An autonomous calibration platform for modular joint torque sensors

A torque sensor and modular joint technology, which is applied in the calibration/testing of force/torque/power measuring instruments, instruments, measuring devices, etc., can solve the problem of low accuracy of input torque values, small amount of collected data, and impossibility of dynamic testing and other problems to achieve the effect of improving the accuracy of the fitting curve

Active Publication Date: 2020-05-26
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the problem that the manual torque loading method has a small amount of collected data, cannot perform dynamic testing, and the method of inputting torque through the motor stalling method has low accuracy of the input torque value. The present invention provides a modular joint-oriented Autonomous Calibration Platform for Torque Sensors

Method used

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  • An autonomous calibration platform for modular joint torque sensors
  • An autonomous calibration platform for modular joint torque sensors
  • An autonomous calibration platform for modular joint torque sensors

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specific Embodiment approach 1

[0035] Specific implementation mode one: see Figure 1 to Figure 4 Describe this embodiment, the self-calibration platform for the modular joint torque sensor described in this embodiment, the self-calibration platform is used to calibrate the to-be-calibrated torque sensor 15-1 in the joint 15 under test, the self-calibration platform includes the brake 1, Brake seat 2, main coupling 3, first hollow slip ring 4, hollow slip ring connecting shaft 5, torque calibration sensor 6, torque calibration sensor seat 7, torque calibration sensor connecting shaft 8, secondary coupling 9 , Cylindrical closed box 10, transmission shaft 11 and base 12;

[0036] The hollow slip ring connecting shaft 5, the torque calibration sensor connecting shaft 8 and the transmission shaft 11 are all hollow shafts; the data transmission line of the torque sensor 15-1 to be calibrated is drawn from the hollow shaft;

[0037] The brake 1, the main coupling 3, the torque calibration sensor 6, the auxiliar...

specific Embodiment approach 2

[0048] Specific implementation mode two: see Figure 1 to Figure 4 Describe this embodiment. The difference between this embodiment and the autonomous calibration platform for modular joint torque sensors described in the first embodiment is that it also includes a pulley 16;

[0049] The pulley 16 is fixed on one end of the drive shaft 11 through a thin-walled deep groove ball bearing 17;

[0050] A wire rope 18 is wound on the pulley 16, and the wire rope 18 is used for loading objects.

[0051] In this embodiment, the present invention can test the influence of eccentric load on the precision of the modularized joint torque sensor. When testing the influence of the partial load, it is only necessary to hang loads of different masses on the wire rope 18, and the partial load can all be applied to the modular joints 15 to be tested, which is convenient for testing.

specific Embodiment approach 3

[0052] Specific implementation mode three: see Figure 1 to Figure 4 This embodiment is described. The difference between this embodiment and the autonomous calibration platform for modular joint torque sensors described in Embodiment 1 or Embodiment 2 is that the secondary coupling 9 is a diaphragm coupling or a universal coupling.

[0053] In this embodiment, the auxiliary coupling 9 is a diaphragm coupling or a universal coupling so that when the autonomous calibration platform is performing the influence of the partial load on the accuracy of the modularized joint torque sensor, the partial load is all applied to the torque sensor 15 to be calibrated -1, so that the calibration accuracy of the torque sensor 15-1 to be calibrated is high.

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Abstract

The invention provides an auto-calibration platform orienting a modular joint toque sensor, belongs to the field of joint torque sensor calibration, and solves the problem that the manual torque loading method has less data acquisition and cannot perform dynamic test and the problem that the accuracy of the input torque value is low through the motor stalling input torque. A brake, a primary coupler, a torque checking sensor, a secondary coupler and a cylindrical closed box are arranged on a base in turn. A transmission shaft rotates to drive the brake to rotate through the secondary coupler,a torque checking sensor connecting shaft, the torque checking sensor, a hollow slip ring connecting shaft and the primary coupler. The brake can provide the constant torque load. Multiple sets of input instructions are given to the brake, the torque size measured by the torque checking sensor is acquired and the value is assigned to the torque sensor of the modular joint so that auto-calibrationand dynamic calibration can be realized. The auto-calibration platform is mainly used for calibration orienting the modular joint toque sensor.

Description

technical field [0001] The invention belongs to the field of joint moment sensor calibration. Background technique [0002] With the development of robot technology, the requirements for the manipulator are getting higher and higher. The joints of the manipulator are generally equipped with torque sensors, and are matched with the control system to realize the precise control of the torque. The calibration of the joint torque sensor of the manipulator requires stable torque input equipment, high-precision torque detection equipment, etc. The existing calibration platform generally adopts the method of manual loading, the input torque is unstable, the amount of collected data is small, and it is troublesome to load successively. Perform a dynamic test. There are also methods such as inputting torque through motor stalling, the input value is unstable, and the input value needs to be detected and read by a torque meter, and the accuracy of the value is affected by the accurac...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L25/00
CPCG01L25/003
Inventor 张赫张学贺李治廷赵杰
Owner HARBIN INST OF TECH
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