CN216050390U - Finger pressure sensor of robot - Google Patents

Abstract

The utility model discloses a robot finger pressure sensor, which comprises an elastomer main body; the elastic body main body comprises a fixed block, a wiring block and a cantilever beam, and the cantilever beam is erected between the fixed block and the wiring block; the wiring block is fixed with the base, and a stress groove is formed between the base and the fixed block; the utility model has the advantages of simple structure, low cost, high precision, wide measurement range, long service life and convenient installation.

Description

Finger pressure sensor of robot

Technical Field

The utility model relates to the technical field of robot sensors, in particular to a finger pressure sensor of a robot.

Background

In recent years, the robot industry in China is rapidly developed, and the market scale of the robot shows an annual growth situation, but the robot industry in China is still in a development stage, and particularly, a long way is still needed in the aspect of robot research and development. The domestic robot sensor industry is of various types, but at present, the domestic robot sensor product generally has the conditions of lower reliability and poorer performance precision compared with the domestic robot sensor product.

SUMMERY OF THE UTILITY MODEL

In order to solve the above problems, the present invention provides the following technical solutions: a robot finger pressure sensor includes an elastomer body; the elastic body main body comprises a fixed block, a wiring block and a cantilever beam, and the cantilever beam is erected between the fixed block and the wiring block; the wiring structure is characterized by further comprising a base, the wiring block is fixed to the base, and a stress groove is formed between the base and the fixing block.

Preferably, the connector further comprises a housing, the housing is fixed to the fixing block through a fastening screw, and a gap is reserved between the housing and the junction block.

Preferably, the cantilever beam further comprises four resistance strain gauges symmetrically attached to the root positions of the upper surfaces of the cantilever beams.

Preferably, the side edge of the junction block is provided with a wire outlet hole.

Preferably, the elastomer body is a 17-4PH alloy.

Compared with the prior art, the utility model has the following beneficial effects:

1. the robot finger pressure sensor has the advantages of simple structure, low cost, high precision, wide measurement range, long service life and convenience in installation.

2. Data transmission and stability are realized through the structural design of elastomer main part and the reasonable paster overall arrangement of resistance strain gauge, and the finger of mainly used intelligent robot can effectively acquire the contact state through finger pressure sensor to the snatching and the operation task of multiple object, improves the actual operation ability that the robot pointed.

Drawings

FIG. 1 is a top view of the present invention;

FIG. 2 is a side view of the present invention;

FIG. 3 is a cross-sectional view of an elastomeric body of the present invention;

FIG. 4 is an internal structural view of the present invention;

FIG. 5 is a schematic diagram of a Wheatstone bridge of the present invention;

in the figure: the device comprises an elastomer main body 1, a fixed block 2, a wiring block 3, a cantilever beam 4, a base 5, a stress groove 6, a shell 7, a resistance strain gauge 8 and a wire outlet hole 9.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 5, a robot finger pressure sensor includes an elastic body main body 1; the elastomer main body 1 comprises a fixed block 2, a wiring block 3 and a cantilever beam 4, and the cantilever beam 4 is erected between the fixed block 2 and the wiring block 3; still include base 5, lug 3 with base 5 is fixed mutually, base 5 with stress groove 6 has been seted up between fixed block 2, and base 5 can play limiting displacement when elastomer main part 1 is out of shape to a certain extent, as the overload protection of elastomer main part 1 atress.

Still include shell 7, shell 7 pass through fastening screw with fixed block 2 is fixed mutually, just shell 7 with leave the clearance between the lug block 3, leave sufficient deformation space.

Still include four resistance strain gauges 8, resistance strain gauge 8 symmetry paste in the upper surface root position of cantilever beam 4 to guarantee that the multi-angle detects the change of cantilever beam 4, ensure the accurate degree of detection.

The side of the junction block 3 is provided with a wire outlet hole 9.

The elastomer main body 1 is 17-4PH alloy, is precipitation, hardening and martensitic stainless steel consisting of copper, niobium/columbium, has the tensile strength of 1176MPa, and has the advantages of high strength, strong corrosion resistance and good mechanical property, so that the sensor can work under severe conditions, and the miniaturization, integration and variety diversification are easy to realize in the aspect of structure. .

In summary, when the finger of the robot contacts the object to be measured, i.e. the sensor is stressed, the cantilever beam 4 of the elastic body 1 is stressed to elastically deform, so that the cantilever beam 4 generates a strain, the resistance strain gauge 8 adhered to the cantilever beam 4 converts the stress of the object to be measured from the elastic strain to a resistance change, the resistance change is converted into a voltage output through the wheatstone bridge circuit, the voltage output is obtained through the display instrument, and finally the stress of the object to be measured (i.e. on the finger of the robot) is generated through data analysis and processing. In the figure, the root position of the upper surface of the cantilever beam 4 is respectively pasted with a resistance strain gauge 8, and the 4 resistance strain gauges 8 form a Wheatstone bridge circuit to measure the component of force in the Z direction of the coordinate system.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. A robotic finger pressure sensor comprising an elastomeric body (1); the method is characterized in that: the elastic body main body (1) comprises a fixed block (2), a wiring block (3) and a cantilever beam (4), and the cantilever beam (4) is erected between the fixed block (2) and the wiring block (3); still include base (5), lug (3) with base (5) are fixed mutually, base (5) with stress groove (6) have been seted up between fixed block (2).

2. The robotic finger pressure sensor of claim 1, wherein: the wire connecting structure is characterized by further comprising a shell (7), wherein the shell (7) is fixed with the fixing block (2) through a fastening screw, and a gap is reserved between the shell (7) and the wire connecting block (3).

3. The robotic finger pressure sensor of claim 1, wherein: the cantilever beam structure is characterized by further comprising four resistance strain gauges (8), wherein the resistance strain gauges (8) are symmetrically attached to the root positions of the upper surfaces of the cantilever beams (4).

4. The robotic finger pressure sensor of claim 1, wherein: and a wire outlet hole (9) is formed in the side edge of the junction block (3).

5. The robotic finger pressure sensor of claim 1, wherein: the elastomer main body (1) is a 17-4PH alloy.

Images