A mounting structure

Abstract

The utility model discloses a kind of pasting structures, belong to pasting technical field, solve the problem of high cost and low efficiency of existing manual pasting space encoder. A kind of pasting structure, for mounting space encoder on sensor, including fixed frame, first clamping piece, second clamping piece and connecting piece, connecting piece is set in the fixed frame, first clamping piece and second clamping piece are sequentially worn on connecting piece;When using, sensor is placed in second clamping piece, then space encoder is adsorbed on first clamping piece, second clamping piece is pushed with force, makes second clamping piece along connecting piece and is moved to with first clamping piece place and clamps tightly, and then completes space encoder pasting on sensor.The utility model adopts the pasting structure to be able to realize disposable mass pasting space encoder, compared with manual pasting, not only improve efficiency and improve accuracy, and reduce cost.

Description

Technical Field

[0001] This utility model belongs to the field of mounting technology, and specifically relates to a mounting structure. Background Technology

[0002] To achieve high-precision force perception in delicate operations, robots need the ability to sense multi-dimensional force information. By attaching irregularly shaped spatial coding structures (i.e., spatial encoders) to single-dimensional tactile sensors, multi-dimensional forces can be mapped to specific single-dimensional responses. Combined with appropriate decoding algorithms, the robot can reconstruct and analyze the multi-dimensional force field information. However, due to the small size and large number of spatial encoders, the main solutions on the market are manual attachment and machine attachment using visual recognition. Manual attachment has lower accuracy and efficiency and requires equipment such as microscopes; while machine attachment requires visual recognition, necessitating the cooperation between the recognition system and the machine, which is more costly. Utility Model Content

[0003] The purpose of this invention is to provide a mounting structure that solves the problems of high cost and low efficiency of existing manual mounting space encoders.

[0004] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0005] A mounting structure for mounting a spatial encoder on a sensor includes a mounting bracket, a first clamping member, a second clamping member, and a connecting member. The connecting member is disposed within the mounting bracket, and the first clamping member and the second clamping member are sequentially mounted on the connecting member. In use, the sensor is placed in the second clamping member, and the spatial encoder is then adsorbed onto the first clamping member. The second clamping member is then pushed forcefully to move along the connecting member to the first clamping member and clamp it, thereby completing the mounting of the spatial encoder onto the sensor.

[0006] In some embodiments, the fixing frame includes a first fixing plate and a second fixing plate, wherein one end of the second fixing plate is connected to the first fixing plate and the other end of the connecting member is connected to the second fixing plate.

[0007] In some embodiments, the fixing frame further includes a locking member, and both the first fixing plate and the second fixing plate are connected to the connecting member through the locking member.

[0008] In some embodiments, the first clamping member is provided with a boss, and the boss is provided with a fixing groove, the fixing groove corresponding to the spatial encoder.

[0009] In some embodiments, there are multiple fixing slots.

[0010] In some embodiments, the second clamping member includes a first clamping plate and a second clamping plate disposed on the first clamping plate, wherein the first clamping plate is disposed opposite to the boss.

[0011] In some embodiments, the first clamping plate is provided with a groove, the sensor is disposed in the groove, and the shape of the groove corresponds to the boss.

[0012] In some embodiments, the mounting structure further includes a vacuum element connected to the mounting groove.

[0013] In some embodiments, the fixing frame, the first clamping member, and the second clamping member are provided with through holes around their perimeters, and the connecting member is disposed through the through holes.

[0014] Compared with the prior art, the mounting structure of this utility model can realize the one-time mass mounting of spatial encoders. Compared with manual mounting, it not only improves efficiency and accuracy, but also reduces costs. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the mounting structure provided in an embodiment of the present utility model;

[0016] Figure 2 A schematic diagram of the structure of the first clamping member of the mounting structure provided in this embodiment of the utility model;

[0017] Figure 3 Another schematic diagram of the mounting structure provided in this embodiment of the utility model;

[0018] Figure 4 A schematic diagram of the structure of a spatial encoder provided in an embodiment of this utility model.

[0019] In the figure, 1. Fixing frame, 11. First fixing plate, 12. Second fixing plate, 13. Locking component, 2. First clamping component, 21. Boss, 3. Second clamping component, 31. First clamping plate, 311. Groove, 32. Second clamping plate, 4. Connecting component, 5. Vacuum component. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0021] In the description of this utility model, it should be clarified that the terms "vertical," "lateral," "longitudinal," "front," "rear," "left," "right," "up," "down," and "horizontal," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are merely for the convenience of describing this utility model. They do not imply that the device or element referred to must have a specific orientation or position, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, it should be noted that unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] The mounting structure provided in Embodiment 1 of this utility model is used to mount a spatial encoder onto a sensor, such as... Figure 1 As shown, the device includes a fixing frame 1, a first clamping member 2, a second clamping member 3, and a connecting member 4. The connecting member 4 is disposed inside the fixing frame 1, and the first clamping member 2 and the second clamping member 3 are sequentially inserted through the connecting member 4. In use, the sensor is placed in the second clamping member 3, and the spatial encoder is then adsorbed onto the first clamping member 2. The second clamping member 3 is then pushed forcefully to move along the connecting member 4 to the first clamping member 2 and clamp it, thereby completing the mounting of the spatial encoder onto the sensor.

[0023] After adopting the above scheme, the sensor is placed in the second clamping member 3, and the spatial encoder is then adsorbed onto the first clamping member 2. The second clamping member 3 is pushed forcefully to move along the connecting member 4 to the first clamping member 2 and clamp it, thereby completing the mounting of the spatial encoder onto the sensor. This mounting structure can realize the one-time mass mounting of spatial encoders. Compared with manual mounting, it not only improves efficiency and accuracy, but also reduces costs.

[0024] Furthermore, the force applied to the second clamping member 3 can be applied manually or controlled by adding a cylinder or similar device to the second clamping member 2.

[0025] In the specific implementation process of this embodiment 1, such as Figure 1 As shown, the fixing frame 1 includes a first fixing plate 11 and a second fixing plate 12. One end of the second fixing plate 12 is connected to the first fixing plate 11, and the other end of the connecting member 4 is connected to the second fixing plate 12.

[0026] More specifically, the connector 4 is a fixed rod or optical shaft, and the first clamping member 2 and the second clamping member 3 can slide up and down along the connector 4. When the force is directly applied to the second clamping member 3, the second clamping member 3 can slide along the connector 4 and contact the first clamping member 2, thereby completing the mounting of the space encoder.

[0027] Furthermore, the perpendicularity of the axis of connector 4 to the reference plane must be ≤1.5μm, and the cylindricity must be ≤0.8μm. The straightness of the four optical axis axes must be ≤4μm, and the cylindricity must be ≤3μm.

[0028] In the specific implementation process of this embodiment 1, such as Figure 1 and Figure 3 As shown, the fixing frame 1 also includes a locking member 13, and the first fixing plate 11 and the second fixing plate 12 are both connected to the connecting member 4 through the locking member 13.

[0029] More specifically, when mounting the spatial encoder, first remove the locking piece 13 on the first fixing plate 11, fix the sensor in the second clamping piece 3, and then install the locking piece 13.

[0030] In the specific implementation process of this embodiment 1, such as Figure 2 As shown, the first clamping member 2 is provided with a boss 21, and the boss 21 is provided with a fixing groove, which corresponds to the spatial encoder.

[0031] In the specific implementation process of this embodiment 1, such as Figure 2 As shown, there are multiple fixing slots.

[0032] More specifically, since the sensor for mounting the spatial encoder is used for tactile recognition and needs to identify multiple points, multiple spatial encoders need to be mounted. Therefore, multiple mounting slots also need to be set.

[0033] In the specific implementation process of this embodiment 1, such as Figure 1 and Figure 3 As shown, the second clamping member 3 includes a first clamping plate 31 and a second clamping plate 32 disposed on the first clamping plate 31, wherein the first clamping plate 31 is disposed opposite to the boss 21.

[0034] In the specific implementation process of this embodiment 1, such as Figure 3 As shown, the first clamping plate 31 is provided with a groove 311, the sensor is provided in the groove 311, and the shape of the groove 311 corresponds to the boss 21.

[0035] Furthermore, the spatial encoder used in this invention has a three-dimensional irregular structure, such as... Figure 4As shown, the multiple spatial encoders are a structural array composed of multiple three-dimensional irregular structures, enabling the sensing of forces in different directions.

[0036] More specifically, multiple spatial encoders are placed in a fixed slot, adhesive or film is applied to the sensor, and when the second clamping member 3 is pressed, the second clamping member 3 moves along the connecting member 4 to the first clamping member 2 and clamps it. The spatial encoder on the fixed slot corresponds to the adhesive or film on the sensor in the groove 311, thereby attaching the spatial encoder to the sensor.

[0037] Furthermore, due to the small size of the spatial encoder, multiple spatial encoders and a positioning membrane integrated with them are 3D printed during the manufacturing process. The positioning membrane is used to connect multiple spatial encoders and has a thickness of 1-10μm. By preparing a positioning membrane integrated with the spatial encoder, it is more convenient to place the spatial encoder in the fixing slot. The side of the spatial encoder away from the membrane is placed in the fixing slot, eliminating the need for manual placement one by one.

[0038] Furthermore, the flatness of the positioning film is ≤1.2μm, the surface finish is ≤0.1μm, and the perpendicularity of the mating surface with the fixing groove is ≤1.5μm.

[0039] More specifically, when the second clamping member 3 is pressed, the boss 21 corresponds to the groove 311, so that the spatial encoder can be better attached to the sensor.

[0040] Furthermore, the flatness of the reference surface of the boss 21 is ≤3μm, and the surface finish is ≤0.1μm.

[0041] In the specific implementation process of this embodiment 1, such as Figure 1 and Figure 3 As shown, the mounting structure also includes a vacuum component 5, which is connected to the fixing groove.

[0042] More specifically, when the spatial encoder is placed in the fixed slot, opening the vacuum component 5 allows the spatial encoder to be better adhered to the fixed slot.

[0043] In the specific implementation process of this embodiment 1, such as Figure 1 and Figure 3 As shown, the fixing frame 1, the first clamping member 2 and the second clamping member 3 are provided with through holes around their perimeters, and the connecting member 4 is disposed through the through holes.

[0044] More specifically, the fixing frame 1, the first clamping member 2 and the second clamping member 3 are provided with through holes around their perimeters, so that the connecting member 4 can be disposed in the through holes, and the first clamping member 2 and the second clamping member 3 can slide better.

[0045] The workflow provided in Embodiment 1 of this utility model is as follows: When mounting the spatial encoder, firstly, the first fixing plate 11 is removed, the sensor is fixed in the groove 311, and adhesive or film is applied to the sensor. Then, multiple spatial encoders are placed in the fixing groove, and the locking member 13 is installed. The vacuum member 5 is opened, which allows the spatial encoder to be better adsorbed on the fixing groove. When the second clamping member 3 is pressed, the second clamping member 3 moves along the connecting member 4 to the first clamping member 2 and clamps it. The spatial encoder on the fixing groove corresponds to the adhesive or film on the sensor in the groove 311, so that the spatial encoder can be better mounted on the sensor.

[0046] Example 2

[0047] A method for mounting a spatial encoder, using the mounting structure described in Example 1, includes the following steps:

[0048] Step S1: Place the mounting structure on a flat surface and place the sensor in the second clamping member 3;

[0049] Step S2: Place the plurality of spatial encoders on the first clamping member 2;

[0050] Step S3: Push the second clamping member 3 forcefully. The second clamping member 3 moves along the connecting member 4 to the first clamping member 2 and clamps it, thereby completing the mounting of the spatial encoder onto the sensor.

[0051] In summary, this invention places the sensor in the second clamping member 3, then adsorbs the spatial encoder onto the first clamping member 2, and pushes the second clamping member 3 forcefully to move it along the connecting member 4 to the first clamping member 2 and clamp it, thereby completing the mounting of the spatial encoder onto the sensor. This mounting structure enables the one-time mass mounting of spatial encoders, which not only improves efficiency and accuracy but also reduces costs compared to manual mounting.

[0052] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A mounting structure for mounting a spatial encoder on a sensor, characterized by The device includes a fixing frame (1), a first clamping member (2), a second clamping member (3), and a connecting member (4). The connecting member (4) is disposed inside the fixing frame (1). The first clamping member (2) and the second clamping member (3) are sequentially inserted on the connecting member (4). In use, the sensor is placed in the second clamping member (3), and the spatial encoder is attracted to the first clamping member (2). The second clamping member (3) is pushed forcefully to move along the connecting member (4) to the first clamping member (2) and clamp it, thereby completing the mounting of the spatial encoder on the sensor.

2. The mounting structure according to claim 1, wherein The fixing frame (1) includes a first fixing plate (11) and a second fixing plate (12). One end of the second fixing plate (12) and the connector (4) are connected to the first fixing plate (11), and the other end of the connector (4) is connected to the second fixing plate (12).

3. The mounting structure according to claim 2, wherein The fixing frame (1) also includes a locking member (13), and the first fixing plate (11) and the second fixing plate (12) are both connected to the connecting member (4) through the locking member (13).

4. The mounting structure according to claim 3, wherein The first clamping member (2) is provided with a boss (21), and the boss (21) is provided with a fixing groove, which corresponds to the space encoder.

5. The mounting structure according to claim 4, wherein There are multiple fixing slots.

6. The mounting structure according to claim 4, wherein The second clamping member (3) includes a first clamping plate (31) and a second clamping plate (32) disposed on the first clamping plate (31), wherein the first clamping plate (31) is disposed opposite to the boss (21).

7. The mounting structure according to claim 6, wherein The first clamping plate (31) is provided with a groove (311), the sensor is provided in the groove (311), and the shape of the groove (311) corresponds to the boss (21).

8. The mounting structure according to claim 4, wherein The mounting structure also includes a vacuum component (5), which is connected to the fixing groove.

9. The mounting structure according to claim 4, wherein The fixing frame (1), the first clamping member (2) and the second clamping member (3) are provided with through holes around their perimeters, and the connecting member (4) is disposed through the through holes.

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