Multi-channel high-bandwidth wireless force sensor for intelligent processing

Abstract

The invention provides the multi-channel high-bandwidth wireless force sensor for intelligent processing. The multi-channel high-bandwidth wireless force sensor comprises a plurality of resistance strain gauges uniformly distributed on the circumference of a rotating shaft of a tool to detect low-frequency static force signals in the rotating process; a plurality of piezoelectric films which are uniformly distributed on the same circumference, and are deviated from the resistance strain gauges for a preset distance to detect high-frequency dynamic force signals in the rotating process; a signal acquisition module which is connected with the resistance strain gauges and the piezoelectric films respectively, and carries out decoupling calculation on the low-frequency force signals and the high-frequency force signal to obtain force measurement data; and a wireless data transmission module which is connected with the signal acquisition module and transmits the obtained force measurement data to the outside. According to the multi-channel high-bandwidth wireless force sensor, the bandwidth range is large, the stress of a rotary cutter can be measured, and damage due to imbalance cannotbe caused.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to a multi-channel high-bandwidth wireless force sensor oriented to intelligent processing. Background technique [0002] Robot and intelligent processing is a field that has developed rapidly in recent years. People use industrial robots instead of CNC machine tools to process large and complex parts, such as thin-walled parts milling, grinding and polishing, etc., to improve production efficiency and reduce costs. However, if the robot wants to improve the precision of parts processing, it must accurately measure and control the force and position of the tool during processing. Force control is a key part of intelligent machining and can be used to achieve desired milling force maintenance and chatter suppression, among other things. [0003] For the measurement of processing force, there are generally two methods, one is strain measurement and the other is acceleration measureme...

AI Technical Summary

Problems solved by technology

The two sensors have their own advantages, but the force frequency measurement range is limited, only low-frequency or high-frequency force can be measured, and the force signal in the complete frequency domain cannot be measured

[0004] There is still an obvious problem in the process of using the above sensors in the process of robot machining force measurement, that is, it is difficult to directly collect the force signal of the milling cutter. This is because the tool rotates at a high speed during processing, and the sensor on the milling cutter shaft cannot be collected by wire connection. Signal

Brushed or brushless slip rings are currently on the market for signal acquisition on the surface of rotating shafts, but slip rings are expensive and not very versatile

Another method is to fix the wireless sensing device on the milling cutter shaft. The difficulty is that the system is highly integrated, and the device may be unbalanced when the tool rotates, causing the tool to become unstable.

[0005] In addition, in order to realize the popularization of intelligent processing of robots based on wireless sensors, the sensors must have the characteristics of miniaturization, low cost, and low intrusion. The price of a dynamic force measuring instrument can reach hundreds of thousands of yuan, so it is not suitable for industrial promotion, and The workpiece must be fixed on the force measuring platform, which limits the range of processing

Images