Tactile sensing robot
By introducing a rotating seat, height adjustment, and swing adjustment mechanism into the robot, combined with an electric telescopic rod and a piezoresistive pressure sensor, the problem of inaccurate clamping force detection is solved, enabling real-time detection and control of clamping force and preventing over-clamping.
Patent Information
- Application Number
- CN202423090005.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-13
- Publication Date
- 2025-11-18
- Estimated Expiration
- 2034-12-13
AI Technical Summary
Existing robots cannot accurately sense the clamping force when gripping materials, which can easily lead to over-clamping and damage to the materials.
It employs a base, a rotating seat, a rotating mechanism, a height adjustment mechanism, a swing adjustment mechanism, and a pressure clamping mechanism, combined with an electric telescopic rod and a piezoresistive pressure sensor, to achieve real-time detection and control of the clamping force.
It enables accurate adjustment and real-time detection of clamping force, preventing over-clamping and ensuring safe clamping of materials.
Smart Images
Figure CN223558475U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field especially relates to a kind of tactile perception robots. BACKGROUND
[0002] With the development of industrial technology, robots are more and more used in various industries. People gradually use robots to replace manual clamping and carrying various materials. However, the existing robots cannot accurately perceive the clamping force when clamping materials during use, which can easily cause excessive clamping, resulting in the outer surface of the material being clamped. Therefore, in view of the above status, it is urgent to develop a tactile perception robot with convenient posture adjustment, which can clamp and carry objects and detect the clamping force in real time to prevent excessive clamping, to overcome the shortcomings in current practical applications and meet current needs. SUMMARY
[0003] The utility model aims at providing a kind of tactile perception robot to solve the problems raised in the above background.
[0004] To achieve the above purpose, the utility model adopts the following technical solutions:
[0005] A kind of tactile perception robot, including pedestal, rotating seat, rotating mechanism, rack, height adjustment mechanism, swing adjusting mechanism and pressure type clamping mechanism, rotating seat is provided on the pedestal, rotating mechanism for driving rotating seat rotation is installed on the pedestal, rack is fixed on rotating seat, height adjustment mechanism is installed on the rack, swing adjusting mechanism is installed on the height adjustment mechanism, the lower end of swing adjusting mechanism is fixedly connected with pressure type clamping mechanism, the pressure type clamping mechanism includes: outer frame, electric telescopic rod, clamping plate, piezoresistive pressure sensor and support plate, electric telescopic rod is fixed on the outer frame, the telescopic end of electric telescopic rod is fixed with clamping plate, piezoresistive pressure sensor is fixed in outer frame, support plate is fixed on piezoresistive pressure sensor, and the support plate is opposite to clamping plate.
[0006] Preferably, anti-slip patterns are provided on the clamping plate and the support plate.
[0007] Preferably, a plurality of auxiliary legs are fixed to the base at the bottom of the rotating seat, the auxiliary legs are in sliding contact with the base, and the bottom of the auxiliary legs is hemispherical.
[0008] Preferably: the rotating mechanism comprises a first motor, a first bevel gear, a second bevel gear and a support shaft, the first motor is fixed on the base, a first bevel gear is fixed on the output shaft of the first motor, a second bevel gear is arranged on one side of the first bevel gear and engaged with the first bevel gear, the second bevel gear is fixed on the support shaft, the top of the support shaft is fixed with the rotating seat, and the bottom of the support shaft is rotatably connected with the base.
[0009] Preferably: the height adjusting mechanism comprises a second motor, a lead screw, a threaded sleeve, a lifting plate, a sliding block and a sliding rail, the second motor is fixed on the rack, the lead screw is rotatably connected in the rack, the output shaft of the second motor is fixed with the lead screw, the lead screw is provided with the threaded sleeve, the front side of the threaded sleeve is fixed with the lifting plate, the lifting plate is fixed with two sliding blocks, each sliding block is slidably arranged on a sliding rail, and the sliding rail is fixed on the rack.
[0010] Preferably: the swing adjusting mechanism comprises a third motor, a pinion, a gear, a swing arm and a transmission shaft, the third motor is fixed on the lifting plate, a pinion is fixed on the output shaft of the third motor, a gear is arranged on one side of the pinion and engaged with the pinion, the gear is fixed on the transmission shaft, the transmission shaft is rotatably connected with the lifting plate, the transmission shaft is fixed with the swing arm, and the pressure type clamping mechanism is fixed on the lower end of the swing arm.
[0011] The utility model discloses a haptic perception robot, when using, through first motor drive first bevel gear, second bevel gear and support shaft rotation, through support shaft drive rotating seat rotation, through rotating seat drive frame, height adjusting mechanism, swing adjusting mechanism, pressure type clamping mechanism rotation, thereby adjust the position of pressure type clamping mechanism, through second motor drive lead screw rotation, through lead screw rotation drive threaded sleeve, lifting plate up and down movement, through lifting plate drive swing adjusting mechanism and pressure type clamping mechanism up and down movement, thereby adjust the height of pressure type clamping mechanism, through third motor drive pinion, gear, transmission shaft and swing arm swing, through swing arm drive pressure type clamping mechanism swing, thereby adjust the angle of pressure type clamping mechanism, after adjusting, place material between clamping plate and support plate, through electric telescopic link drive clamping plate shift and clamp material to support plate on through piezoresistive pressure sensor real -time detection to pressure, when pressure value reaches the early warning value of pre -adjusting, then stop clamping, thereby accurate control is carried out to clamping pressure. Above all, the utility model is convenient for posture adjustment, is convenient for clamping and carrying goods, and the clamping force is detected in real time when clamping, and overclamping is prevented. ACCURATE CONTROL IS CARRIED OUT TO CLAMPING PRESSURE.
[0012] Figure 1 It is a three-dimensional structure schematic view of the utility model.
[0013] Figure 2 Part structure of the utility model Figure One .
[0014] Figure 3 Part structure of the utility model Figure Two .
[0015] Figure 4 Part structure of the utility model Figure Three .
[0016] Figure 5 Part structure of the utility model Figure Four .
[0017] Legend:
[0018] 1, base; 2, rotating seat; 201, auxiliary support leg; 3, rotating mechanism; 301, first motor; 302, first bevel gear; 303, second bevel gear; 304, support shaft; 4, rack; 5, height adjusting mechanism; 501, second motor; 502, lead screw; 503, threaded sleeve; 504, lifting plate; 505, sliding block; 506, slide rail; 6, swing adjusting mechanism; 601, third motor; 602, pinion; 603, gear; 604, swing arm; 605, transmission shaft; 7, pressure type clamping mechanism; 701, outer frame; 702, electric telescopic rod; 703, clamping plate; 704, piezoresistive pressure sensor; 705, support plate; 706, non-slip pattern; 8, PLC controller. DETAILED DESCRIPTION
[0019] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.
[0020] The specific embodiments are given below.
[0021] Referring to Figures 1-5The utility model discloses an embodiment of a kind of tactile perception robot, including pedestal 1, rotating seat 2, rotating mechanism 3, rack 4, height adjustment mechanism 5, swing adjustment mechanism 6, pressure type clamping mechanism 7 and PLC controller 8, pedestal 1 and PLC controller 8 are all fixed on ground, the model of PLC controller 8 is SIMATICS7-400PLC, rotating seat 2 is provided on pedestal 1, rotating mechanism 3 for driving rotating seat 2 to rotate is installed on pedestal 1, the bottom of rotating seat 2 is fixed with multiple auxiliary legs 201 supported to pedestal 1, auxiliary leg 201 and pedestal 1 sliding contact, the bottom of auxiliary leg 201 is hemispherical, to facilitate auxiliary leg 201 sliding on pedestal 1, rack 4 is fixed on rotating seat 2, height adjustment mechanism 5 is installed on rack 4, swing adjustment mechanism 6 is installed on height adjustment mechanism 5, swing adjustment mechanism 6 lower end is fixedly connected with pressure type clamping mechanism 7, and pressure type clamping mechanism 7 includes: outer frame 701, electric telescopic rod 702, clamping plate 703, piezoresistive pressure sensor 704 and support plate 705, electric telescopic rod 702 is fixed on outer frame 701, the telescopic end of electric telescopic rod 702 is fixed with clamping plate 703, piezoresistive pressure sensor 704 is fixed in outer frame 701, piezoresistive pressure sensor 704 is fixed with support plate 705, support plate 705 is directly opposite clamping plate 703, anti-skid line 706 is set up on clamping plate 703 and support plate 705, to increase friction, when using, material is placed between clamping plate 703 and support plate 705, and material is clamped to support plate 705 by electric telescopic rod 702 and drives clamping plate 703 to move, and the real-time detection of pressure is carried out to piezoresistive pressure sensor 704, to accurately control clamping pressure.
[0022] Rotating mechanism 3 includes: first motor 301, first bevel gear 302, second bevel gear 303 and support shaft 304, first motor 301 is fixed on pedestal 1, first motor 301's output shaft is fixed with first bevel gear 302, one side of first bevel gear 302 is provided with the second bevel gear 303 meshed with it, and the second bevel gear 303 is fixed on support shaft 304, and the top of support shaft 304 is fixed with rotating seat 2, and the bottom of support shaft 304 is rotatably connected with pedestal 1, when using, first motor 301 drives first bevel gear 302, second bevel gear 303 and support shaft 304 to rotate, rotating seat 2 is driven to rotate by support shaft 304, rack 4, height adjustment mechanism 5, swing adjustment mechanism 6, pressure type clamping mechanism 7 are driven to rotate by rotating seat 2, to adjust the position of pressure type clamping mechanism 7.
[0023] The height adjusting mechanism 5 comprises a second motor 501, a lead screw 502, a threaded sleeve 503, a lifting plate 504, sliding blocks 505 and slide rails 506, the second motor 501 is fixed to the frame 4, the lead screw 502 is rotatably connected in the frame 4, the output shaft of the second motor 501 is fixed to the lead screw 502, the threaded sleeve 503 is installed on the lead screw 502, the front side of the threaded sleeve 503 is fixed to the lifting plate 504, the lifting plate 504 is fixed with two sliding blocks 505, each sliding block 505 is slidably installed on a slide rail 506, the slide rail 506 is fixed to the frame 4, the swing adjusting mechanism 6 is installed on the lifting plate 504, in use, the second motor 501 drives the lead screw 502 to rotate, the threaded sleeve 503 and the lifting plate 504 are driven to move up and down by the rotation of the lead screw 502, the swing adjusting mechanism 6 and the pressure type clamping mechanism 7 are driven to move up and down by the lifting plate 504, so as to adjust the height of the pressure type clamping mechanism 7.
[0024] The swing adjusting mechanism 6 comprises a third motor 601, a pinion 602, a gear wheel 603, a swing arm 604 and a transmission shaft 605, the third motor 601 is fixed to the lifting plate 504, the output shaft of the third motor 601 is fixed with the pinion 602, one side of the pinion 602 is provided with the gear wheel 603 which is engaged with the pinion 602, the gear wheel 603 is fixed to the transmission shaft 605, the transmission shaft 605 is rotatably connected with the lifting plate 504, the transmission shaft 605 is fixed to the swing arm 604, the pressure type clamping mechanism 7 is fixed to the lower end of the swing arm 604, in use, the third motor 601 drives the pinion 602, the gear wheel 603, the transmission shaft 605 and the swing arm 604 to swing, the pressure type clamping mechanism 7 is driven to swing by the swing arm 604, so as to adjust the angle of the pressure type clamping mechanism 7.
[0025] The first motor 301, the second motor 501, the third motor 601, the electric telescopic rod 702 and the piezoresistive pressure sensor 704 are electrically connected with the PLC controller 8 through wires, so as to control the use.
[0026] Working principle: the haptic perception robot, in use, the first motor 301 drives the first bevel gear 302, the second bevel gear 303 and the support shaft 304 rotation, through the support shaft 304 drive rotary seat 2 rotation, through rotary seat 2 drive frame 4, height adjustment mechanism 5, swing adjustment mechanism 6, pressure type clamping mechanism 7 rotation, thereby adjusting the position of pressure type clamping mechanism 7, through the second motor 501 drive screw 502 rotation, through screw 502 rotation drive threaded sleeve 503, lifting plate 504 up and down, through lifting plate 504 drive swing adjustment mechanism 6 and pressure type clamping mechanism 7 up and down, thereby adjusting the height of pressure type clamping mechanism 7, through the third motor 601 drive pinion 602, gear 603, transmission shaft 605 and swing arm 604 swing, through swing arm 604 drive pressure type clamping mechanism 7 swing, thereby adjusting the angle of pressure type clamping mechanism 7, adjust after, the material is placed between the clamping plate 703 and the support plate 705, through the electric telescopic rod 702 drive clamping plate 703 moves and clamps the material to the support plate 705, through the piezoresistive pressure sensor 704 real-time detection to pressure, when the pressure value reaches the pre-set warning value, then stop clamping, thereby accurately control the clamping pressure.
[0027] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art in the technical range disclosed by the present application, according to the technical scheme of the present application and the utility model concept, equivalent replacement or change, should be covered in the protection scope of the present application.
Claims
1. A haptically aware robot, characterized in that, The system includes a base (1), a rotating seat (2), a rotating mechanism (3), a frame (4), a height adjustment mechanism (5), a swing adjustment mechanism (6), and a pressure clamping mechanism (7). The base (1) has a rotating seat (2) mounted on it. A rotating mechanism (3) for rotating the rotating seat (2) is installed on the base (1). A frame (4) is fixed to the rotating seat (2). A height adjustment mechanism (5) is installed on the frame (4). A swing adjustment mechanism (6) is installed on the height adjustment mechanism (5). A pressure clamping mechanism (7) is fixedly connected to the lower end of the swing adjustment mechanism (6). 7) The pressure clamping mechanism (7) includes: an outer frame (701), an electric telescopic rod (702), a clamping plate (703), a piezoresistive pressure sensor (704), and a support plate (705). The electric telescopic rod (702) is fixed on the outer frame (701). The telescopic end of the electric telescopic rod (702) is fixed to the clamping plate (703). The piezoresistive pressure sensor (704) is fixed inside the outer frame (701). The support plate (705) is fixed on the piezoresistive pressure sensor (704). The support plate (705) faces the clamping plate (703).
2. The haptically aware robot of claim 1, wherein, Both the clamping plate (703) and the support plate (705) are provided with anti-slip textures (706).
3. The haptically-aware robot of claim 1, wherein, The bottom of the rotating seat (2) is fixed with a plurality of auxiliary legs (201) that are supported on the base (1). The auxiliary legs (201) slide in contact with the base (1), and the bottom of the auxiliary legs (201) is hemispherical.
4. The touch sensing robot of claim 1, wherein, The rotating mechanism (3) includes: a first motor (301), a first bevel gear (302), a second bevel gear (303), and a support shaft (304). The first motor (301) is fixed on the base (1). The first bevel gear (302) is fixed on the output shaft of the first motor (301). A second bevel gear (303) meshes with the first bevel gear (302) on one side. The second bevel gear (303) is fixed on the support shaft (304). The top of the support shaft (304) is fixed to the rotating seat (2), and the bottom of the support shaft (304) is rotatably connected to the base (1).
5. The haptically-aware robot of claim 1, wherein, The height adjusting mechanism (5) comprises a second motor (501), a lead screw (502), a threaded sleeve (503), a lifting plate (504), a sliding block (505) and a slide rail (506), the second motor (501) is fixed on the rack (4), the lead screw (502) is rotatably connected in the rack (4), the output shaft of the second motor (501) is fixed with the lead screw (502), the lead screw (502) is provided with the threaded sleeve (503), the front side of the threaded sleeve (503) is fixed with the lifting plate (504), the lifting plate (504) is fixed with two sliding blocks (505), each sliding block (505) is slidably installed on a slide rail (506), and the slide rail (506) is fixed on the rack (4), and the swing adjusting mechanism (6) is installed on the lifting plate (504).
6. The haptically-aware robot of claim 1, wherein, The swing adjusting mechanism (6) comprises a third motor (601), a pinion (602), a gear wheel (603), a swing arm (604) and a transmission shaft (605), the third motor (601) is fixed on the lifting plate (504), the output shaft of the third motor (601) is fixed with the pinion (602), one side of the pinion (602) is provided with the gear wheel (603) engaged with the pinion (602), the gear wheel (603) is fixed on the transmission shaft (605), the transmission shaft (605) is rotatably connected with the lifting plate (504), the transmission shaft (605) is fixed with the swing arm (604), and the pressure type clamping mechanism (7) is fixed on the lower end of the swing arm (604).