Robot Force Sensor Mounting for Irregular Installation Surfaces
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Solution Overview
Problem
Existing robot force sensors tend to be distorted when fixed to irregular surfaces, leading to a reduction in detection accuracy due to the distortion of the fixed portion during installation.
Innovation Solution
A robot system with a force detection section coupled to the base, a coupling member having convex parts that contact the force detection section, and first fixing members that secure the force detection section and coupling member, along with spacers to separate and stabilize the force detection section from the coupling member, reducing the impact of surface irregularities and distortion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the force sensor is fixed directly to the installation surface via a plate-like fixing member, then the installation process is simple, but the force sensor becomes distorted when the installation surface has irregularities, reducing detection accuracy
Solution Approach 1:
The fixing structure is divided into multiple convex parts distributed on the coupling member, each independently contacting the force sensor at specific positions. This segmentation allows localized adaptation to surface irregularities while maintaining overall stability, preventing distortion of the force sensor during installation.
Solution Approach 2:
The coupling member acts as an intermediary component between the installation surface and the force sensor. It includes convex parts that contact the force sensor and corresponding concave parts that engage with the installation surface, mediating the connection and isolating the force sensor from direct contact with irregular surfaces.
2Device complexity
If the fixed portion of the force sensor is provided directly on the sensor, then the fixing structure is compact, but distortion occurs during fixation to irregular surfaces, reducing detection accuracy
Solution Approach 1:
The fixing function is extracted from the force sensor itself and transferred to the coupling member. The coupling member includes convex parts that contact the force sensor at specific positions, while the force sensor focuses solely on its detection function without integrated fixing structures, preventing distortion.
Solution Approach 2:
The coupling member serves as an intermediary that handles all fixing operations, including engagement with the installation surface and positioning of the force sensor. This separates the mechanical fixing functions from the sensitive force detection function, protecting the sensor from distortion.
3Measurement precision
If multiple convex parts are provided on the coupling member to contact the force detection section, then the stability and detection accuracy are improved, but the device complexity increases
Solution Approach 1:
The coupling member integrates multiple functions into a single component: it provides convex parts for force sensor contact, corresponding concave parts for installation surface engagement, and incorporates fixing member insertion holes. This merging reduces overall device complexity while maintaining detection accuracy through the distributed convex part structure.
Data Source
AI summary
A robot includes a base installed on an installation surface, a robot arm coupled to the base, a force detection section coupled to the base and detecting a force applied to the robot arm, a coupling member having a plurality of convex parts provided between the installation surface and the force detection section, projecting toward the force detection section side, and contacting the force detection section, and first fixing members provided in positions where the convex parts are provided and fixing the force detection section and the coupling member.