Wrist force sensor of robot, and calibrating and detection method

A sensor and robot technology, applied in the sensor field, can solve the problems of many other error factors, evaluation, weak structural rigidity, etc., and achieve the effect of reducing robot load, realizing performance detection, and high accuracy

Pending Publication Date: 2019-09-10
常州坤维传感科技有限公司
View PDF1 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The device can use a structure and a dynamic calibration method to make its invention have a multi-axis force measurement function, but the above-mentioned patent has some shortcomings. The structural rigidity of the inner and outer rings is relatively weak relative to the elastic column, and the layout of the strain gauges is unreasonable. The sensor calibration method is not simple and intuitive, and many other error factors are introduced, so the overall performance of the sensor is poor; the calibration method described in the above patents cannot realize multi-axis joint loading, and the accuracy of the sensor when it is subjected to multi-axis load at the same time ( Repeatability error) and accuracy (accuracy error) are evaluated

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Wrist force sensor of robot, and calibrating and detection method
  • Wrist force sensor of robot, and calibrating and detection method
  • Wrist force sensor of robot, and calibrating and detection method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0068] Such as Figure 1-10 As shown, a robot wrist force sensor includes an adapter ring 2, a tool end connecting flange 1, a strain sensing body 3, a strain sensitive element 7, an embedded circuit 8, a cover plate 23, and a robot tool I / O connector 22. The matching ring 2 and the tool end connecting flange 1 are used to connect the end tool of the robot. The tool end connecting flange 1 is a double-layer concentric circular platform structure with a central deep hole 9. The central deep hole 9 is matched with the adapter ring 2. The bottom of the hole 9 is distributed with a circle of counterbore 20, which is used to place the screw head of the screw 27 connected to the rigid boundary block 6 of the strain sensing body 3. The small round table is provided with a first positioning pin hole 16 and four first threaded holes 18. The first threaded hole 18 is used for the connection between the tool end connecting flange and the end tool of the robot. There is an embedded screw ...

Embodiment 2

[0070] A method for calibrating a robot wrist force sensor, comprising the following steps;

[0071] S1. Select an arbitrary ratio combination of three-directional force and three-directional moment in group M for six-axis joint loading; fix one end of the sensor to be calibrated on the base 29, and the base 29 is fixedly connected to the ground, which can be regarded as rigid Infinity, the other end of the sensor is fixedly connected with the loading head 31. The loading head 31 is a cuboid, and a space Cartesian coordinate system X, Y, Z is established above the center point of the loading head 31, the positive direction of the Z axis is downward along the origin of the coordinate system, and the force in the three directions is along the X, Y, and Z axes of the coordinate system. The three-direction force is referred to as the three-direction force in the future, and the three-direction moment is the moment along the three directions of the X, Y, and Z axes of the coordinat...

Embodiment 3

[0080] A test method for a robot wrist force sensor, comprising steps;

[0081] M1. Acquire voltage signals of group r; apply any combination of three-direction force and three-direction torque of group r in sequence, and obtain the voltage signal value of group r;

[0082] M2. Calculate the real-time calculation output results of the three-direction force and three-direction torque corresponding to the r group of voltage signals. The calculation method is:

[0083]

[0084]

[0085]

[0086]

[0087]

[0088]

[0089] Fx, Fy, Fz, Mx, My, and Mz respectively represent the output results of the three-directional force and three-directional torque, Indicates the output voltage value after loading Fx, Fy, Fz, Mx, My, Mz at the same time, represent the coefficient and function of the force in the X direction, respectively, and represent the coefficient and function of the force in the Y direction, respectively, and so on;

[0090] M3. Obtain the measurement a...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a wrist force sensor of a robot, and a calibrating and detecting method. The wrist force sensor comprises an adaptor ring, a tool end connection flange, a strain sensing main body, a strain sensing element and an embedded circuit; the tool end connection flange is matched with the adaptor ring; the tool end connection flange is connected with the strain sensing main body; the strain sensing main body is used for generating a micro deformation under the action of the multi-axis force; the strain sensing element is used for converting the micro deformation into microvolt-level voltage signal after the bridge is formed; an embedded circuit board is placed in the strain sensing main body; and, the embedded circuit board is used for acquiring microvolt level voltage signal, performing A / D conversion and decoupling calculation, and outputting digital signals of a measuring result through a communication module. By using the reasonable decoupling structure, the simple and clear calibration method, the embedded acquisition, and the decoupling algorithm, the measuring result of the three-direction force and the three-direction moment along the coordinate axis at the space rectangular coordinate system is outputted by the form of digital quantity; and thus, the measuring precision is improved significantly.

Description

technical field [0001] The invention relates to the technical field of sensors, in particular to a robot wrist force sensor and a calibration and detection method. Background technique [0002] Industrial robots (including collaborative robots) are popular because they can not only complete operations in dangerous environments, but also reduce human labor. Especially with the increase in human capital and quality requirements in the manufacturing industry, industrial robots are gradually replacing human labor. , become an important automation equipment in production. In addition, a series of industrial policies issued by the state to support the development of industrial robots, as well as the upgrading of my country's manufacturing industry towards intensification and intelligence, will support the continuous and rapid expansion of the scale of my country's industrial robot industry. At present, industrial robots play a prominent role in automobile manufacturing, electrica...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G01L5/16G01L25/00B25J19/00
CPCG01L5/161G01L5/167G01L25/00B25J19/0095
Inventor 熊琳孙竣利袁明论张妍
Owner 常州坤维传感科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap