Cooperative robot surface coverage type touch sensing device
A surface covering, tactile sensing technology, applied in the direction of manipulators, manufacturing tools, etc., to achieve the effect of simple structure, easy measurement, and convenient external contact force
Pending Publication Date: 2019-09-10
CHINA JILIANG UNIV
View PDF0 Cites 1 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0006] The technical problem to be solved by the present invention is how to transmit and amplify the deformation applied to the mechanical arm
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0021] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0022] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be constr...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to the technical field of industrial robots, and discloses a cooperative robot surface coverage type touch sensing device. The cooperative robot surface coverage type touch sensing device comprises a deformation mechanism and a transmission amplifying structure, wherein the deformation mechanism is used for covering a to-be-tested part of a cooperative robot, and the deformation mechanism responds to an external contact force exerted on the deformation mechanism to generate a deformation quantity corresponding to the external contact force; the transmission amplifying structure is connected with the deformation mechanism and used for transferring deformation movement generated by the deformation mechanism and amplifying the deformation quantity of the deformation mechanism to obtain a displacement quantity of the transmission amplifying structure. The transmission amplifying structure plays an amplifying role, transfers the deformation movement of the deformationmechanism and amplifies the deformation quantity of the deformation mechanism to obtain the displacement quantity of the transmission amplifying structure, so that the external contact force is converted into a quantity which is easy to measure and intuitive. The cooperative robot surface coverage type touch sensing device is simple in structure, large-scale configuration is easy to achieve, and the external contact force can be conveniently measured.
Description
technical field [0001] The invention relates to the technical field of industrial robots, in particular to a surface-covered tactile sensing device of a collaborative robot. Background technique [0002] With the continuous development of the field of robotics, one of the development directions of industrial robots is collaborative robots. A collaborative robot is a robot that can work together with an operator in the same workspace. Therefore, the robot must have the ability to sense external contact. [0003] At present, there are mainly the following forms for the robot to feel the contact with the outside world. One is to determine the contact force with the outside world through the dynamic equation by measuring the joint torque. Usually, the joint force is estimated by means of joint torque sensor feedback and current feedback. The other is to effectively detect the contact between the robot and the external environment by covering the surface of the robot with electr...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/02
CPCB25J19/02
Inventor 王斌锐沈晓斌于明州金英连
Owner CHINA JILIANG UNIV