Physical manipulator structure

Abstract

The utility model provides a physical manipulator structure, which solves the problems of pressing torque control of a manipulator and the like, and comprises an assembling bracket, a lifting motor is arranged on the assembling bracket, the lifting motor is connected with a lifting frame which is arranged on the assembling bracket in a sliding manner through a belt wheel transmission component, and a physical tentacle is arranged on the lifting frame. And a station camera is mounted on the assembly bracket. The pressing torque control device has the advantages of good pressing torque control effect, stable structure and the like.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical automation equipment, and in particular relates to a physical manipulator structure. Background Art

[0002] A manipulator is a device that can imitate certain movements of human fingers and arms. In the manipulator solution, the multi-degree-of-freedom manipulator can be called through the HMI automated test software to achieve the effect of the manipulator simulating human hand operations. Commonly used types of multi-degree-of-freedom manipulators include three-degree-of-freedom manipulators and six-degree-of-freedom manipulators. Among them, the manipulator's motion positioning accuracy, effective travel range, motion speed, force perception accuracy, etc. can all be customized according to actual needs. However, in actual use, the existing manipulator cannot accurately control the pressing torque when performing a click action, resulting in insufficient sensitivity of the touch press response.

[0003] In order to solve the shortcomings of the existing technology, people have conducted long-term exploration and proposed various solutions. For example, a Chinese patent document discloses a U-shield automatic clicking device [202220880526.3], which includes a fixing frame, a clicking mechanism, a three-dimensional manipulator assembly and multiple fixing devices; the fixing device is used to fix the U-shield; the fixing device is connected to the fixing frame; the clicking mechanism is connected to the three-dimensional manipulator assembly, and the three-dimensional manipulator assembly drives the clicking mechanism to click the button of the U-shield or release the button of the U-shield.

[0004] The above solution solves the problem of automatic touch and pressing of the robot arm to a certain extent, but the solution still has many shortcomings, such as the inability to accurately control the pressing torque. Summary of the invention

[0005] The purpose of the utility model is to provide a physical manipulator structure with reasonable design and precise pressure torque control in view of the above problems.

[0006] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions: a physical manipulator structure, including an assembly bracket, a lifting motor is installed on the assembly bracket, the lifting motor is connected to a lifting frame slidably installed on the assembly bracket through a pulley transmission assembly, a physical tentacle is installed on the lifting frame, and a workstation camera is installed on the assembly bracket.

[0007] In the above-mentioned physical manipulator structure, the assembly bracket includes an X-axis guide rail bracket, one side of the X-axis guide rail bracket is connected to a Y-axis drag chain bracket, and a front cover that shields the pulley transmission assembly and the lifting frame is fixed between the X-axis guide rail bracket and the Y-axis drag chain bracket.

[0008] In the above-mentioned physical manipulator structure, a tentacle distribution plate is fixed to the side of the Y-axis drag chain bracket, and a gap is left between the tentacle distribution plate and the Y-axis drag chain bracket.

[0009] In the above-mentioned physical manipulator structure, the assembly bracket is connected to a camera fixing frame extending in a horizontal direction, and the workstation camera is installed at the end of the camera fixing frame.

[0010] In the above-mentioned physical manipulator structure, a tentacle cover plate is fixed on the lifting frame, and the physical tentacles are clamped and fixed between the tentacle cover plate and the lifting frame.

[0011] In the above-mentioned physical manipulator structure, the physical tentacle includes a probe and a flat-headed stylus head installed at the lower end of the probe.

[0012] In the above-mentioned physical manipulator structure, the pulley transmission assembly includes a transmission wheel fixed to the output end of the lifting motor, and a synchronous belt meshing with the transmission wheel is movably installed on the lifting frame.

[0013] In the above-mentioned physical manipulator structure, a transmission platform for the synchronous belt to circumferentially surround is arranged on the lifting frame, a limit platform is arranged on one side of the transmission platform, and the synchronous belt is installed between the transmission platform and the limit platform.

[0014] In the above-mentioned physical manipulator structure, a sliding block is fixed on the lifting frame, and a sliding rail extending in a vertical direction and slidably connected to the sliding block is fixed on the assembly bracket.

[0015] In the above-mentioned physical manipulator structure, a contact switch opposite to the upper end of the slider is installed on the assembly bracket.

[0016] Compared with the existing technology, the advantages of the utility model are: the lifting motor and the pulley transmission assembly drive the lifting frame to slide up and down, wherein the physical tentacles and the workstation camera detect the pressing force visually and tactilely, and then perform negative feedback adjustment with the lifting motor to accurately control the pressing torque; the use of the pulley transmission assembly instead of the conventional gear transmission structure helps to limit the pressing torque and ensure the safety of pressing; the assembly bracket can be flexibly assembled on the guide rail structure to adjust the overall position of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the utility model;

[0018] Figure 2 It is another structural schematic diagram of the utility model;

[0019] Figure 3 It is a structural sectional view of the utility model;

[0020] Figure 4 It is a structural schematic diagram of the lifting frame of the utility model;

[0021] In the figure, there are assembly bracket 1, X-axis guide bracket 11, Y-axis drag chain bracket 12, front cover 13, tentacle distribution board 14, camera fixing bracket 15, lifting motor 2, pulley transmission assembly 3, transmission wheel 31, synchronous belt 32, lifting frame 4, transmission platform 41, limit platform 42, slider 43, slide rail 44, contact switch 45, physical tentacle 5, probe 51, stylus head 52, work station camera 6, and tentacle cover plate 7. DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0023] like Figure 1-4 As shown, a physical manipulator structure includes an assembly bracket 1 with a modular structure. A lifting motor 2 is installed on the back of the assembly bracket 1 to provide a lifting torque. The lifting motor 2 is connected to a lifting frame 4 slidably installed on the assembly bracket 1 through a pulley transmission assembly 3. As the pulley transmission assembly 3 drives the lifting frame 4 to slide up and down relative to the assembly bracket 1, a physical tentacle 5 is installed on the lifting frame 4 to detect the downward torque. A workstation camera 6 is installed on the assembly bracket 1 for auxiliary positioning to ensure that the manipulator is accurately positioned.

[0024] Specifically, the assembly bracket 1 includes an X-axis guide rail bracket 11, a Y-axis drag chain bracket 12 is connected to one side of the X-axis guide rail bracket 11, and a front cover 13 that shields the pulley transmission assembly 3 and the lifting frame 4 is fixed between the X-axis guide rail bracket 11 and the Y-axis drag chain bracket 12. The X-axis guide rail bracket 11, the Y-axis drag chain bracket 12 and the front cover 13 are fixedly connected by screws, and a cavity for assembling the pulley transmission assembly 3 and the lifting frame 4 is provided inside.

[0025] In order to facilitate cable fixing, a tentacle distribution plate 14 is fixed to the side of the Y-axis drag chain bracket 12, and a gap is left between the tentacle distribution plate 14 and the Y-axis drag chain bracket 12. The control line is arranged in the gap and fits with the tentacle distribution plate 14 and the assembly bracket 1.

[0026] Furthermore, the assembly bracket 1 is connected to a camera fixing bracket 15 extending in a horizontal direction, and the workstation camera 6 is installed at the end of the camera fixing bracket 15. The workstation camera 6 faces downward. On the one hand, it uses image detection to determine the orientation of objects such as mobile phones, and on the other hand, it can detect the relative distance between the assembly bracket 1 and the object below.

[0027] Furthermore, a tentacle cover plate 7 is fixed on the lifting frame 4, and the physical tentacle 5 is clamped and fixed between the tentacle cover plate 7 and the lifting frame 4. A slot for the physical tentacle 5 to engage is provided between the tentacle cover plate 7 and the lifting frame 4, and the physical tentacle 5 rises and falls synchronously with the sliding of the lifting frame 4.

[0028] In addition, the physical tentacle 5 includes a probe 51 and a flat-headed stylus head 52 installed at the lower end of the probe 51. An elastic element is usually arranged between the probe 51 and the stylus head 52 to provide buffering for the stylus head 52. The probe 51 feeds back the sensing signal to the corresponding main control unit.

[0029] Meanwhile, the pulley transmission assembly 3 includes a transmission wheel 31 fixed to the output end of the lifting motor 2, and a synchronous belt 32 meshing with the transmission wheel 31 is movably mounted on the lifting frame 4. The transmission wheel 31 drives the synchronous belt 32 to transmit relative to the lifting frame 4, and the synchronous belt 32 drives the lifting frame 4 to move up and down. Since the synchronous belt 32 adopts a movable assembly structure, when the lifting frame 4 descends excessively, the synchronous belt 32 may be loosened, thereby limiting the pressing torque.

[0030] It can be seen that the lifting frame 4 is provided with a transmission platform 41 for the synchronous belt 32 to circumferentially surround, a limit platform 42 is provided on one side of the transmission platform 41, and the synchronous belt 32 is installed between the transmission platform 41 and the limit platform 42. The synchronous belt 32 and the lifting frame 4 are pressed and fixed by the limit platform 42, and the lifting torque is transmitted to the transmission platform 41 by the synchronous belt 32.

[0031] Obviously, a slider 43 is fixed on the lifting frame 4 and is quickly assembled by means of screws, a slide rail 44 extending in the vertical direction and slidably connected to the slider 43 is fixed on the assembly bracket 1, and a groove is opened on the assembly bracket 1 for the slide rail 44 to be embedded.

[0032] Preferably, a contact switch 45 is mounted on the assembly bracket 1 and is opposite to the upper end of the slider 43. When the slider 43 moves to the top of the slide rail 44, the lifting frame 4 contacts the contact switch 45 and sends an induction signal, thereby instantly controlling the lifting motor 2 to stop.

[0033] To sum up, the principle of this embodiment is that the lifting motor 2 drives the pulley transmission assembly 3 to transmit, so that the lifting frame 4 slides up and down relative to the lifting frame 4. During the sliding process, the workstation camera 6 ensures that the manipulator is accurately positioned, and the physical tentacles 5 press down and provide feedback on the pressing torque, thereby ensuring precise control of the pressing torque.

[0034] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0035] Although this article uses more terms such as assembly bracket 1, X-axis guide bracket 11, Y-axis drag chain bracket 12, front cover 13, tentacle distribution board 14, camera fixing bracket 15, lifting motor 2, pulley transmission assembly 3, transmission wheel 31, synchronous belt 32, lifting frame 4, transmission platform 41, limit platform 42, slider 43, slide rail 44, contact switch 45, physical tentacle 5, probe 51, stylus head 52, workstation camera 6, tentacle cover plate 7, etc., it does not exclude the possibility of using other terms. The use of these terms is only to more conveniently describe and explain the essence of the utility model; interpreting them as any additional restrictions is contrary to the spirit of the utility model.

Claims

1. A physical manipulator structure, comprising an assembly bracket (1), on which a lifting motor (2) is mounted, characterized in that: The lifting motor (2) is connected to a lifting frame (4) slidably mounted on an assembly bracket (1) via a pulley transmission assembly (3); a physical tentacle (5) is mounted on the lifting frame (4); and a workstation camera (6) is mounted on the assembly bracket (1).

2. A physical manipulator structure according to claim 1, characterized in that: The assembly bracket (1) comprises an X-axis guide rail bracket (11), one side of the X-axis guide rail bracket (11) is connected to a Y-axis drag chain bracket (12), and a front cover (13) for shielding the pulley transmission assembly (3) and the lifting frame (4) is fixed between the X-axis guide rail bracket (11) and the Y-axis drag chain bracket (12).

3. A physical manipulator structure according to claim 2, characterized in that: A tentacle distribution plate (14) is fixed to the side of the Y-axis drag chain bracket (12), and a gap is left between the tentacle distribution plate (14) and the Y-axis drag chain bracket (12).

4. A physical manipulator structure according to claim 1, characterized in that: The assembly bracket (1) is connected to a camera fixing frame (15) extending in a horizontal direction, and the workstation camera (6) is installed at the end of the camera fixing frame (15).

5. A physical manipulator structure according to claim 1, characterized in that: A tentacle cover plate (7) is fixed on the lifting frame (4), and the physical tentacles (5) are clamped and fixed between the tentacle cover plate (7) and the lifting frame (4).

6. A physical manipulator structure according to claim 1, characterized in that: The physical tentacle (5) comprises a probe (51) and a flat-headed stylus head (52) installed at the lower end of the probe (51).

7. A physical manipulator structure according to claim 1, characterized in that: The pulley transmission assembly (3) comprises a transmission wheel (31) fixed to the output end of the lifting motor (2), and a synchronous belt (32) meshing with the transmission wheel (31) is movably mounted on the lifting frame (4).

8. A physical manipulator structure according to claim 7, characterized in that: The lifting frame (4) is provided with a transmission platform (41) for the synchronous belt (32) to surround circumferentially, a limiting platform (42) is provided on one side of the transmission platform (41), and the synchronous belt (32) is installed between the transmission platform (41) and the limiting platform (42).

9. A physical manipulator structure according to claim 7, characterized in that: A sliding block (43) is fixed on the lifting frame (4), and a sliding rail (44) extending in a vertical direction and slidably connected to the sliding block (43) is fixed on the assembly bracket (1).

10. A physical manipulator structure according to claim 9, characterized in that: The assembly bracket (1) is provided with a contact switch (45) opposite to the upper end of the slider (43).

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