Integrated temperature and pressure two-parameter sensing device for manipulator

Abstract

The utility model relates to the technical field of manipulators, and discloses an integrated temperature and pressure two-parameter sensing device for a manipulator, which comprises a manipulator body, a temperature sensor mechanism is arranged in the middle of the palm center of the manipulator body, and a pressure sensing mechanism is arranged at the finger position of the manipulator body. The pressure sensing mechanism and the manipulator body are installed and connected through the adsorption placing mechanism, and the buckle positioning mechanism is installed on the finger wall of the manipulator body. Through the pressure sensing mechanism structure, pressure parameters are effectively detected, installation is more convenient, installation gliding is effectively avoided, the pressure sensing mechanism is fixed through the adsorption placement mechanism, falling is effectively avoided after installation, installation and placement are more stable, and through the buckle positioning mechanism structure, the pressure sensing mechanism is fixed through the adsorption placement mechanism. In this way, the wire source on the outer side can be effectively fixed, the wire source can be placed more regularly, and therefore the wire source is not prone to being wound outside.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of mechanical hand, concretely is a kind of integrated temperature pressure double parameter sensing device for mechanical hand. BACKGROUND

[0002] Mechanical hand is a kind of some action functions that can imitate human hand and arm, to grab, carry object or operate tool according to fixed program, and it is automatic operation device, mechanical hand is usually composed of actuator, drive mechanism, control system and detection device, intelligent mechanical hand can also have feeling system and intelligent system.

[0003] The existing Chinese patent CN214352505U discloses a kind of mechanical hand on October 8, 2021, which includes palm subassembly, finger subassembly, finger driver, winding wheel and traction rope.The finger subassembly is pivoted with the palm subassembly, and includes pivoted multiple knuckles.The winding wheel is driven by the finger driver to be forward or reverse.The traction rope includes first traction section, winding section and second traction section.The winding section is wound on the winding wheel, the first traction section is connected to the knuckle of the last knuckle through the first side of the knuckle, and the second traction section is connected to the knuckle of the last knuckle through the second side of the knuckle.

[0004] However, the above-mentioned mechanical hand lacks corresponding temperature and pressure double parameter sensor, so it cannot effectively sense the temperature and holding pressure state of the article, and the simulation of personnel hand is not very accurate, and the temperature and pressure double parameter sensor is not very stable when placed. UTILITY MODEL CONTENT

[0005] The utility model aims at: in order to solve the above-mentioned mechanical hand lacks corresponding temperature and pressure double parameter sensor, so it cannot effectively sense the temperature and holding pressure state of the article, and the simulation of personnel hand is not very accurate, and the temperature and pressure double parameter sensor is not very stable when placed, provide a kind of integrated temperature pressure double parameter sensing device for mechanical hand.

[0006] The utility model adopts the technical scheme as follows: an integrated temperature pressure double parameter sensing device for mechanical hand, including mechanical hand body, temperature sensor mechanism is installed in the palm center of the mechanical hand body, pressure sensing mechanism is installed at the finger of the mechanical hand body, the pressure sensing mechanism and mechanical hand body are installed and connected by adsorption placement mechanism, buckle positioning mechanism is installed at the finger wall of the mechanical hand body, the temperature sensor mechanism, mechanical hand body and pressure sensing mechanism are electrically connected with external mechanical hand controller through connecting line.

[0007] The temperature sensor mechanism can effectively detect the temperature parameter through the structure of the temperature sensor mechanism.

[0008] In a preferred embodiment, the temperature sensor mechanism comprises a temperature sensor body, an outer frame, a positioning sleeve column and a data transmission line, the temperature sensor body is installed on the inner side of the upper end of the outer frame, the data transmission line is installed at the lower end of the temperature sensor body through the outer frame, the positioning sleeve column is installed at the lower end of the outer frame, and the outer frame is installed and connected on the mechanical hand body through the positioning sleeve column.

[0009] Through the above technical scheme, the temperature parameter can be effectively detected through the temperature sensor mechanism structure.

[0010] In a preferred embodiment, the positioning sleeve column is provided with four, which are symmetrically distributed on the lower end of the outer frame.

[0011] Through the above technical scheme, the outer frame can be stably sleeved and installed through the four positioning sleeve columns.

[0012] In a preferred embodiment, the mechanical hand body comprises a mechanical hand palm and a mechanical hand finger, and the upper end of the mechanical hand palm is installed with three mechanical hand fingers.

[0013] Through the above technical scheme, the mechanical hand body structure makes it convenient to grasp the object.

[0014] In a preferred embodiment, the pressure sensing mechanism comprises a pressure sensor body, a finger sleeve shell, an internal sleeve cavity, an arc finger buckle plate and a data connection line, the pressure sensor body is installed on the inner side of the front end of the finger sleeve shell, the data connection line is installed at the outer end of the pressure sensor body, the internal sleeve cavity is opened in the finger sleeve shell, the arc finger buckle plate is fixedly connected to the upper end of the finger sleeve shell, the finger sleeve shell is sleeved on the mechanical hand body through the internal sleeve cavity, and the arc finger buckle plate is arcally buckled on the mechanical hand body.

[0015] By adopting the above technical solution and using the pressure sensing mechanism structure, pressure parameters can be effectively detected, and installation is more convenient and effectively prevents slippage during installation.

[0016] In a preferred embodiment, the upper inner side of the arc-shaped finger buckle plate is provided with a mounting groove corresponding to the adsorption and placement mechanism.

[0017] By adopting the above technical solution, the suction and placement mechanism can be installed accordingly through the mounting groove of the arc-shaped finger buckle plate.

[0018] In a preferred embodiment, the adsorption placement mechanism includes an adsorption magnet, a magnet mounting cavity, and a magnet wrapping shell. The magnet mounting cavity is formed on the inner side of the lower end of the magnet wrapping shell. An adsorption magnet is installed on the inner side of the magnet mounting cavity on the magnet wrapping shell. The magnet mounting cavity is connected to the arc-shaped finger buckle plate.

[0019] By adopting the above technical solution and through the adsorption and placement mechanism structure, it is possible to effectively adsorb and fix the object for use.

[0020] In a preferred embodiment, the buckle positioning mechanism includes an I-shaped groove sleeve, a connecting end post, an I-shaped turntable, a C-shaped buckle groove, and a C-shaped buckle plate. The I-shaped turntable is rotatably mounted on the inner side of the upper end of the I-shaped groove sleeve. The connecting end post is fixedly connected to the middle of the upper end of the I-shaped turntable. The C-shaped buckle plate is fixedly connected to the upper end of the connecting end post. A C-shaped buckle groove is formed on the inner side of the upper end of the C-shaped buckle plate. The I-shaped groove sleeve is fixedly connected to the robot arm body.

[0021] By adopting the above technical solution and using the snap-locking positioning mechanism, effective snap-locking positioning can be achieved.

[0022] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0023] 1. In this utility model, the pressure sensing mechanism effectively detects pressure parameters and makes installation more convenient and prevents slippage. The pressure sensing mechanism is fixed by the adsorption and placement mechanism, which effectively prevents it from falling after installation, making the installation more stable.

[0024] 2. In this utility model, the snap-on positioning mechanism can effectively fix the outer wire source, making the wire source more neat when placed, thus making it less likely to get tangled on the outside. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0026] Figure 2 This is a schematic diagram of the temperature sensor mechanism of this utility model;

[0027] Figure 3 It is the pressure sensing mechanism structure schematic view of the utility model;

[0028] Figure 4 It is the adsorption and placement mechanism structure schematic view of the utility model;

[0029] Figure 5 It is the buckle positioning mechanism structure schematic view of the utility model.

[0030] Mark in the drawing: 1, temperature sensor mechanism;11, temperature sensor body;12, outside frame;13, positioning sleeve column;14, data transmission line;2, mechanical hand palm;3, mechanical hand body;31, mechanical hand finger;4, pressure sensing mechanism;41, pressure sensor body;42, finger sleeve shell;43, internal sleeve cavity;44, arc finger buckle plate;5, data connection line;6, adsorption and placement mechanism;61, adsorption magnet;62, magnet mounting cavity;63, magnet wrapping shell;7, buckle positioning mechanism;71, I-shaped groove sleeve shell;72, connecting end column;73, I-shaped turntable;74, C-shaped buckle groove;75, C-shaped buckle plate. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical scheme and advantage of the utility model embodiment more clear, the technical scheme in the utility model embodiment will be clearly and completely described below in combination with the utility model embodiment, obviously, the described embodiment is a part of the embodiment of the utility model, rather than all the embodiment. Based on the embodiment in the utility model, all other embodiments obtained by the person skilled in the art without making the creative labor belong to the scope of the utility model protection. EMBODIMENT

[0032] As Figures 1-4As shown, an integrated temperature and pressure dual parameter sensing device for a mechanical hand includes a mechanical hand body 3, a temperature sensor mechanism 1 is installed in the middle of the palm of the mechanical hand body 3, the temperature sensor mechanism 1 can sense the temperature parameter of the surface of the object when the mechanical hand body 3 holds the object, the temperature sensor mechanism 1 detects work by using the principle that the resistance of the wire changes with temperature, so that the temperature parameter of the surface of the object can be effectively obtained, a pressure sensing mechanism 4 is installed at the finger of the mechanical hand body 3, the mechanical hand body 3 has a gripping force when holding the object, the pressure sensing mechanism 4 on the mechanical hand body 3 can effectively sense the gripping force, the pressure sensing mechanism 4 detects pressure by using the piezoresistive effect of single crystal silicon, the pressure sensing mechanism 4 and the mechanical hand body 3 are connected by an adsorption placing mechanism 6, the pressure sensing mechanism 4 can be effectively fixed on the mechanical hand body 3 when placed through the adsorption placing mechanism 6, avoiding falling, a buckle positioning mechanism 7 is installed at the finger wall of the mechanical hand body 3, the data line of the pressure sensing mechanism 4 can be effectively fixed by the buckle positioning mechanism 7, avoiding messy placement, the temperature sensor mechanism 1, the mechanical hand body 3 and the pressure sensing mechanism 4 are electrically connected to the external mechanical hand controller through the connecting line, and can be controlled and processed correspondingly through the external mechanical hand controller.

[0033] The mechanical hand body 3 includes a mechanical hand palm 2 and a mechanical hand finger 31, three mechanical hand fingers 31 are installed at the upper end of the mechanical hand palm 2, which can effectively grip and use the object through the mechanical hand fingers 31 on the mechanical hand palm 2.

[0034] The pressure sensing mechanism 4 includes a pressure sensor body 41, a finger sleeve shell 42, an internal sleeve cavity 43, an arc-shaped finger buckle plate 44 and a data connection line 5, the pressure sensor body 41 is installed at the inner side of the front end of the finger sleeve shell 42, the pressure sensor body 41 detects pressure by using the piezoresistive effect of single crystal silicon, when the finger sleeve shell 42 is subjected to pressure, the force is transmitted to the pressure sensor body 41, so that the pressure sensor body 41 can effectively detect pressure, the data connection line 5 is installed at the outer end of the pressure sensor body 41, the pressure data detected by the pressure sensor body 41 can be effectively transmitted to the external mechanical hand controller through the data connection line 5, the internal sleeve cavity 43 is opened in the inside of the finger sleeve shell 42, the finger sleeve shell 42 is sleeved on the mechanical hand body 3 through the internal sleeve cavity 43, so that it can be correspondingly installed and placed, which is more convenient during installation, the arc-shaped finger buckle plate 44 is fixedly connected to the upper end of the finger sleeve shell 42, the arc-shaped finger buckle plate 44 is arc-shaped buckled on the mechanical hand body 3, the finger sleeve shell 42 can be effectively buckled on the mechanical hand body 3 through the arc-shaped finger buckle plate 44 during installation, effectively avoiding sliding down.

[0035] The adsorption and placement mechanism 6 includes an adsorption magnet 61, a magnet mounting cavity 62, and a magnet wrapping shell 63. The magnet mounting cavity 62 is provided on the inner side of the lower end of the magnet wrapping shell 63. The area of ​​the magnet mounting cavity 62 allows for limited installation. The adsorption magnet 61 is installed on the inner side of the magnet mounting cavity 62 on the magnet wrapping shell 63. The adsorption magnet 61 has magnetic attraction, which allows it to be effectively adsorbed onto the robot body 3, so that the magnet wrapping shell 63 can be placed stably. The magnet wrapping shell 63 is fixedly connected to the arc-shaped finger buckle plate 44. In this way, when the robot body 3 is perpendicular to the ground, the magnet wrapping shell 63 can effectively drive the arc-shaped finger buckle plate 44 to be placed, preventing the arc-shaped finger buckle plate 44 from sliding and falling.

[0036] The upper inner side of the arc-shaped finger clip plate 44 is provided with an installation groove corresponding to the adsorption and placement mechanism 6, so that it can be installed and placed accordingly for use.

[0037] The temperature sensor mechanism 1 includes a temperature sensor body 11, an outer frame 12, a positioning sleeve 13, and a data transmission line 14. The temperature sensor body 11 is installed on the inner side of the upper end of the outer frame 12. The temperature sensor body 11 uses the principle of the change in resistance of the metal wire with temperature to perform detection. The data transmission line 14 is installed through the outer frame 12 at the lower end of the temperature sensor body 11. The data detected by the temperature sensor body 11 can be transmitted to the external robot controller through the data transmission line 14. The positioning sleeve 13 is installed at the lower end of the outer frame 12. The outer frame 12 is connected to the robot body 3 through the positioning sleeve 13, so that the outer frame 12 can be installed and placed accordingly. The sleeve installation method makes the installation more convenient.

[0038] Four positioning sleeves 13 are installed and symmetrically distributed on the lower end of the outer frame 12, which makes the installation more stable.

[0039] like Figure 1 and Figure 5 As shown, the buckle positioning mechanism 7 includes an I-shaped slotted housing 71, a connecting end post 72, an I-shaped turntable 73, a C-shaped buckle groove 74, and a C-shaped buckle plate 75. The I-shaped slotted housing 71 is fixedly connected to the robot body 3, thus allowing for stable installation. The I-shaped turntable 73 is rotatably mounted on the inner side of the upper end of the I-shaped slotted housing 71, and the I-shaped turntable 73 can rotate within the I-shaped slotted housing 71. The connecting end post 72 is fixedly connected to the middle of the upper end of the I-shaped turntable 73, and the I-shaped turntable 73 can drive the connecting end post 72 to rotate circumferentially. The C-shaped buckle plate 75 is fixedly connected to the upper end of the connecting end post 72, and the connecting end post 72 can drive the C-shaped buckle plate 75 to rotate during rotation. The C-shaped buckle groove 74 is opened on the inner side of the upper end of the C-shaped buckle plate 75. The C-shaped buckle plate 75 passes through the area of ​​the C-shaped buckle groove 74, which can effectively buckle the external wire source, thus avoiding the messy placement of the wire source.

[0040] The implementation principle of the integrated temperature and pressure double parameter sensing device for the mechanical hand is as follows: when in use, the mechanical hand body 3 can sense the temperature parameter of the surface of the object through the temperature sensor mechanism 1 when holding the object, the temperature sensor mechanism 1 detects work by utilizing the principle that the resistance of the metal wire changes with temperature, so that the temperature parameter of the surface of the object can be effectively obtained, the pressure sensing mechanism 4 is installed at the finger of the mechanical hand body 3, the mechanical hand body 3 has a gripping force when holding the object, the pressure sensing mechanism 4 on the mechanical hand body 3 can effectively sense the gripping force, the pressure sensing mechanism 4 detects pressure by utilizing the piezoresistive effect of monocrystalline silicon, so that the pressure parameter is obtained. The pressure sensing mechanism 4 can be effectively fixed on the mechanical hand body 3 by the adsorption placing mechanism 6 when placed, so as to avoid falling during use, the data line of the pressure sensing mechanism 4 can be effectively fixed by the buckle positioning mechanism 7, so as to avoid disorderly placement of the data line.

[0041] The above embodiments are only used to illustrate the technical solutions of the utility model, and not to limit them; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the utility model.

Claims

1. An integrated temperature and pressure dual parameter sensing device for a robot, comprising a robot body (3), characterized in that: The palm center of the mechanical hand body (3) is provided with a temperature sensor mechanism (1), the fingers of the mechanical hand body (3) are provided with a pressure sensing mechanism (4), the pressure sensing mechanism (4) and the mechanical hand body (3) are connected by an adsorption placing mechanism (6), the finger wall of the mechanical hand body (3) is provided with a buckle positioning mechanism (7), the temperature sensor mechanism (1), the mechanical hand body (3) and the pressure sensing mechanism (4) are connected to the external mechanical hand controller by connecting wires, the temperature sensor mechanism (1) comprises a temperature sensor body (11), an outer side frame (12), a positioning sleeve column (13) and a data transmission line (14), the upper end of the outer side frame (12) is provided with a temperature sensor body (11), the lower end of the temperature sensor body (11) is provided with a data transmission line (14) which passes through the outer side frame (12), the lower end of the outer side frame (12) is provided with a positioning sleeve column (13), the outer side frame (12) is connected to the mechanical hand body (3) through the positioning sleeve column (13), the pressure sensing mechanism (4) comprises a pressure sensor body (41), a finger sleeve shell (42), an internal sleeve cavity (43), an arc finger buckle plate (44) and a data connection line (5), the front end of the finger sleeve shell (42) is provided with a pressure sensor body (41), the outer end of the pressure sensor body (41) is provided with a data connection line (5), the inside of the finger sleeve shell (42) is provided with an internal sleeve cavity (43), the upper end of the finger sleeve shell (42) is fixedly connected with an arc finger buckle plate (44), the finger sleeve shell (42) is connected to the mechanical hand body (3) through the internal sleeve cavity (43), and the arc finger buckle plate (44) is connected to the mechanical hand body (3).

2. The integrated temperature and pressure sensor for a robot hand of claim 1, wherein: The positioning sleeve column (13) is provided with four, and is symmetrically distributed on the lower end of the outer side frame (12).

3. The integrated temperature and pressure dual-parameter sensing device for a robotic arm as described in claim 1, characterized in that: The mechanical hand body (3) comprises a mechanical hand palm (2) and a mechanical hand finger (31), and the upper end of the mechanical hand palm (2) is provided with three mechanical hand fingers (31).

4. The integrated temperature and pressure dual-parameter sensing device for a robotic arm as described in claim 1, characterized in that: The upper end of the arc finger buckle plate (44) is provided with a mounting groove corresponding to the adsorption placing mechanism (6).

5. The integrated temperature and pressure dual-parameter sensing device for a robotic arm as described in claim 4, characterized in that: The adsorption placing mechanism (6) comprises an adsorption magnet (61), a magnet mounting cavity (62) and a magnet wrapping shell (63), the lower end of the magnet wrapping shell (63) is provided with a magnet mounting cavity (62), the inner side of the magnet mounting cavity (62) is provided with an adsorption magnet (61) on the magnet wrapping shell (63), and the magnet wrapping shell (63) is connected to the arc finger buckle plate (44).

6. The integrated temperature and pressure dual-parameter sensing device for a robotic arm as described in claim 1, characterized in that: Said buckle positioning mechanism (7) includes the I-shaped groove sleeve shell (71), the connecting end column (72), the I-shaped rotating disc (73), the C-shaped buckle groove (74) and the C-shaped buckle plate (75), the upper end inner side of the I-shaped groove sleeve shell (71) is rotatably installed with the I-shaped rotating disc (73), the upper end middle of the I-shaped rotating disc (73) is fixedly connected with the connecting end column (72), the upper end of the connecting end column (72) is fixedly connected with the C-shaped buckle plate (75), the upper end inner side of the C-shaped buckle plate (75) is provided with the C-shaped buckle groove (74), and the I-shaped groove sleeve shell (71) is fixedly connected on the mechanical hand body (3).

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