Multi-directional slip sensor

Abstract

The invention relates to a multi-directional slip sensor. A slip wheel is mounted in a box body and is rotatably connected with a fork-shaped structure at the front end of a bracket by a mandrel. The outer end of a precision potentiometer a is fixed on the end face of the fork-shaped structure of the bracket, and the inner end of the precision potentiometer a rotates with the mandrel. The back end of the bracket is supported on a shaft support, the shaft support is fixed in the box body, and a rotating shaft is movably matched and connected in the back end of the bracket. And a compression spring is mounted between the rotating shaft and the bracket. The back end of the rotating shaft is rotatably connected with a precision potentiometer b. The outer end of the precision potentiometer b is fixed on the box body and the inner end of the precision potentiometer b rotates with the rotating shaft. A tension spring is sleeved outside the rotating shaft and the precision potentiometer b. And one end of the tension spring is fixed on the bracket and the other end of the tension spring is fixed on the box body. Through adoption of the multi-directional slip sensor, whether relative slip and a slip drift angle exist or not between a mechanical arm and a grabbed object can be detected. The multi-directional slip sensor is compact in structure and reliable, and can automatically follow the slip direction of the object, thereby solving the problem that some slip sensors cannot automatically detect a slip direction, namely the slip drift angle.

Description

technical field [0001] The invention relates to a manipulator slip sensor, in particular to a manipulator slip sensor capable of automatically detecting the sliding direction. Background technique [0002] The slip sensor is a sensor used in the manipulator to sense and detect the degree of slippage between the robot and the grasped object ( figure 1 ). In order to determine an appropriate grip force value when grasping an object, it is necessary to detect the relative sliding of the contact surface between the manipulator and the grasped object in real time, then judge the grip force, and gradually increase the force without damaging the object. The slip detection function is a necessary condition for realizing the soft grip of the robot. However, the general sliding sensor cannot automatically detect the sliding direction, that is, the sliding deflection angle. Contents of the invention [0003] The present invention provides a multi-directional sliding sensor for sol...

AI Technical Summary

Problems solved by technology

[0003] The present invention is to provide a multi-directional sliding sensor, which is used to solve the technical problem that the existing sliding sensor cannot automatically detect the sliding direction, that is, the sliding deflection angle.

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