Detection mechanism for feeding back the position of a mechanical finger

Abstract

The application relates to a detection mechanism for feeding back the position of a mechanical finger, the mechanical finger being rotatably connected to the front end of a base through a first rotating shaft, the detection mechanism being arranged on the top of the base and comprising: a linear potentiometer, the potentiometer sliding rod of which is arranged to slide along the direction perpendicular to the first rotating shaft; a transmission assembly for connecting between the mechanical finger and the potentiometer sliding rod and making the rotation of the mechanical finger and the sliding of the potentiometer sliding rod in linear relation; two trigger switches for sending feedback signals when being touched, the two trigger switches being respectively located at the start end and the end of the sliding interval of the potentiometer sliding rod; a trigger piece sliding synchronously with the potentiometer sliding rod, the first end of the trigger piece being connected with the potentiometer sliding rod and the second end of the trigger piece touching the trigger switches when sliding to the positions of the trigger switches; and a controller being control-connected with the linear potentiometer and the two trigger switches. The application can detect the accurate position of the mechanical finger in real time and has low cost and small volume.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a detection mechanism for feedback of mechanical finger position. BACKGROUND

[0002] The movement position of the mechanical finger of the existing robot or mechanical hand is usually monitored by an integrated push rod motor or a rudder, but the cost of the integrated push rod motor or the rudder is high, and a large installation space is required, which affects the miniaturization of the mechanical finger structure. SUMMARY

[0003] In order to solve the above problems, the present application provides a detection mechanism for feedback of mechanical finger position, which solves the problems of high cost and large installation space of the traditional detection mechanism.

[0004] The present application is realized by the following scheme: a detection mechanism for feedback of mechanical finger position, the mechanical finger is rotatably connected to the front end of a base through a first rotating shaft, the detection mechanism is arranged on the top of the base, and comprises:

[0005] A linear potentiometer, the potentiometer slide rod of the linear potentiometer is arranged in a sliding manner along a direction perpendicular to the first rotating shaft;

[0006] A transmission assembly for connecting between the mechanical finger and the potentiometer slide rod, and making the rotation of the mechanical finger and the sliding of the potentiometer slide rod in a linear relationship;

[0007] Two trigger switches for emitting feedback signals when being touched, the two trigger switches are respectively located at the beginning and the end of the sliding interval of the potentiometer slide rod;

[0008] A trigger piece that slides synchronously with the potentiometer slide rod, the first end of the trigger piece is connected with the potentiometer slide rod, and the second end of the trigger piece touches the trigger switch when sliding to the position of the trigger switch;

[0009] A controller connected with the linear potentiometer and the two trigger switches.

[0010] The detection mechanism for feedback of mechanical finger position of the present application is further improved in that the sliding interval corresponds to the rotation range of the mechanical finger.

[0011] The further improvement of the detection mechanism for feedback of the position of the mechanical finger is that the transmission assembly comprises an arc-shaped transmission rod and a sleeve set on the slide rod of the potentiometer, the first end of the arc-shaped transmission rod is rotationally connected to the mechanical finger through a second rotating shaft, the second end of the arc-shaped transmission rod is rotationally connected to the sleeve through a third rotating shaft, and the first rotating shaft, the second rotating shaft and the third rotating shaft are parallel and arranged in a staggered manner.

[0012] The further improvement of the detection mechanism for feedback of the position of the mechanical finger is that the first end of the trigger member is fixed to the side of the sleeve, the second end of the trigger member extends out of the top surface of the linear potentiometer and is bent downward, the top surface of the trigger switch is provided with an expansion block, the second end of the trigger member is lower than the top elevation of the expansion block in the elongated state and higher than the top elevation of the expansion block in the compressed state.

[0013] The further improvement of the detection mechanism for feedback of the position of the mechanical finger is that the second end of the trigger member is formed as an enlarged head, and the expansion block is formed with a contact slope surface for the enlarged head to touch.

[0014] The further improvement of the detection mechanism for feedback of the position of the mechanical finger is that the rear part of the sleeve is provided with a through hole for sleeving the slide rod of the potentiometer, the front part of the sleeve is provided with a U-shaped slot for inserting the second end of the arc-shaped transmission rod, and the second rotating shaft penetrates through the second end of the arc-shaped transmission rod and is vertically connected between the two side walls of the U-shaped slot.

[0015] The further improvement of the detection mechanism for feedback of the position of the mechanical finger is that the root of the mechanical finger is rotationally connected to the base through the first rotating shaft, and the root of the mechanical finger extends outward to form a connecting segment which forms an obtuse angle with the mechanical finger, and the first end of the arc-shaped transmission rod is rotationally connected to one end of the connecting segment away from the mechanical finger through the second rotating shaft.

[0016] The further improvement of the detection mechanism for feedback of the position of the mechanical finger is that the controller, the linear potentiometer and the two trigger switches are integrated on a control panel, and the control panel is arranged on the base.

[0017] The detection mechanism for feedback of the position of the mechanical finger cancels the traditional push rod motor or rudder for monitoring the position of the mechanical finger, utilizes the characteristics of the linear potentiometer, establishes a linear correlation between the rotation of the mechanical finger and the resistance change of the linear potentiometer through the transmission assembly, can detect the accurate position of the mechanical finger in real time, and reduces the cost. In addition, through the cooperation of the trigger switch and the trigger member, the starting position and the ending position of the rotation of the mechanical finger can be identified and limited, and the deficiency of the software limiting is supplemented. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Fig. 1 shows a schematic diagram of the detection mechanism of the present application when the mechanical finger is at the start position of rotation.

[0019] Figure 2 Fig. 2 shows a schematic diagram of the detection mechanism of the present application when the mechanical finger is at the end position of rotation. DETAILED DESCRIPTION

[0020] In order to solve the problem of high cost and large installation space of the conventional detection mechanism, the present application provides a detection mechanism for feedback of the position of a mechanical finger. The detection mechanism for feedback of the position of a mechanical finger is further described below in combination with the drawings.

[0021] Referring to Figs. 1-2, Figure 1 and Figure 2 a detection mechanism for feedback of the position of a mechanical finger is provided. The mechanical finger 1 is rotatably connected to the front end of a base 2 through a first rotation shaft 91. The detection mechanism is installed on the top of the base 2 and comprises a linear potentiometer 3, a transmission assembly for connecting between the mechanical finger 1 and the potentiometer slide rod 31 and making the rotation of the mechanical finger 1 linearly related to the sliding of the potentiometer slide rod 31, two trigger switches 5 for sending feedback signals when being touched, the two trigger switches 5 being respectively located at the start and end of the sliding interval of the potentiometer slide rod 31, a trigger piece 6 sliding synchronously with the potentiometer slide rod 31, the first end of the trigger piece 6 being connected to the potentiometer slide rod 31, the second end of the trigger piece 6 touching the trigger switches 5 when sliding to the positions of the trigger switches 5, and a controller being control-connected to the linear potentiometer 3 and the two trigger switches 5.

[0022] Specifically, the controller, the linear potentiometer 3 and the two trigger switches 5 are integrated on a control board 7, the control board 7 being installed on the base 2. Further, the driving mechanism 8 of the mechanical finger 1 is installed on the bottom of the base 2, so that the driving and detection of the mechanical finger 1 are integrated on the base 2, realizing the miniaturization of the overall structure of the mechanical finger. Preferably, the arrangement of the components in the present embodiment satisfies that the sliding interval of the potentiometer slide rod 31 corresponds to the rotation range of the mechanical finger 1, so that when the potentiometer slide rod 31 is located at the start and end of the sliding interval (i.e. the start and end positions of the rotation of the mechanical finger 1), the trigger piece 6 touches the corresponding trigger switch 5, and the trigger switch 5 sends a feedback signal to the controller when being triggered.

[0023] In the process of rotating the mechanical finger 1 by the driving mechanism 8, the positioner slide rod 31 will slide along the sliding interval with the rotation of the mechanical finger 1 through the transmission of the transmission assembly. With the sliding of the positioner slide rod 31, the resistance value of the linear potentiometer will change in a certain proportion, and the changed resistance value will be fed back to the controller. The controller analyzes and judges the rotating position of the mechanical finger 1 according to the change of the resistance value, and then realizes the real-time detection of the rotating position of the mechanical finger 1.

[0024] The embodiment cancels the traditional push rod motor or rudder to monitor the position of the mechanical finger, utilizes the characteristics of the linear potentiometer, and establishes a linear correlation between the rotation of the mechanical finger and the resistance change of the linear potentiometer through the transmission assembly, which can not only detect the accurate position of the mechanical finger in real time, but also reduce the cost. In addition, through the cooperation of the trigger switch and the trigger piece, the rotating starting position and the rotating ending position of the mechanical finger can be identified and limited, which supplements the deficiency of software limiting.

[0025] As a preferred embodiment, the transmission assembly includes an arc-shaped transmission rod 41 and a sleeve 42 sleeved on the potentiometer slide rod 31. The first end of the arc-shaped transmission rod 41 is rotatably connected to the mechanical finger 1 through a second rotating shaft 92, the second end of the arc-shaped transmission rod 41 is rotatably connected to the sleeve 42 through a third rotating shaft 93, and the first rotating shaft 91, the second rotating shaft 92 and the third rotating shaft 93 are arranged in parallel and vertically staggered.

[0026] Specifically, the rear part of the sleeve 42 is provided with a through hole for sleeving the potentiometer slide rod 31, and the front part of the sleeve 42 is provided with a U-shaped groove for inserting the second end of the arc-shaped transmission rod 41. The second rotating shaft 93 penetrates the second end of the arc-shaped transmission rod 41 and is connected perpendicularly between the two side walls of the U-shaped groove. Through the setting of the arc-shaped transmission rod 41, the rotation of the mechanical finger 1 can be converted into the linear motion of the potentiometer slide rod 31. Through the cooperation of the arc of the arc-shaped transmission rod 41 and the connection position of the mechanical finger 1, the displacement of the potentiometer slide rod 31 will change in a certain proportion with the rotation of the mechanical finger 1, and then the rotation of the mechanical finger 1 and the resistance change of the linear potentiometer 3 are linearly correlated. Of course, in addition to the above embodiment, the transmission assembly can also adopt other transmission structures that can establish a linear correlation between the rotary motion and the linear motion, such as the transmission structure of the worm and the worm gear, or the transmission structure of the gear and the rack, etc.

[0027] As a preferred embodiment, the first end of the trigger 6 is fixed to the side of the sleeve 42, the second end of the trigger 6 extends out of the top surface of the linear potentiometer 3 and is bent downward, the top surface of the trigger switch 5 is provided with an expansion block 51, the second end of the trigger 6 is lower than the top level of the expansion block 51 in the extended state and higher than the top level of the expansion block 51 in the compressed state. Preferably, the second end of the trigger 6 is formed as an enlarged head 61, and the expansion block 51 is formed with a contact slope surface for the enlarged head 61 to touch. By fixing the trigger 6 on the sleeve 42, the hard connection of the trigger 6 on the potentiometer slide rod 31 is avoided, so as to facilitate the disassembly. In addition, through the cooperation of the enlarged head 61 and the expansion block 51, it is ensured that the trigger 6 can reliably trigger the two trigger switches 5, and the accuracy of detection is ensured.

[0028] As a preferred embodiment, the root of the mechanical finger 1 is rotatably connected to the base through the first rotating shaft 91, and the root of the mechanical finger 1 extends outward to form a continuation segment 11 which forms an obtuse angle with the mechanical finger 1, and the first end of the arc-shaped transmission rod 41 is rotatably connected to one end of the continuation segment 11 away from the mechanical finger 1 through the second rotating shaft 92. Through the setting of the continuation segment 11, the arc-shaped transmission rod 41 better transmits the action, so that the sliding of the potentiometer slide rod 31 is more smooth. Preferably, the arc-shaped transmission rod 41 can be further provided with a clamping opening relative to one side of the linear potentiometer 3. The clamping opening is set to be clamped at the edge of the linear potentiometer 3 when the potentiometer slide rod 31 slides to the initial end (as shown in the figure), so as to limit the sliding of the potentiometer slide rod 31 from the mechanical point of view. Figure 1

[0029] The above detailed description of the present application is made in combination with the embodiments of the drawings, and those of ordinary skill in the art can make various changes to the present application according to the above description. Therefore, some details in the embodiments should not constitute a limitation on the present application, and the scope of protection of the present application will be defined by the appended claims.​

Claims

1. A detection mechanism for feedback of the position of a robotic finger, wherein the robotic finger is rotatably connected to the front end of a base via a first rotating shaft, characterized in that, The detection mechanism is installed on the top of the base and includes: A linear potentiometer, wherein the potentiometer slider is slidably disposed in a direction perpendicular to the first rotating axis; A transmission assembly for connecting the mechanical finger and the potentiometer slider, and for making the rotation of the mechanical finger linearly related to the sliding of the potentiometer slider, the transmission assembly includes an arc-shaped transmission rod and a sleeve fitted onto the potentiometer slider. The first end of the arc-shaped transmission rod is rotatably connected to the mechanical finger via a second rotating shaft, and the second end of the arc-shaped transmission rod is rotatably connected to the sleeve via a third rotating shaft. The first rotating shaft, the second rotating shaft, and the third rotating shaft are parallel and staggered vertically. Two trigger switches are used to generate a feedback signal when touched, and the two trigger switches are respectively located at the beginning and end of the sliding range of the potentiometer slider; A trigger element that slides synchronously with the potentiometer slider, wherein the first end of the trigger element is connected to the potentiometer slider, and the second end of the trigger element touches the trigger switch when it slides to the position of the trigger switch; The controller controls the linear potentiometer and the two trigger switches.

2. The detection mechanism for feedback of the position of a mechanical finger as described in claim 1, characterized in that, The sliding range corresponds to the rotation range of the mechanical finger.

3. The detection mechanism for feedback of the position of a mechanical finger as described in claim 1, characterized in that, The first end of the trigger is fixed to the side of the sleeve, the second end of the trigger extends out of the top surface of the linear potentiometer and bends downward, the top surface of the trigger switch is provided with a telescopic block, the elevation of the second end of the trigger is lower than the top elevation of the telescopic block when it is in the extended state and higher than the top elevation of the telescopic block when it is in the compressed state.

4. The detection mechanism for feedback of the position of a mechanical finger as described in claim 3, characterized in that, The second end of the trigger is formed as an enlarged head, and the telescopic block has a contact slope surface for the enlarged head to touch.

5. The detection mechanism for feedback of the position of a mechanical finger as described in claim 1, characterized in that, The rear part of the sleeve has a through hole for fitting the potentiometer slide rod, and the front part of the sleeve has a U-shaped groove for inserting the second end of the arc-shaped transmission rod. The second rotating shaft passes through the second end of the arc-shaped transmission rod and is vertically connected between the two side walls of the U-shaped groove.

6. The detection mechanism for feedback of the position of a mechanical finger as described in claim 1, characterized in that, The root of the mechanical finger is rotatably connected to the base via the first rotating shaft, and the root of the mechanical finger extends outward to form a continuation segment that forms an obtuse angle with the mechanical finger. The first end of the arc-shaped transmission rod is rotatably connected to the end of the continuation segment away from the mechanical finger via the second rotating shaft.

7. The detection mechanism for feedback of the position of a mechanical finger as described in claim 1, characterized in that, The controller, the linear potentiometer, and the two trigger switches are all integrated on a control board, which is mounted on the base.

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