Cylindrical six-dimensional force sensor for sensing traction force

Abstract

The invention belongs to the field of robot teaching, and specifically discloses a cylindrical six-dimensional force sensor for sensing traction force. The cylindrical six-dimensional force sensor comprises a flange column, a cylindrical elastic sensitive body, a resistance strain gauge and a sealing member, wherein the tail end of the flange column is connected to an actuator, and the top end ofthe flange column is connected to a mechanical arm; the cylindrical elastic sensitive body is sleeved on the outer side of the flange column and connected with the flange column, the upper part of thecylindrical elastic sensitive body is a stress sensitive area, the lower part is an external connection area, and the stress sensitive area is used for pasting the resistance strain gauge and furthermeasuring the six-dimensional traction force applied to the resistance strain gauge; the sealing member is sleeved on the outer side of the cylindrical elastic sensitive body, and is used for protecting the cylindrical elastic sensitive body while transmitting the six-dimensional traction force acting on the sealing member, and the top end of the sealing member is connected to the top end of thecylindrical elastic sensitive body. According to the scheme of the invention, the working load force of an end actuator can be transmitted to the mechanical arm through the series-connected flange column, the interference of force on the cylindrical elastic sensitive body cannot be produced, and thus the decoupling measurement of the traction force and the end actuation force can be achieved.

Description

technical field [0001] The invention belongs to the field of robot teaching, and more specifically relates to a cylindrical six-dimensional force sensor for sensing traction force. Background technique [0002] The direct teaching of industrial robots needs to be realized by sensing the traction force that the operator acts on the end effector of industrial robots. The direct teaching of industrial robots does not require the operator to have a reserve of robotics technology knowledge, and only ordinary workers can pull the end of the industrial robot to complete the teaching in a short period of time, so it has a good application prospect. [0003] However, although many researchers have developed a variety of direct teaching systems for industrial robots, the direct teaching systems for industrial robots have not been widely used. One is that human activities are fuzzy and imprecise. As a result, the direct teaching error is relatively large, and the existing data filteri...

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Problems solved by technology

[0003] However, although many researchers have developed a variety of direct teaching systems for industrial robots, the direct teaching systems for industrial robots have not been widely used. One is that human activities are fuzzy and imprecise. As a result, the direct teaching error is relatively large, and the existing data filtering and fitting algorithms are all aimed at filtering and teaching reproduction of specific trajectories (such as straight lines, arcs, rectangles, etc.), and it is difficult to achieve accurate reproduction of all trajectories. It makes it difficult for the direct teaching system of industrial robots to meet the precise reproduction requirements of complex spatial trajectories on the industrial site; secondly, because the force sensor installed on the wrist can accurately obtain the external force acting on the end of the robot, but cannot accurately obtain the contact force and traction force in the external force decoupling, so that it is difficult to directly pull the end load of the industrial robot for traction teaching when the end load is in direct contact with the operated object; thirdly, due to the limited range of human activities, the existing direct system of industrial robots can only be used for light It is not possible to teach the heavy-duty industrial robot with a large range of motion.

[0004] When moving in a constrained space, such as grinding, assembling, scrubbing glass, etc., there is a contact force between the robot and the environment. The existing force sensor can realize the contact force perception. At this time, the traction force of the human on the robot and the contact force between the robot and the environment Difficult to measure simultaneously

Because it is necessary to measure the traction force (the traction force is applied to the outer wall of the force sensor to teach the robot) and the contact force at the same time, and the traction force and the contact force cannot interfere with each other, and the existing force sensor is difficult to achieve

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