sensing device according to claim 5, characterized in that the lever mechanism (22) comprises:
the elastic piece (221) is arranged on the deformation mechanism (1) and is used for transmitting the deformation quantity of the external contact force to the deformation mechanism (1);
one end of the lever (222) is fixedly connected with the elastic piece (221), the lever (222) is used for amplifying the deformation quantity of the deformation mechanism (1) in a transmission mode, and the other end of the lever (222) is used for amplifying the deformation quantity of the elastic piece (221) and outputting the deformation quantity;
and a lever fulcrum (223) disposed on a side of the lever (222) close to the elastic member (221) for supporting the lever (222).
7. Cooperative robotic surface covering tactile sensing device according to claim 6, characterized in that the resilient member (221) is a spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920837666.0U CN210256224U (en) | 2019-06-05 | 2019-06-05 | Cooperative robot surface covering type touch sensing device |
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| CN201920837666.0U CN210256224U (en) | 2019-06-05 | 2019-06-05 | Cooperative robot surface covering type touch sensing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216717A (en) * | 2019-06-05 | 2019-09-10 | 中国计量大学 | A kind of cooperation robotic surface cover type touch sensing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110216717A (en) * | 2019-06-05 | 2019-09-10 | 中国计量大学 | A kind of cooperation robotic surface cover type touch sensing device |
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