CN109434866B - Flexible finger pressure testing device - Google Patents
Flexible finger pressure testing device Download PDFInfo
- Publication number
- CN109434866B CN109434866B CN201811532018.0A CN201811532018A CN109434866B CN 109434866 B CN109434866 B CN 109434866B CN 201811532018 A CN201811532018 A CN 201811532018A CN 109434866 B CN109434866 B CN 109434866B
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- China
- Prior art keywords
- flexible finger
- finger
- pressure
- testing device
- flexible
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- 238000007664 blowing Methods 0.000 claims abstract description 18
- 244000060701 Kaempferia pandurata Species 0.000 claims abstract description 7
- 235000016390 Uvaria chamae Nutrition 0.000 claims abstract description 7
- 230000001105 regulatory effect Effects 0.000 claims description 18
- 238000010586 diagram Methods 0.000 description 1
- 230000003434 inspiratory effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measuring Fluid Pressure (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention discloses a flexible finger pressure testing device which comprises a pressure sensor, a sliding table, a positioning mechanism, an air blowing mechanism and a display device, wherein the pressure sensor is fixedly arranged, the sliding table is slidably arranged along a straight line, the positioning mechanism is connected to the sliding table and can clamp and fix a flexible finger, the air blowing mechanism is used for blowing and sucking air to the flexible finger, the display device is connected with the pressure sensor and displays the pressure value detected by the pressure sensor in real time, when the flexible finger pressure testing device is in a working state, the positioning mechanism clamps the finger root part of the flexible finger, and the pressure sensor is positioned under the finger tip part of the flexible finger. According to the flexible finger pressure testing device, the finger root position of the flexible finger is fixed through the positioning mechanism, the flexible finger is bent after blowing is carried out through the blowing mechanism, the finger tip position touches the pressure sensor, and the relation between the air pressure and the pressure of the flexible finger is tested through repeated blowing. The flexible finger pressure testing device is simple in structure, easy to operate and accurate in testing result.
Description
Technical Field
The invention relates to a flexible finger pressure testing device.
Background
In the field of industrial automation, gripper fingers for gripping objects, which cooperate with a robot arm, are very widely used. Most of the prior art mechanical grippers consist of rigid fingers, and flexible mechanical grippers are less common. The invention patent with the application number 201810336627.2 discloses a flexible manipulator which is used for grabbing objects by two flexible mobile phones, wherein each flexible finger mechanism comprises a finger surface and finger backs connected to one side surface of the finger surface, the finger backs 5 are convexly arranged on the finger surface in a finger surface distribution plane, and a first cavity is arranged between the finger backs and the finger surfaces. The finger mechanism also comprises at least one semicircular arch body arranged on the finger back and a second cavity arranged in the semicircular arch body and communicated with the first cavity. The semicircular arch body is used for inflation, inflation and air suction shrinkage, so that the inflation deformation of the back of the finger is larger than that of the finger surface, and when the first cavity and the second cavity are inflated, the semicircular arch body is inflated, so that the flexible finger bends towards one side of the finger surface and is used for grabbing an article by matching with other flexible fingers; when the first cavity and the second cavity are sucked, the semicircular arch body is contracted, so that the flexible fingers are bent to one side of the backs of the fingers and are used for being matched with other flexible fingers to release articles. For the flexible finger, the pressure applied to the object to be grabbed after the flexible finger is inflated, bent and deformed needs to be tested, and the pressure is tested to be qualified so as to ensure the stability of the flexible finger to the grabbing of the object.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a flexible finger pressure testing device.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a flexible finger pressure testing arrangement, including the fixed pressure sensor who sets up, can follow the slip table that the straight line slided and set up, connect on the slip table and can press from both sides tight fixed positioning mechanism with flexible finger, blow with the inspiratory mechanism of blowing, be connected with pressure sensor and the display device of the real-time pressure value that shows pressure sensor detected, when flexible finger pressure testing arrangement is in operating condition, positioning mechanism presss from both sides the finger root position of flexible finger, pressure sensor is located the fingertip position of flexible finger under.
Further, the positioning mechanism comprises a support fixedly arranged on the sliding table, a chuck connected to the support and a handle for operating the chuck to press the flexible fingers.
Further, when the positioning mechanism clamps and fixes the flexible finger, the chuck presses the flexible finger on the sliding table from the upper side of the flexible finger.
Still further, the underside of the collet has a press block that directly contacts and presses against the flexible finger.
Further, the flexible finger pressure testing device further comprises a base station, and the sliding table, the pressure sensor and the display device are all arranged on the base station.
Furthermore, a guide chute is arranged on the base station, and the bottom of the sliding table is in matched sliding connection with the guide chute.
Further, the air blowing mechanism comprises a pressure regulating valve for regulating the air pressure, a speed regulating throttle valve for regulating the air flow speed and a barometer for displaying the air pressure.
Further, the pressure sensor is located on an extension line of the movement track of the slipway.
Further, when the positioning mechanism clamps and fixes the flexible finger, the finger face of the flexible finger is arranged downward.
Further, the display device is a touch screen.
By adopting the technical scheme, the flexible finger pressure testing device disclosed by the invention has the advantages that the finger root position of the flexible finger is fixed through the positioning mechanism, the flexible finger with different length specifications can be adapted through the free adjustment position of the sliding table, the flexible finger is bent after the air blowing mechanism blows air, the finger tip part touches the pressure sensor, the pressure sensor sends the detected pressure value to the display device in real time, the display device intuitively displays the pressure value, and the relation between the air pressure and the pressure of the flexible finger is tested through repeated air blowing. The flexible finger pressure testing device is simple in structure, easy to operate and accurate in testing result.
Drawings
FIG. 1 is a schematic perspective view of a flexible finger pressure testing device according to the present invention;
FIG. 2 is a schematic diagram of the front view of the flexible finger pressure testing device of the present invention;
FIG. 3 is a schematic top view of the flexible finger pressure testing device of the present invention.
The reference numerals in the figures are:
1. A pressure sensor; 2. a sliding table; 3. a positioning mechanism; 31. a support; 32. a chuck; 33. a handle; 34. briquetting; 4. a display device; 5. a base station; 51. a guide chute; 6. a pressure regulating valve; 7. a speed regulating throttle valve; 8. barometer.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art.
Referring to fig. 1 to 3, the flexible finger pressure testing device in this embodiment includes a pressure sensor 1 fixedly provided, a slide table 2 slidably provided along a straight line, a positioning mechanism 3 connected to the slide table 2 and capable of clamping and fixing a flexible finger 9, an air blowing mechanism for blowing and sucking air to the flexible finger 9, and a display device 4 connected to the pressure sensor 1 and displaying a pressure value detected by the pressure sensor 1 in real time.
Specifically, the positioning mechanism 3 includes a holder 31 fixedly provided on the slide table 2, a collet 32 attached to the holder 31, and a handle 33 operated to press the collet 32 against the flexible finger 9. When the positioning mechanism 3 clamps and fixes the flexible finger 9, the chuck 32 presses the flexible finger 9 on the sliding table 2 from above. More specifically, the underside of the collet 32 has a press 34, which press 34 directly contacts and presses against the flexible finger 9.
When the flexible finger pressure testing device is in a working state, the positioning mechanism 3 clamps the finger root part of the flexible finger 9, the pressure sensor 1 is positioned right below the fingertip part of the flexible finger 9, and the finger surface of the flexible finger 9 is arranged downwards.
The flexible finger pressure testing device further comprises a base 5, and the sliding table 2, the pressure sensor 1 and the display device 4 are arranged on the base 5.
The base 5 is provided with a guide chute 51, and the bottom of the sliding table2 is in matched sliding connection with the guide chute 51.
Preferably, the pressure sensor 1 is located on an extension of the movement trajectory of the slipway 2.
The blowing mechanism comprises a pressure regulating valve 6 for regulating the pressure of the gas, a speed regulating throttle valve 7 for regulating the speed of the gas flow and a barometer 8 for displaying the pressure of the gas. The pressure regulating valve 6, the speed regulating throttle valve 7, and the barometer 8 are also provided on the base 5.
Preferably, the connection line between the pressure sensor 1 and the display device 4 and the air flow line of the air blowing mechanism are both provided inside the base 5. The connection circuit and the air flow pipeline are in the prior art and are not the application points of the application, and are not described herein.
The display device 4 in this embodiment is a touch screen.
Working principle:
According to the flexible finger pressure testing device, the finger root position of the flexible finger 9 is pressed and fixed through the positioning mechanism 1, the flexible finger 9 with different length specifications can be adapted through the free adjustment position of the sliding table 2, the flexible finger 9 is bent after the air blowing mechanism blows air, the finger tip position moves downwards to touch the pressure sensor 1, the pressure sensor 1 sends the detected pressure value to the display device 4 in real time, the display device 4 intuitively displays the pressure value, the pressure and the speed of air are adjusted through the pressure regulating valve 6 and the speed regulating throttle valve 7, an operator reads the air pressure through the air pressure meter 8, and the relation between the air pressure and the pressure of the flexible finger 9 is tested through repeated air blowing.
The flexible finger pressure testing device is simple in structure, easy to operate and accurate in testing result.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (8)
1.A flexible finger pressure testing device, characterized in that: the device comprises a pressure sensor (1) which is fixedly arranged, a sliding table (2) which can be arranged in a linear sliding manner, a positioning mechanism (3) which is connected to the sliding table (2) and can clamp and fix the flexible finger (9), an air blowing mechanism which blows and sucks air to the flexible finger (9), and a display device (4) which is connected with the pressure sensor (1) and displays the pressure value detected by the pressure sensor (1) in real time, wherein when the flexible finger pressure testing device is in a working state, the positioning mechanism (3) clamps the finger root part of the flexible finger (9), and the pressure sensor (1) is positioned under the finger tip part of the flexible finger (9);
The positioning mechanism (3) comprises a support (31) fixedly arranged on the sliding table (2), a chuck (32) connected to the support (31) and a handle (33) for operating the chuck (32) to press the flexible fingers (9);
the air blowing mechanism comprises a pressure regulating valve (6) for regulating the air pressure, a speed regulating throttle valve (7) for regulating the air flow speed, and a barometer (8) for displaying the air pressure.
2. The flexible finger pressure testing device of claim 1, wherein: when the positioning mechanism (3) clamps and fixes the flexible finger (9), the chuck (32) presses the flexible finger (9) on the sliding table (2) from the upper part of the flexible finger.
3. The flexible finger pressure testing device of claim 1, wherein: the underside of the collet (32) has a press block (34), which press block (34) directly contacts and presses the flexible finger (9).
4. The flexible finger pressure testing device of claim 1, wherein: the flexible finger pressure testing device also comprises a base (5), and the sliding table (2), the pressure sensor (1) and the display device (4) are all arranged on the base (5).
5. The flexible finger pressure testing device of claim 4, wherein: the base (5) is provided with a guide chute (51), and the bottom of the sliding table (2) is in matched sliding connection with the guide chute (51).
6. The flexible finger pressure testing device of claim 1, wherein: the pressure sensor (1) is positioned on an extension line of the moving track of the sliding table (2).
7. The flexible finger pressure testing device of claim 1, wherein: when the positioning mechanism (3) clamps and fixes the flexible finger (9), the finger surface of the flexible finger (9) is arranged downwards.
8. The flexible finger pressure testing device of claim 1, wherein: the display device (4) is a touch screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811532018.0A CN109434866B (en) | 2018-12-14 | 2018-12-14 | Flexible finger pressure testing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811532018.0A CN109434866B (en) | 2018-12-14 | 2018-12-14 | Flexible finger pressure testing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109434866A CN109434866A (en) | 2019-03-08 |
| CN109434866B true CN109434866B (en) | 2024-05-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811532018.0A Active CN109434866B (en) | 2018-12-14 | 2018-12-14 | Flexible finger pressure testing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109434866B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110480680A (en) * | 2019-08-02 | 2019-11-22 | 杭州魔象智能科技有限公司 | A kind of software machinery arm strength control precision testing platform and its test method |
| CN111840005A (en) * | 2020-09-23 | 2020-10-30 | 上海司羿智能科技有限公司 | Finger joint rehabilitation training device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006297542A (en) * | 2005-04-20 | 2006-11-02 | Toyota Motor Corp | Slip detection device for finger surface of robot hand |
| CN102059707A (en) * | 2010-12-28 | 2011-05-18 | 重庆交通大学 | Finger-simulating self-adaptive flexible fixture assembly |
| CN104838739A (en) * | 2013-01-30 | 2015-08-12 | 雅马哈发动机株式会社 | Conveyance device, component mounting device, and gripper |
| CN105252544A (en) * | 2015-11-26 | 2016-01-20 | 吉林大学 | Flexible bionic mechanical hand device |
| CN105364939A (en) * | 2015-12-18 | 2016-03-02 | 上海理工大学 | Air bag type flexible finger and flexible hand |
| CN106568473A (en) * | 2016-10-18 | 2017-04-19 | 南京航空航天大学 | Multi-functional bionic finger capable of detecting three-dimensional force |
| CN209319803U (en) * | 2018-12-14 | 2019-08-30 | 苏州迪天机器人自动化有限公司 | Flexible finger pressure test device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2593763A4 (en) * | 2010-07-12 | 2017-12-20 | Custom Fluidpower Pty Ltd | Pressure detection device |
-
2018
- 2018-12-14 CN CN201811532018.0A patent/CN109434866B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006297542A (en) * | 2005-04-20 | 2006-11-02 | Toyota Motor Corp | Slip detection device for finger surface of robot hand |
| CN102059707A (en) * | 2010-12-28 | 2011-05-18 | 重庆交通大学 | Finger-simulating self-adaptive flexible fixture assembly |
| CN104838739A (en) * | 2013-01-30 | 2015-08-12 | 雅马哈发动机株式会社 | Conveyance device, component mounting device, and gripper |
| CN105252544A (en) * | 2015-11-26 | 2016-01-20 | 吉林大学 | Flexible bionic mechanical hand device |
| CN105364939A (en) * | 2015-12-18 | 2016-03-02 | 上海理工大学 | Air bag type flexible finger and flexible hand |
| CN106568473A (en) * | 2016-10-18 | 2017-04-19 | 南京航空航天大学 | Multi-functional bionic finger capable of detecting three-dimensional force |
| CN209319803U (en) * | 2018-12-14 | 2019-08-30 | 苏州迪天机器人自动化有限公司 | Flexible finger pressure test device |
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| CN109434866A (en) | 2019-03-08 |
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