CN212527771U - Intelligent grabbing flexible manipulator based on touch sensor - Google Patents
Intelligent grabbing flexible manipulator based on touch sensor Download PDFInfo
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- CN212527771U CN212527771U CN202021076490.0U CN202021076490U CN212527771U CN 212527771 U CN212527771 U CN 212527771U CN 202021076490 U CN202021076490 U CN 202021076490U CN 212527771 U CN212527771 U CN 212527771U
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Abstract
The utility model relates to an intelligent grabbing flexible manipulator based on a touch sensor, which comprises a servo motor, a fixing frame, a flexible clamping jaw and a touch sensor, wherein one side surface of the fixing frame is provided with a plurality of fixing tables, each fixing table is hinged with the flexible clamping jaw which is driven independently, the other side surface of the fixing frame is provided with a plurality of servo motors, each servo motor is correspondingly connected with one flexible clamping jaw, and the touch sensor is arranged at the inner side of each flexible clamping jaw; the utility model discloses tactile sensor places on each flexible clamping jaw, when touching when being grabbed the object, the size of detectable gripping power, every flexible clamping jaw all is by its turned angle of independent servo motor control, can adjust the gripping power of every clamping jaw according to every flexible clamping jaw respective gripping power size that every tactile sensor detected, realizes high accuracy closed-loop control, can snatch all kinds of articles of soft, hard, crisp, irregular form.
Description
Technical Field
The utility model belongs to the robot control field especially relates to an intelligence snatchs flexible manipulator based on touch sensor.
Background
A robot is an automated device that can be used to grab objects, carry objects, or manipulate tools. It is widely applied to the fields of mechanical manufacture, metallurgy, electronics, light industry and the like. There are three main types of end jaws common to robotic arms on the market: firstly, a rigid clamping jaw controlled by a pneumatic cylinder is adopted; secondly, a flexible soft material clamping jaw controlled by a pneumatic cylinder is adopted; and the third is a soft and hard material clamping jaw driven by a servo motor. The first is made of rigid material of the cylinder, if the manipulator has displacement error, the manipulator is easy to collide, and the workpiece and the clamping jaw are damaged; secondly, soft materials (such as silica gel) are utilized to form clamping jaws, and the pneumatic cylinder is used for controlling the clamping jaws of the soft materials to grab, so that only light specific materials are grabbed, and all the clamping jaws of the soft materials are independently controlled, so that the pipeline preparation is complex; and the third method is to use software program operation to make development time long, so the cost is high and market popularization is not facilitated. All three methods require establishing the accuracy requirements of the whole body of the manipulator, otherwise there is a high risk.
Disclosure of Invention
An object of the utility model is to overcome the not enough and a flexible manipulator is snatched based on touch sensor's intelligence that prior art provided.
The utility model discloses a realize like this: the utility model provides an intelligence snatchs flexible manipulator based on touch sensor, includes servo motor, mount, flexible clamping jaw and touch sensor, a mount side is provided with a plurality of fixed stations, every the fixed station all articulates there is independent drive the flexible clamping jaw, mount another side is provided with a plurality ofly servo motor, singly servo motor corresponds to connect singly the flexible clamping jaw, the setting can be dismantled to flexible clamping jaw inboard touch sensor.
Preferably, the fixing frame is disc-shaped.
Preferably, the fixed platforms are circumferentially and equidistantly distributed on the fixed frame.
Preferably, the flexible clamping jaw is of a hollow structure, and the servo motor is connected with the transmission element and arranged in the flexible clamping jaw to drive the flexible clamping jaw to be straightened and bent.
Preferably, the touch sensor is arranged at the end part of the flexible clamping jaw, and a connecting wire of the touch sensor penetrates out of the interior of the flexible clamping jaw and is connected with the servo motor.
The utility model discloses tactile sensor places on each flexible clamping jaw, when touching when being grabbed the object, the size of detectable gripping power, every flexible clamping jaw all is by its turned angle of independent servo motor control, can adjust the gripping power of every clamping jaw according to every flexible clamping jaw respective gripping power size that every tactile sensor detected, realizes high accuracy closed-loop control, can snatch all kinds of articles of soft, hard, crisp, irregular form.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the present invention for grabbing an object;
FIG. 3 is a schematic view of the present invention for grabbing irregular objects;
fig. 4 is a schematic view of a partial structure of the end of the flexible clamping jaw of the present invention;
fig. 5 is a schematic view of the internal structure of the flexible clamping jaw of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "middle", "outer", "inner", and the like, indicate positional or positional relationships, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
As shown in fig. 1-3, a flexible manipulator is snatched to intelligence based on tactile sensor, including servo motor 1, mount 2, flexible clamping jaw 3 and tactile sensor 4, 2 a sides of mount are provided with a plurality of fixed stations 5, every fixed station 5 all articulates there is independent drive flexible clamping jaw 3, 2 another sides of mount are provided with a plurality ofly servo motor 1, singly servo motor 1 corresponds to connect singly flexible clamping jaw 3, the setting can be dismantled to flexible clamping jaw 3 inboard tactile sensor 4.
The fixed frame 2 is disc-shaped.
The fixed platforms 5 are distributed on the fixed frame at equal intervals on the circumference.
The flexible clamping jaw 3 is of a hollow structure, and the servo motor 1 is connected with a transmission element and arranged in the flexible clamping jaw to drive the flexible clamping jaw to be straightened and bent. The servo motor 1 drives the flexible jaw transmission element, and the skilled person can make routine choice, for example, the simple artificial finger structure in the research of the simple artificial finger and the three-finger linkage mechanism disclosed in the national doctor's academic forum of 2007 mechanical engineering.
As shown in fig. 4 and 5, the touch sensor 4 is disposed at an end of the flexible clamping jaw 3, and a connecting wire of the touch sensor 4 is passed through the inside of the flexible clamping jaw 3 and connected with the servo motor 1. Preferably, the end part of the flexible clamping jaw 3 is provided with a hole, the inner side of the hole is provided with a bonding table 6, and the bonding table is bonded and fixed on the inner wall of the flexible clamping jaw, so that the bonding table and the flexible clamping jaw form detachable connection. The outer surface of the bonding table and the outer surface of the flexible clamping jaw have a certain distance, the distance is the same as the thickness of the touch sensor, and the touch sensor can be bonded and fixed outside the bonding table, so that the bonding table and the touch sensor form detachable connection. The bonding table can be conveniently maintained and replaced when poor contact occurs. The bonding platform is provided with a clamping groove 7, the clamping groove is clamped in the bonding platform, and the clamping groove is of a metal structure and preferably selects a tin sheet or a copper sheet. The terminal of the touch sensor can be clamped with the clamping groove, and the section structure of the clamping groove can be the same as that of the terminal of the touch sensor and is in interference fit with the terminal of the touch sensor. The other end of the clamping groove is connected with an encoder of the servo motor through a connecting wire. Thereby through bonding on the bonding bench and in the interference fit of draw-in groove, realize being connected dismantled of touch sensor and flexible clamping jaw.
The utility model discloses in, the quantity of flexible clamping jaw is preferred three, can reach three points and stabilize and snatch, and servo motor is including the encoder for receive touch sensor's signal, start or close servo motor by touch sensor's signal. A plurality of touch sensors can be arranged, preferably one touch sensor is arranged on the joint of each flexible clamping jaw, two touch sensors are respectively arranged at the front section and the middle section of each flexible clamping jaw, and the connecting wires of the touch sensors are connected to the servo motor. The magnitude of the force is sensed by an analog signal from a tactile sensor, preferably an AIDY film electronic IMS-C7.5A model sensor. And pressure parameters can be set, and the force is determined by the setting of the pressure parameters. The analog signal of the touch sensor is 0-10V, if the specification of the touch sensor is 500 g force, the output signal is not 0-10V, 0V represents no contact, 10V represents 500 g contact force, so the signal changes 0,0.01 … … 0.5.5 0.5 … 1V when the flexible clamping jaw moves towards the workpiece (after contact), if the parameter setting is 1V, the signal represents about 100 g force, if the flexible clamping jaw is to grab a breakable workpiece or material, the setting can be set to be small, for example (0.1V); if the weight is grabbed, the set value can be set to be larger, such as (0.8V). And after the set pressure parameter is reached, the servo motor stops working. And the other servo motor works until the pressure parameter is reached, and when all the servo motors finish the action, the action of grabbing the workpiece is finished, so that the device can be moved, and the workpiece can be moved.
In the utility model, each flexible clamping jaw is controlled by an independent servo motor to rotate by an angle, so that a fully-closed system is formed, and compared with an open-loop or semi-closed loop method, the utility model has a stable high-precision closed-loop system; the stop of one flexible jaw waits for the signal from the tactile sensor on the other flexible jaw. Therefore, when errors exist, the bending distances of the flexible clamping jaws are different, correction and compensation can be carried out, and therefore the flexible clamping jaw can be suitable for grabbing workpieces with different regular shapes. The utility model discloses can snatch soft, hard, fragile, the article of irregularity form, touch heavy hard work piece, the great value can be established to the parameter value, touch soft material, can set for the parameter value and be less than tension value (elasticity value), touch fragile work piece, the destructive power is < to the parameter value, is suitable for and the different condition of snatching, sees through the soft or hard that the material was snatched in the judgement, need not change the mechanical gripper of dress difference because of the material is different to reach the function of a tractor serves several purposes.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not exhaustive and do not limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. The utility model provides a flexible manipulator is snatched to intelligence based on touch sensor which characterized in that: including servo motor, mount, flexible clamping jaw and touch sensor, a mount side is provided with a plurality of fixed stations, every the fixed station all articulates there is independent drive the flexible clamping jaw, mount another side is provided with a plurality ofly servo motor, singly servo motor corresponds to connect singly the flexible clamping jaw, the setting can be dismantled to flexible clamping jaw inboard touch sensor.
2. The smart grabbing flexible manipulator based on the touch sensor as claimed in claim 1, wherein: the fixing frame is disc-shaped.
3. The smart grabbing flexible manipulator based on the touch sensor as claimed in claim 2, wherein: the fixed platforms are distributed on the fixed frame at equal intervals on the circumference.
4. The smart grabbing flexible manipulator based on the touch sensor as claimed in claim 1, wherein: the flexible clamping jaw is of a hollow structure, and the servo motor is connected with the transmission element and arranged inside the flexible clamping jaw to drive the flexible clamping jaw to straighten and bend.
5. The smart grabbing flexible manipulator based on the touch sensor as claimed in claim 4, wherein: the touch sensor is arranged at the end part of the flexible clamping jaw, and a connecting wire of the touch sensor penetrates out of the flexible clamping jaw and is connected with the servo motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021076490.0U CN212527771U (en) | 2020-06-12 | 2020-06-12 | Intelligent grabbing flexible manipulator based on touch sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021076490.0U CN212527771U (en) | 2020-06-12 | 2020-06-12 | Intelligent grabbing flexible manipulator based on touch sensor |
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| CN212527771U true CN212527771U (en) | 2021-02-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023065102A1 (en) * | 2021-10-19 | 2023-04-27 | Shanghai Flexiv Robotics Technology Co., Ltd. | Gripper and robot having the same |
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- 2020-06-12 CN CN202021076490.0U patent/CN212527771U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023065102A1 (en) * | 2021-10-19 | 2023-04-27 | Shanghai Flexiv Robotics Technology Co., Ltd. | Gripper and robot having the same |
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