Device for detecting bandwidth of joint torque sensor

Abstract

The invention provides a device for detecting the bandwidth of a joint torque sensor. The device is characterized in that an excitation signal generation unit is connected with the torque sensor through a test bracket, a fixed flange and an input connecting flange; the excitation signal generation unit is fixedly connected to the test support. The input connecting flange is fixedly connected to an output shaft of the excitation signal generating unit, and the other side of the input connecting flange is fixedly connected to an inner ring of the torque sensor; the driving signal acquisition module acquires data acquired by the torque sensor in real time; the driving signal acquisition module is used for controlling the rotation of the excitation signal generation unit; and the upper computer controls the excitation signal generation unit through the driving signal acquisition module and performs data acquisition on the torque sensor, so that the bandwidth of the torque sensor is analyzed. The torque sensor is simple in structure, rapid in measurement and capable of providing data support for application of the torque sensor.

Description

Technical Field

[0001] The invention relates to the technical field of sensors, and in particular to a device for detecting bandwidth of a joint torque sensor. Background Art

[0002] In the development of modern robotics technology, torque sensors play a vital role. Torque sensors can not only provide the robot with the size and direction of the measured joint torque, but also provide a large amount of direct data for the robot's force control, the flexible control of the robotic arm, the end load identification, and the joint vibration analysis, providing hardware support for the improvement and stability of the robotic arm's performance.

[0003] A robot, especially a serial robot, is a system with variable inertia and stiffness. The torque on each axis of the robot changes rapidly during operation. When the torque sensor installed at the robot joint has a low response, the collected feedback data will be distorted, which will eventually cause the robot control to deteriorate or even fail. This requires that the torque sensor installed at the robot joint has a higher dynamic response. Among the key parameters of the torque sensor, bandwidth is a key indicator for evaluating the dynamic response capability of the torque sensor. It can effectively reflect the highest input frequency of the external signal that the sensor can accurately detect. Therefore, the torque sensor needs to be tested for bandwidth before use to prevent the failure of the robot arm control due to the torque sensor bandwidth being too low.

[0004] How to achieve bandwidth detection of joint torque sensors is a technical problem that needs to be solved at present. Summary of the invention

[0005] The object of the present invention is to solve at least one of the technical drawbacks.

[0006] To this end, the purpose of the present invention is to provide a device for detecting the bandwidth of a joint torque sensor to solve the problems mentioned in the background technology and overcome the shortcomings of the prior art.

[0007] In order to achieve the above-mentioned objectives, an embodiment of the present invention provides a device for detecting the bandwidth of a joint torque sensor, comprising: an excitation signal generating unit, a test bracket, a fixing flange, a torque sensor, an input connection flange, a drive and signal acquisition module, a sensor signal line, a drive cable and a host computer connection line.

[0008] The excitation signal generating unit is connected to the torque sensor through the test bracket, the fixing flange and the input connecting flange; wherein the excitation signal generating unit is fixedly connected to the test bracket, the test bracket is provided with a through hole, the rotating shaft of the excitation signal generating unit extends out through the through hole on the test bracket, one end of the fixing flange is fixedly connected to the test bracket, and the other end of the fixing flange is connected to the outer ring of the torque sensor, so that the torque sensor is installed on the test bracket through the fixing flange; the input connecting flange is fixedly connected to the output shaft of the excitation signal generating unit, and is fixedly connected to the inner ring of the torque sensor on the other side of the input connecting flange, so that the excitation signal generating unit and the torque sensor are fixedly connected together through the test bracket, the fixing flange and the input connecting flange;

[0009] The drive signal acquisition module is connected to the torque sensor through the sensor signal line to communicate and acquire the data collected by the torque sensor in real time; the drive signal acquisition module is connected to the excitation signal generating unit through the drive cable to realize the control of the rotation of the excitation signal generating unit;

[0010] The drive signal acquisition module is connected to the host computer via the host computer connection line, and the host computer controls the excitation signal generating unit through the drive signal acquisition module and performs data acquisition on the torque sensor to analyze the bandwidth of the torque sensor.

[0011] Preferably, in any of the above schemes, the excitation signal generating unit is a permanent magnet synchronous motor or a stepping motor.

[0012] Preferably, any of the above schemes is that the excitation signal generating unit is fixedly connected to the test bracket by screws, and the test bracket is fixedly connected to the external test bench by screws; one end of the fixing flange is fixedly connected to the test bracket by bolts.

[0013] Preferably, any of the above schemes is that the input connecting flange is fixedly connected to the output shaft of the excitation signal generating unit by screws, and the other side of the input connecting flange is fixedly connected to the inner ring of the torque sensor by bolts.

[0014] Preferably, any of the above schemes is that the drive and signal acquisition module is connected to the host computer via the host computer connection line for communication, and the host computer controls the rotation frequency of the excitation signal generating unit in real time and collects the output response of the torque sensor at that moment, so as to analyze the bandwidth of the torque sensor.

[0015] Preferably, according to any of the above schemes, the input connecting flange is sleeved in the fixing flange and is connected to the excitation signal generating unit.

[0016] Preferably, any of the above schemes is that the host computer controls the driving and signal acquisition module to output a fixed frequency signal so that the output shaft of the excitation signal generating unit rotates, and the host computer collects and analyzes the output signal of the torque sensor in real time through the driving and signal acquisition module to obtain the amplitude and frequency of the signal collected by the torque sensor;

[0017] Then the host computer controls the drive and signal acquisition module to perform linear frequency sweep on the system. The drive and signal acquisition module collects the output signal of the torque sensor at different frequencies in real time and sends it to the host computer. The host computer analyzes and displays the collected frequency, amplitude and phase in real time. When the amplitude of the output data of the torque sensor drops to a preset value, the test is stopped to obtain the bandwidth of the torque sensor of the tested joint.

[0018] Preferably, in any of the above schemes, under the control of the output signal of the driving and signal acquisition module, the output shaft of the excitation signal generating unit rotates in the form of a sine wave.

[0019] Preferably, any of the above schemes controls the output frequency of the drive and signal acquisition module to continuously increase the frequency of the sine wave in a linear manner, thereby achieving linear frequency sweep of the system.

[0020] Preferably, any of the above solutions is that the preset value is -3dB.

[0021] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0022] 1. The overall structure is simple, the manufacturing cost is low, the product is stable and reliable, and the measurement is fast, which can provide data support for the application of torque sensors;

[0023] 2. The product can be adapted to different types of torque sensors and has wide adaptability;

[0024] 3. The overall degree of freedom is high, supporting the control of the excitation signal generating unit in different ways (for example, position mode, speed mode, torque mode, etc.), and supporting multiple frequency sweeping methods (for example, linear frequency sweeping, logarithmic frequency sweeping, etc.), providing extremely high test freedom for the entire test.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0027] Figure 1 A structural diagram of a device for detecting bandwidth of a joint torque sensor according to an embodiment of the present invention;

[0028] Figure 2 It is a cross-sectional view of the connection method of the device for detecting the bandwidth of a joint torque sensor according to an embodiment of the present invention.

[0029] Reference numerals:

[0030] 1-excitation signal generating unit; 2-test bracket; 3-fixed flange; 4-torque sensor; 5-input connection flange; 6-drive and signal acquisition module; 7-sensor signal line; 8-drive cable; 9-host computer connection line DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0032] like Figure 1 As shown, the device for detecting the bandwidth of the joint torque sensor of an embodiment of the present invention includes: an excitation signal generating unit 1, a test bracket 2, a fixing flange 3, a torque sensor 4, an input connection flange 5, a drive and signal acquisition module 6, a sensor signal line 7, a drive cable 8 and a host computer connection line 9.

[0033] Specifically, the excitation signal generating unit 1 is connected to the torque sensor 4 via the test bracket 2 , the fixing flange 3 and the input connecting flange 5 .

[0034] In the embodiment of the present invention, the excitation signal generating unit 1 is a permanent magnet synchronous motor or a stepping motor, etc. It should be noted that the type of the excitation signal generating unit 1 is not limited to the above examples and can be selected according to needs.

[0035] The excitation signal generating unit 1 is fixedly connected to the test bracket 2 by screws or other connection methods. The test bracket 2 is provided with a through hole, and the rotating shaft of the excitation signal generating unit 1 can extend through the through hole on the test bracket 2.

[0036] The test bracket 2 is a supporting device for the entire system and can be fixed to an external test bench by screws or other rigid connection methods.

[0037] One end of the fixing flange 3 is fixedly connected to the test bracket 2 by bolts or other connection methods, and the other end of the fixing flange 3 is connected to the outer ring of the torque sensor 4, so that the torque sensor 4 is installed on the test bracket 2 through the fixing flange 3.

[0038] The input connection flange 5 is fixedly connected to the output shaft of the excitation signal generating unit 1 by screws or other rigid connection methods, and is fixedly connected to the inner ring of the torque sensor 4 by bolts or other connection methods on the other side of the input connection flange 5, so that the excitation signal generating unit 1 and the torque sensor 4 are fixedly connected together through the test bracket 2, the fixing flange 3 and the input connection flange 5. Among them, the input connection flange 5 is sleeved in the fixing flange 3 and connected to the excitation signal generating unit 1.

[0039] The driving and signal acquisition module 6 is connected to the torque sensor 4 through the sensor signal line 7, and collects the data collected by the torque sensor 4 in real time. It is connected to the excitation signal generating unit 1 through the driving cable 8, and realizes the control of the rotation of the excitation signal generating unit 1.

[0040] The host computer can communicate with the drive and signal acquisition module 6 through the host computer connection line 9. Through the corresponding communication, the host computer can control the rotation frequency of the excitation signal generating unit 1 in real time and collect the output response of the torque sensor 4 at that moment, and use the existing program to analyze the bandwidth of the torque sensor. That is, the host computer controls the excitation signal generating unit 1 and collects data from the torque sensor 4 through the host computer connection line 9, providing data analysis and result support for the final torque sensor evaluation.

[0041] In summary, the joint torque sensor bandwidth detection device and method provided in the embodiments of the present invention can implement bandwidth analysis of the torque sensor 4 being tested in the following manner.

[0042] Specifically, the excitation signal generating unit 1 is installed on the test bracket 2, the outer ring of the torque sensor 4 is fixedly connected to the test bracket 2 through the fixing flange 3, the inner ring of the torque sensor 4 is fixedly connected to the rotating shaft of the excitation signal generator 1 through the input connecting flange 5, the torque sensor 4 is connected to the drive and signal acquisition module 6 by using the sensor signal line 7 and communication is established, the excitation signal generating unit 1 is connected to the drive and signal acquisition module 6 by using the drive cable 8, one end of the host computer connecting line 8 is connected to the drive and signal acquisition module 6, and the other end is connected to the host computer, thereby completing the construction of the joint torque sensor bandwidth detection device.

[0043] The device for detecting the bandwidth of a joint torque sensor according to an embodiment of the present invention works as follows:

[0044] (1) When the test starts, the host computer controls the drive and signal acquisition module 6 to output a signal with a relatively low fixed frequency, so that the output shaft of the excitation signal generating unit rotates.

[0045] Wherein, under the control of the output signal of the driving and signal acquisition module, the output shaft of the excitation signal generating unit rotates in the form of a sine wave but not limited to a sine wave.

[0046] (2) The host computer collects and analyzes the output signal of the torque sensor 4 in real time through the drive and signal acquisition module 6 to obtain the amplitude and frequency of the signal collected by the torque sensor 4.

[0047] (3) The host computer controls the drive and signal acquisition module 6 to perform linear frequency sweep on the system.

[0048] In an embodiment of the present invention, the host computer controls the output frequency of the driving and signal acquisition module to continuously increase the frequency of the sine wave in a preset manner, thereby achieving linear frequency sweeping of the system.

[0049] In the embodiment of the present invention, the preset mode is to increase the frequency of the sine wave in a linear manner or in a logarithmic manner. That is, the output frequency of the host computer control driving and signal acquisition module 6 is continuously increased in a linear manner (not limited to linear, and can be increased in a logarithmic manner), that is, the system is linearly swept.

[0050] (4) The drive and signal acquisition module 6 continuously collects the output signal of the torque sensor 4 at different frequencies in real time and uploads it to the host computer through the host computer connection line 8. The host computer analyzes and displays the collected frequency, amplitude and phase in real time. When the amplitude of the output data of the torque sensor 4 drops to a preset value, the test is stopped to obtain the bandwidth of the torque sensor of the tested joint.

[0051] In the embodiment of the present invention, the preset value is -3dB. It should be noted that the preset value can be set as needed, and is not limited to the above example, and will not be repeated here.

[0052] It should be noted that the above only provides a detection method of a joint torque sensor, and different types of joint torque sensors can be adapted by replacing the sizes of the fixing flange 3 and the input connection flange 5 .

[0053] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0054] It is not difficult for those skilled in the art to understand that the present invention includes any combination of the invention content and specific implementation methods of the above specification and the various parts shown in the drawings. Due to the limited space and to make the specification concise, the various schemes composed of these combinations are not described one by one. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0055] Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for detecting bandwidth of a joint torque sensor, characterized in that: include: Excitation signal generating unit, test bracket, fixing flange, torque sensor, input connection flange, drive and signal acquisition module, sensor signal line, drive cable and host computer connection line, among which, The excitation signal generating unit is connected to the torque sensor through the test bracket, the fixing flange and the input connecting flange; wherein the excitation signal generating unit is fixedly connected to the test bracket, the test bracket is provided with a through hole, the rotating shaft of the excitation signal generating unit extends out through the through hole on the test bracket, one end of the fixing flange is fixedly connected to the test bracket, and the other end of the fixing flange is connected to the outer ring of the torque sensor, so that the torque sensor is installed on the test bracket through the fixing flange; the input connecting flange is fixedly connected to the output shaft of the excitation signal generating unit, and is fixedly connected to the inner ring of the torque sensor on the other side of the input connecting flange, so that the excitation signal generating unit and the torque sensor are fixedly connected together through the test bracket, the fixing flange and the input connecting flange; The drive signal acquisition module is connected to the torque sensor through the sensor signal line to communicate and acquire the data collected by the torque sensor in real time; the drive signal acquisition module is connected to the excitation signal generating unit through the drive cable to realize the control of the rotation of the excitation signal generating unit; The drive signal acquisition module is connected to the host computer via the host computer connection line, and the host computer controls the excitation signal generating unit through the drive signal acquisition module and performs data acquisition on the torque sensor to analyze the bandwidth of the torque sensor.

2. The device for detecting bandwidth of a joint torque sensor according to claim 1, characterized in that: The excitation signal generating unit is a permanent magnet synchronous motor or a stepping motor.

3. The device for detecting bandwidth of a joint torque sensor according to claim 1, characterized in that: The excitation signal generating unit is fixedly connected to the test bracket by screws, and the test bracket is fixedly connected to the external test bench by screws; one end of the fixing flange is fixedly connected to the test bracket by bolts.

4. The device for detecting bandwidth of a joint torque sensor according to claim 1, characterized in that: The input connection flange is fixedly connected to the output shaft of the excitation signal generating unit by means of screws, and the other side of the input connection flange is fixedly connected to the inner ring of the torque sensor by means of bolts.

5. The device for detecting bandwidth of a joint torque sensor according to claim 1, characterized in that: The drive and signal acquisition module is connected to the host computer through the host computer connection line for communication. The host computer controls the rotation frequency of the excitation signal generating unit in real time and collects the output response of the torque sensor at that moment to analyze the bandwidth of the torque sensor.

6. The device for detecting bandwidth of a joint torque sensor according to claim 1, characterized in that: The input connection flange is sleeved in the fixed flange and connected to the excitation signal generating unit.

7. The device for detecting bandwidth of a joint torque sensor according to claim 1, characterized in that: The host computer controls the driving and signal acquisition module to output a fixed frequency signal so that the output shaft of the excitation signal generating unit rotates. The host computer collects and analyzes the output signal of the torque sensor in real time through the driving and signal acquisition module to obtain the amplitude and frequency of the signal collected by the torque sensor. Then the host computer controls the drive and signal acquisition module to perform linear frequency sweep on the system. The drive and signal acquisition module collects the output signal of the torque sensor at different frequencies in real time and sends it to the host computer. The host computer analyzes and displays the collected frequency, amplitude and phase in real time. When the amplitude of the output data of the torque sensor drops to a preset value, the test is stopped to obtain the bandwidth of the torque sensor of the tested joint.

8. The device for detecting bandwidth of a joint torque sensor according to claim 7, characterized in that: Under the control of the output signal of the driving and signal acquisition module, the output shaft of the excitation signal generating unit rotates in the form of a sine wave.

9. The device for detecting bandwidth of a joint torque sensor according to claim 7, characterized in that: The host computer controls the output frequency of the drive and signal acquisition module to continuously increase the frequency of the sine wave in a linear manner, thereby achieving linear frequency sweeping of the system.

10. The device for detecting bandwidth of a joint torque sensor according to claim 7, characterized in that: The preset value is -3dB.

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