Robot tail end six-dimensional force sensor

Abstract

The utility model relates to the technical field of robots, in particular to a robot tail end six-dimensional force sensor, which comprises a main body piece, a sealing cover arranged on an upper side mounting rod of the main body piece, a bottom plate arranged on the lower side of the main body piece, a wiring end arranged on one side of the main body piece, and an inner support arranged in the middle of the inner side of the main body piece, a plurality of pressure-sensitive elements are installed on the inner wall of the main body piece, and strain beams are installed between the pressure-sensitive elements and the inner support. In the six-dimensional force sensor at the tail end of the robot, a main body part of the sensor adopts an annular structure, and a pressure-sensitive element and a strain beam are mounted on the inner wall, so that the sensor can sensitively sense and respond to forces and torques from different directions. In addition, through the ingenious design of the threading pipe, the problem that a cable is difficult to thread and position in a traditional sensor is solved. And the wire pressing rod and the wire pressing plate are matched for use, so that the firm fixation of the cable is realized, and the connection and maintenance of the cable are also facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a six-dimensional force sensor at the end of a robot. Background Art

[0002] With the continuous development of automation and intelligent manufacturing technology, robots are increasingly used in the fields of industry, medical treatment, services, etc. In these applications, the end effector of the robot usually needs to interact with the external environment, such as grasping, handling, assembly, etc. In order to achieve precise operation and control, it is necessary to measure the force and torque between the end effector of the robot and the external environment in real time and accurately.

[0003] Traditional force sensors can usually only measure force and torque in a single direction or plane, and cannot meet the complex operation requirements of the robot's end effector in multi-dimensional space. In addition, due to the large number of sensors, it is inconvenient to perform cable threading and positioning operations. Utility Model Content

[0004] The purpose of the utility model is to provide a six-dimensional force sensor at the end of a robot to solve the problem that traditional force sensors mentioned in the above background technology can usually only measure force and torque in a single direction or plane, cannot meet the complex operation requirements of the robot end effector in a multi-dimensional space, and are inconvenient to perform cable threading and positioning operations due to the large number of sensors.

[0005] To achieve the above-mentioned purpose, the utility model provides a six-dimensional force sensor at the end of a robot, including a main body, a sealing cover is installed on the upper mounting rod of the main body, a bottom plate is installed on the lower side of the main body, a wiring terminal is installed on one side of the main body, the main body is an annular structure, an inner support is arranged in the middle part of the inner side of the main body, a plurality of pressure-sensitive elements are installed on the inner wall of the main body, and a strain beam is installed between the pressure-sensitive element and the inner support.

[0006] Preferably, a locking hole is provided on the surface of the base plate, a boss is provided on the inner side of the bottom of the main body, a base plate mounting hole is provided on the surface of the boss, and the base plate is locked on the boss by bolts.

[0007] Preferably, a sealing cover mounting hole is provided on the side of the main body, and the sealing cover is locked on the top of the main body by bolts.

[0008] Preferably, a sealing ring is provided on the bottom side of the sealing cover.

[0009] Preferably, a wire threading tube is installed on the inner side of the main body near the wiring terminal, a wire pressing rod is installed on the wire threading tube, the outer wall of the wire pressing rod is provided with an external thread, a threaded hole is provided on the top of the wire threading tube, and the wire pressing rod is threadedly connected to the threaded hole.

[0010] Preferably, a wire pressing plate is installed at the bottom end of the wire pressing rod.

[0011] Preferably, the wiring of the pressure-sensitive element passes through a wire tube and is clamped and fixed by a wire clamping plate, and the outer end of the pressure-sensitive element is connected to the wiring terminal.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] In the six-dimensional force sensor at the end of the robot, the main body of the sensor adopts a ring structure, and the inner wall is installed with a pressure-sensitive element and a strain beam. This layout enables the sensor to sensitively sense and respond to forces and torques from different directions. At the same time, the setting of the internal support enhances the structural stability of the sensor and ensures the accuracy of the measurement results. The utility model also solves the problem of difficult cable threading and positioning in traditional sensors through the clever design of the threading tube. The coordinated use of the wire pressing rod and the wire pressing plate not only achieves the firm fixation of the cable, but also facilitates the connection and maintenance of the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0015] Figure 2 It is a schematic diagram of the explosion structure of the utility model;

[0016] Figure 3 This is one of the structural schematic diagrams of the main body of the utility model;

[0017] Figure 4 This is the second structural diagram of the main body of the utility model;

[0018] Figure 5 It is a structural schematic diagram of the threading tube in the utility model.

[0019] The meaning of each number in the figure is:

[0020] 1. Main body; 11. Shell; 12. Inner support; 13. Strain beam; 14. Pressure sensitive element; 15. Boss; 151. Bottom plate mounting hole; 16. Sealing cover mounting hole; 2. Sealing cover; 21. Mounting hole; 22. Sealing ring; 3. Wiring terminal; 4. Bottom plate; 41. Locking hole; 5. Wire threading tube; 51. Wire pressing rod; 52. Wire pressing plate. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] The utility model provides a six-dimensional force sensor at the end of a robot, such as Figure 1-Figure 5 As shown, it includes a main body 1, and a shell 11 is provided on the outer side of the main body 1 to protect the main body 1. The upper mounting rod of the main body 1 is provided with a sealing cover 2, and a mounting hole is provided in the middle of the sealing cover 2 for mounting on the arm of the robot. A bottom plate 4 is installed on the lower side of the main body 1, and a terminal 3 is installed on one side of the main body 1. The main body 1 is a ring structure, and an inner support 12 is provided in the middle of the inner side of the main body 1. A plurality of pressure-sensitive elements 14 are installed on the inner wall of the main body 1, and a strain beam 13 is installed between the pressure-sensitive element 14 and the inner support 12. The pressure-sensitive element 14 is a key part of the sensor for measuring force. When an external force acts on the sensor, the pressure-sensitive element will generate a corresponding electrical signal change. The strain beam 13 is located between the pressure-sensitive element and the inner support 12. When subjected to an external force, the strain beam will deform. This deformation can be detected by the pressure-sensitive element and converted into an electrical signal output. Through the combined layout of multiple pressure-sensitive elements and strain beams, the sensor can sense forces in three directions (X, Y, Z). In order to measure torques in three directions (Mx, My, Mz), the internal structure design of the sensor must take into account the vector nature of the force and the rotational effect of the torque. By arranging the pressure-sensitive elements 14 and the strain beams 13 in different directions and using the relative position and angle relationship between them, the magnitude and direction of the torque can be calculated. This usually involves complex mechanical models and mathematical calculations to ensure that the six-dimensional force and torque information is accurately extracted from the output signals of multiple pressure-sensitive elements 14.

[0023] In this embodiment, a locking hole 41 is provided on the surface of the base plate 4, a boss 15 is provided on the inner side of the bottom of the main body 1, and a base plate mounting hole 151 is provided on the surface of the boss 15. The base plate 4 is locked on the boss 15 by bolts to facilitate the installation and fixation of the base plate 4.

[0024] Specifically, a sealing cover mounting hole 16 is provided on the side of the main body 1, and a mounting hole 21 is correspondingly provided on the sealing cover 2. The sealing cover 2 is locked on the top of the main body 1 by bolts.

[0025] Furthermore, a sealing ring 22 is provided on the bottom side of the sealing cover 2 to ensure the sealing performance of the sealing cover 2 .

[0026] Furthermore, a wire threading tube 5 is installed on the inner side of the main body 1 near the terminal 3, and a wire pressing rod 51 is installed on the wire threading tube 5. The outer wall of the wire pressing rod 51 is provided with an external thread, and a threaded hole is provided at the top of the wire threading tube 5. The wire pressing rod 51 is threadedly connected with the threaded hole to facilitate the positioning of the cable through the wire threading tube.

[0027] Furthermore, a wire pressing plate 52 is installed at the bottom end of the wire pressing rod 51 for pressing and fixing the cables.

[0028] Furthermore, the wiring of the pressure-sensitive element 14 passes through the threading tube 5 and is compressed and fixed by the wire pressing plate 52 , and the outer end of the pressure-sensitive element 14 is connected to the wiring terminal 3 .

[0029] When the robot end six-dimensional force sensor of the utility model is in use, first, when external force or torque acts on the sensor, these forces and torques will be transmitted to the pressure-sensitive element 14 and the strain beam 13 through the bottom plate 4 and the main body 1. The pressure-sensitive element 14 is a key part of the sensor for measuring force. When it is subjected to external force, its resistance value will change, thereby generating a corresponding electrical signal output. The strain beam 13 is located between the pressure-sensitive element 14 and the inner support 12. When it is subjected to external force or torque, it will deform. This deformation can be detected by the pressure-sensitive element 14 and converted into an electrical signal output.

[0030] By arranging multiple pressure-sensitive elements 14 and strain beams 13 in different directions inside the sensor, and using the relative position and angle relationship between them, the force in the three directions of X, Y, and Z and the torque in the three directions of Mx, My, and Mz can be sensed. When external force or torque acts on the sensor, these forces and torques will produce different deformations and electrical signal outputs on different pressure-sensitive elements 14 and strain beams 13. By collecting, amplifying and processing these electrical signals, six-dimensional force and torque information can be extracted.

[0031] In actual applications, the end effector of the robot is connected to the sensor through the mounting hole on the sealing cover 2, and the sensor is fixed on the robot's arm. When the robot performs operations such as grasping, handling, and assembly, the sensor will sense and measure the multi-dimensional force and torque between the end effector of the robot and the external environment in real time. This information is then transmitted to the robot's control system for precise operation and control.

[0032] In addition, in order to facilitate the threading and positioning of the cable, a threading tube 5 and a wire pressing rod 51 structure are also designed inside the sensor. The wiring of the pressure-sensitive element 14 passes through the threading tube 5 and is pressed and fixed by the wire pressing plate 52 and the wire pressing rod 51 to ensure the firmness and stability of the cable. The outer wall of the wire pressing rod 51 is provided with an external thread, and a threaded hole is provided on the top of the threading tube 5. The wire pressing rod 51 is threadedly connected to the threaded hole. This design not only simplifies the management and maintenance of the cable, but also improves the reliability and durability of the sensor.

[0033] Finally, it should be noted that the electronic components in the varistor 14 in this embodiment are all universal standard parts or parts known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or through conventional experimental methods. In the idle space of this device, all the above-mentioned electrical components are connected by wires respectively, and the specific connection means should refer to the working sequence between the electrical components in the above-mentioned working principle to complete the electrical connection, which are all well-known technologies in the art.

[0034] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A robot end six-dimensional force sensor, comprising a main body (1), characterized in that: The upper mounting rod of the main body (1) is provided with a sealing cover (2), the lower side of the main body (1) is provided with a bottom plate (4), one side of the main body (1) is provided with a terminal (3), the main body (1) is an annular structure, an inner support (12) is provided in the middle of the inner side of the main body (1), a plurality of pressure-sensitive elements (14) are installed on the inner wall of the main body (1), and a strain beam (13) is installed between the pressure-sensitive element (14) and the inner support (12).

2. The robot end six-dimensional force sensor according to claim 1, characterized in that: The surface of the bottom plate (4) is provided with a locking hole (41), the inner side of the bottom of the main body (1) is provided with a boss (15), the surface of the boss (15) is provided with a bottom plate mounting hole (151), and the bottom plate (4) is locked on the boss (15) by bolts.

3. The robot end six-dimensional force sensor according to claim 1, characterized in that: A sealing cover mounting hole (16) is provided on the side of the main body (1), and the sealing cover (2) is fastened to the top of the main body (1) by means of bolts.

4. The robot end six-dimensional force sensor according to claim 1, characterized in that: A sealing ring (22) is provided on the bottom side of the sealing cover (2).

5. The robot end six-dimensional force sensor according to claim 1, characterized in that: A wire threading tube (5) is installed on the inner side of the main body (1) near the wiring terminal (3), a wire pressing rod (51) is installed on the wire threading tube (5), an outer wall of the wire pressing rod (51) is provided with an external thread, a threaded hole is provided at the top of the wire threading tube (5), and the wire pressing rod (51) is threadedly connected to the threaded hole.

6. The robot end six-dimensional force sensor according to claim 5, characterized in that: A wire pressing plate (52) is installed at the bottom end of the wire pressing rod (51).

7. The robot end six-dimensional force sensor according to claim 6, characterized in that: The wiring of the pressure-sensitive element (14) passes through the wire threading tube (5) and is compressed and fixed by a wire pressing plate (52), and the outer end of the pressure-sensitive element (14) is connected to the wiring terminal (3).

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