CN109514589A - A kind of force-measuring type robot end device - Google Patents
A kind of force-measuring type robot end device Download PDFInfo
- Publication number
- CN109514589A CN109514589A CN201811514661.0A CN201811514661A CN109514589A CN 109514589 A CN109514589 A CN 109514589A CN 201811514661 A CN201811514661 A CN 201811514661A CN 109514589 A CN109514589 A CN 109514589A
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- China
- Prior art keywords
- force
- transmission parts
- force transmission
- clipping
- hinge seat
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The present invention relates to a kind of force-measuring type robot end devices, including fixed handle, multi-dimension force sensor, power transmission component, hinge seat and clipping dynamometer link, in which: the multi-dimension force sensor is mounted on the fixed handle；Hinge seat is fixed on the multi-dimension force sensor；The clipping dynamometer link is flexibly connected by the power transmission component with the hinge seat, the power transmission component is transmitted the force to when the clipping dynamometer link stress, the power transmission component transfers force to the hinge seat, the multi-dimension force sensor measures stress size, existing robot end's device is solved during actual measurement, due to measurement structure design it is unreasonable, moment of flexure can be generated, thus the technical issues of making measurement accuracy be affected.
Description
Technical field
The present invention relates to robot field, in particular to a kind of force-measuring type robot end device.
Background technique
Robot is the automatic device for executing work, is chiefly used in automated and semi-automatic production.With robot technology
Mature, end (the various executing agencies such as manipulator) product of robot is more and more diversified, the scene applied to
It is more and more.The speed of service of robot is fast, and positioning accuracy is high, and many stations can be replaced with robot in process
Manual operation, but due to the bad assurance of active force of the robot to product specific real-time perception and cannot be done as artificial
It adjusts out, the appearance of product and performance may be caused to damage due to exerting oneself excessive, and end equipment is in actual measurement
In the process, due to measurement structure design it is unreasonable, moment of flexure can be generated, so that measurement accuracy be made to be affected.
Summary of the invention
The purpose of the present invention is to provide a kind of force-measuring type robot end devices, to solve existing robot end's dress
Set during actual measurement, due to measurement structure design it is unreasonable, moment of flexure can be generated, so that measurement accuracy be made to be affected
The technical issues of.
To solve the above-mentioned problems, the present invention provides a kind of force-measuring type robot end device, including it is fixed handle, more
Dimensional force sensor, power transmission component, hinge seat and clipping dynamometer link, in which:
The multi-dimension force sensor is mounted on the fixed handle；
The hinge seat is fixed on the multi-dimension force sensor；
The clipping dynamometer link is flexibly connected by the power transmission component with the hinge seat, the clipping dynamometer link stress
When transmit the force to the power transmission component, the power transmission component transfers force to the hinge seat, and the multi-dimension force sensor is surveyed
Measure stress size.
Preferably, the power transmission component includes the first Force transmission parts, the second Force transmission parts and third Force transmission parts, described the
One Force transmission parts and the second Force transmission parts are rotatablely connected with the hinge seat；The third Force transmission parts and second power transmission
Component rotation connection；The clipping dynamometer link passes through the third Force transmission parts and first Force transmission parts are rotatablely connected；
The power transmission component, first Force transmission parts, the second power transmission are transmitted the force to when the clipping dynamometer link stress
Component and third Force transmission parts transfer force to the hinge seat by revolute pair.
Preferably, first Force transmission parts include two side plates, one end of both side plate is rotatablely connected by the first pin shaft
In the two sides of the hinge seat, the other end is rotatably connected on the two sides of the clipping dynamometer link by the second pin shaft.
Preferably, two side plates are fixedly connected.
Preferably, second Force transmission parts are H-type plate, the lower end of the H-type plate is connected by first pin shaft rotation
It connects in the two sides of the hinge seat, upper end is rotatablely connected by the third pin shaft and the third Force transmission parts.
Preferably, the third Force transmission parts are the L-type plate being formed by fixedly connecting by cross bar and vertical bar, the H-type plate
Upper end is rotatably connected on the two sides of the crossbar end by the third pin shaft；
One pilot hole is laterally set on the vertical bar, and the clipping dynamometer link passes through this pilot hole and forms prismatic pair；
The clipping dynamometer link is rotated after passing through the pilot hole by second pin shaft and first Force transmission parts
Connection.
Preferably, the multi-dimension force sensor is mounted in the mounting groove of the fixed handle, the rear cell wall of this mounting groove
Higher than preceding cell wall, the vertical bar of the third Force transmission parts is located on the outside of the rear cell wall of this mounting groove, the cross bar pass through it is described after
Cell wall is simultaneously rotatablely connected by the 4th pin shaft and hereafter cell wall, and the clipping dynamometer link passes through the rear cell wall.
Preferably, the clipping dynamometer link includes dynamometry bar body and probe, the head of the dynamometry bar body passes through institute
It states third Force transmission parts and first Force transmission parts is rotatablely connected；The probe is connected to the survey by clipping spring
The tail portion of power bar body.
Preferably, the elastomer of the multi-dimension force sensor is the combination of three groups of tangent bend beams, tangent bend beam described in three groups
Surface post foil gauge；
Several screw threads for connecting the fixed handle and hinge seat are set on the elastomer of the multi-dimension force sensor
Hole, the fixed handle and hinge seat are correspondingly arranged several threaded holes.
Compared with prior art, there are following technical effects by the present invention:
The present invention provides a kind of force-measuring type robot end device, mountable in robot and external environment contact jaw, uses
The size and Orientation of contact force is detected, can be to avoid the moment of flexure that is generated because measuring pole length, the shadow that measurement result is generated
It rings.
The configuration of the present invention is simple can make robot obtain more widely applying, more relative to the sensor of other forms
Dimensional force sensor has high sensitivity and reaction speed, can effectively ensure that the feedback speed of contact force.
Certainly, it implements any of the products of the present invention and does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it is therefore apparent that drawings in the following description are only some embodiments of the invention, for ability
For field technique personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.It is attached
In figure:
Fig. 1 is a kind of schematic perspective view of the embodiment of force-measuring type robot end device of the present invention；
Fig. 2 is a kind of cross-sectional view of the embodiment of force-measuring type robot end device of the present invention；
Fig. 3 is the structural schematic diagram of the embodiment of the first Force transmission parts of the invention；
Fig. 4 is the structural schematic diagram of the embodiment of clipping dynamometer link of the present invention；
Fig. 5 is the structural schematic diagram of the embodiment of multi-dimension force sensor of the present invention.
Specific embodiment
It is retouched below with reference to Fig. 1 to Fig. 5 is detailed to a kind of force-measuring type robot end device progress provided by the invention
It states, the present embodiment is implemented under the premise of the technical scheme of the present invention, gives detailed embodiment and specific behaviour
Make process, but protection scope of the present invention is not limited to following embodiments, those skilled in the art are not changing spirit of that invention
In the range of content, can it be modified and be polished.
Please refer to Fig. 1 and Fig. 2, a kind of force-measuring type robot end device, including fixed handle 1, multi-dimension force sensor 2,
Power transmission component, hinge seat 5 and clipping dynamometer link 7, in which:
The multi-dimension force sensor 2 is mounted on the fixed handle 1；
The hinge seat 5 is fixed on the multi-dimension force sensor 2；
The clipping dynamometer link 7 is flexibly connected by the power transmission component with the hinge seat 5, the clipping dynamometer link 7
The power transmission component is transmitted the force to when stress, the power transmission component transfers force to the hinge seat 5, the multi-dimensional force sensing
Device 2 measures stress size.
In the present embodiment, the power transmission component includes the first Force transmission parts 6, the second Force transmission parts 3 and third power transmission structure
Part 4, first Force transmission parts 6 and the second Force transmission parts 3 are rotatablely connected with the hinge seat 5；The third Force transmission parts 4
It is rotatablely connected with second Force transmission parts 3；The clipping dynamometer link 7 passes through the third Force transmission parts 4 and passes with described first
Power component 6 is rotatablely connected；
The power transmission component is transmitted the force to when 7 stress of clipping dynamometer link, first Force transmission parts 6, second pass
Power component 3 and third Force transmission parts 4 transfer force to the hinge seat 5 by revolute pair.
Further, referring to FIG. 3, first Force transmission parts 6 include two side plates 61, one end of both side plate 61 passes through
First pin shaft 8 is rotatably connected on the two sides of the hinge seat 5, and the other end is rotatably connected on the clipping by the second pin shaft 9 and surveys
The two sides of power bar 7.
Be between two side plates 61 it is relatively-stationary, in the present embodiment, between both side plate 61 tail portion by one connect
Extension bar 62 is fixedly connected.
Further, second Force transmission parts 3 are H-type plate, and the lower end of the H-type plate passes through 8 turns of first pin shaft
The dynamic two sides for being connected to the hinge seat 5, upper end are rotatablely connected by the third pin shaft 10 with the third Force transmission parts 4.
Further, the third Force transmission parts 4 are the L-type plate being formed by fixedly connecting by cross bar 43 and vertical bar 42, the H
The upper end of template is rotatably connected on the two sides of 43 end of cross bar by the third pin shaft 10；
One pilot hole 41 is laterally set on the vertical bar 42, and the clipping dynamometer link 7 passes through this pilot hole 41 and forms movement
It is secondary；
The clipping dynamometer link 7 passes through second pin shaft 9 and first Force transmission parts 6 after passing through the pilot hole 41
Rotation connection.
Further, the multi-dimension force sensor 2 is mounted in the mounting groove 11 of the fixed handle 1, this mounting groove 11
Rear cell wall be higher than preceding cell wall, the vertical bar 42 of the third Force transmission parts 4 be located at this mounting groove 11 rear cell wall outside, the cross
Bar 43 pass through it is described after cell wall and be rotatablely connected by the 4th pin shaft and hereafter cell wall, the clipping dynamometer link 7 pass through it is described after
Cell wall.
Further, referring to FIG. 4, the clipping dynamometer link 7 includes dynamometry bar body 71 and probe 72, the dynamometer link
The head of ontology 71 passes through the third Force transmission parts 4 and is rotatablely connected with first Force transmission parts 6；The probe 72 passes through limit
73 elastic connection of width spring is pre-tightened in the tail portion of the dynamometry bar body 71, the protection of clipping spring 73.
Further, referring to FIG. 5, the elastomer of the multi-dimension force sensor 2 be three groups of tangent bend beams 21 combination, three
Post foil gauge in the surface of the group tangent bend beam 21.The foil gauge generates Light deformation with tangent bend beam, causes resistance variations,
By straining the change of analog electrical signal to feed back the change of the tangent bend beam contact force.
Several spiral shells for connecting the fixed handle 1 and hinge seat 5 are set on the elastomer of the multi-dimension force sensor 2
Pit, the fixed handle 1 and hinge seat 5 are correspondingly arranged several threaded holes, and fixed handle 1 and hinge seat 5 pass through bolt respectively
It is fixedly connected with the elastomer of multi-dimension force sensor 2.
Force-measuring type robot end's device of the present embodiment, referring to FIG. 1, when clipping 7 stress of dynamometer link, institute
The power of both direction is delivered separately to the first Force transmission parts 65 of X-direction and the second Force transmission parts 3 of Y-direction by the dynamometer link stated
With third Force transmission parts 4, the generation of moment of flexure is avoided by revolute pair transmitting, the hinge seat 5 is transferred force to, makes described
Multi-dimension force sensor 2 measures the size of stress in both direction, and therefore, the present invention, can when measuring to end contact force
In the case where avoiding moment of flexure from generating, to pass to sensor, ensure that contact force size and Orientation the power of both direction
Accurately.
Disclosed above is only the specific embodiment of the application, and however, this application is not limited to this, any this field
Technical staff can think variation, should all fall in the protection domain of the application.
Claims (9)
1. a kind of force-measuring type robot end device, which is characterized in that including fixed handle, multi-dimension force sensor, power transmission component,
Hinge seat and clipping dynamometer link, in which:
The multi-dimension force sensor is mounted on the fixed handle；
The hinge seat is fixed on the multi-dimension force sensor；
The clipping dynamometer link is flexibly connected by the power transmission component with the hinge seat, will when the clipping dynamometer link stress
Power passes to the power transmission component, and the power transmission component transfers force to the hinge seat, the multi-dimension force sensor measurement by
Power size.
2. a kind of force-measuring type robot end device as described in claim 1, which is characterized in that the power transmission component includes the
One Force transmission parts, the second Force transmission parts and third Force transmission parts, first Force transmission parts and the second Force transmission parts with it is described
Hinge seat rotation connection；The third Force transmission parts and second Force transmission parts are rotatablely connected；The clipping dynamometer link passes through
The third Force transmission parts and first Force transmission parts are rotatablely connected；
The power transmission component, first Force transmission parts, the second Force transmission parts are transmitted the force to when the clipping dynamometer link stress
The hinge seat is transferred force to by revolute pair with third Force transmission parts.
3. a kind of force-measuring type robot end device as described in claim 1, which is characterized in that the first Force transmission parts packet
Two side plates are included, one end of both side plate is rotatably connected on the two sides of the hinge seat by the first pin shaft, and the other end passes through second
Pin shaft is rotatably connected on the two sides of the clipping dynamometer link.
4. a kind of force-measuring type robot end device as claimed in claim 3, which is characterized in that two side plates are fixed to be connected
It connects.
5. a kind of force-measuring type robot end device as claimed in claim 3, which is characterized in that second Force transmission parts are
H-type plate, the lower end of the H-type plate are rotatably connected on the two sides of the hinge seat by first pin shaft, and upper end passes through described
Third pin shaft and the third Force transmission parts are rotatablely connected.
6. a kind of force-measuring type robot end device as claimed in claim 5, which is characterized in that the third Force transmission parts are
The L-type plate being formed by fixedly connecting by cross bar and vertical bar, the upper end of the H-type plate are rotatably connected on described by the third pin shaft
The two sides of crossbar end；
One pilot hole is laterally set on the vertical bar, and the clipping dynamometer link passes through this pilot hole and forms prismatic pair；
The clipping dynamometer link is rotatablely connected after passing through the pilot hole by second pin shaft and first Force transmission parts.
7. a kind of force-measuring type robot end device as claimed in claim 6, which is characterized in that the multi-dimension force sensor peace
In the mounting groove of the fixed handle, the rear cell wall of this mounting groove is higher than preceding cell wall, the vertical bar of the third Force transmission parts
On the outside of the rear cell wall of this mounting groove, the cross bar passes through the rear cell wall and is connected by the 4th pin shaft and the rotation of hereafter cell wall
It connects, the clipping dynamometer link passes through the rear cell wall.
8. a kind of force-measuring type robot end device as described in claim 1, which is characterized in that the clipping dynamometer link includes
Dynamometry bar body and probe, the head of the dynamometry bar body passes through the third Force transmission parts and first Force transmission parts turn
Dynamic connection；Described pop one's head in is connected to the tail portion of the dynamometry bar body by clipping spring.
9. a kind of force-measuring type robot end device as described in claim 1, which is characterized in that the multi-dimension force sensor
Elastomer is the combination of three groups of tangent bend beams, and foil gauge is posted on the surface of tangent bend beam described in three groups；
Several threaded holes for connecting the fixed handle and hinge seat, institute are set on the elastomer of the multi-dimension force sensor
It states fixed handle and hinge seat is correspondingly arranged several threaded holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811514661.0A CN109514589B (en) | 2018-12-11 | 2018-12-11 | Force measuring type robot end device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811514661.0A CN109514589B (en) | 2018-12-11 | 2018-12-11 | Force measuring type robot end device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109514589A true CN109514589A (en) | 2019-03-26 |
| CN109514589B CN109514589B (en) | 2021-12-17 |
Family
ID=65796249
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811514661.0A Active CN109514589B (en) | 2018-12-11 | 2018-12-11 | Force measuring type robot end device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109514589B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941445A (en) * | 2020-08-13 | 2020-11-17 | 燕山大学 | Multi-branch deformable robot protection device |
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|---|---|---|---|---|
| FR2589238A1 (en) * | 1985-10-25 | 1987-04-30 | Commissariat Energie Atomique | SENSOR FOR EFFORT AND TORQUE MEASUREMENT AND APPLICATIONS OF SUCH A SENSOR TO A PROBE AND TO A GRIPPING DEVICE |
| CA2264827A1 (en) * | 1997-07-15 | 1999-01-28 | Mts Systems Corporation | Multi-axis load cell |
| KR100760123B1 (en) * | 2006-11-01 | 2007-09-18 | 경상대학교산학협력단 | 6-axis force/moment for intelligent robot's ankle |
| CN101825507A (en) * | 2010-05-25 | 2010-09-08 | 上海应用技术学院 | Multi-axis force transducer with double-bending beam structure |
| CN101907502A (en) * | 2010-07-23 | 2010-12-08 | 燕山大学 | Parallel-connection three-dimensional force sensor with decoupling structure |
| CN103308234A (en) * | 2013-05-14 | 2013-09-18 | 同济大学 | Internal force measuring sensor |
| CN103630285A (en) * | 2013-12-13 | 2014-03-12 | 中国航天空气动力技术研究院 | Device for measuring RCS (Radar Cross Section) jet disturbance force and disturbance moment of near space aircraft |
| CN106999252A (en) * | 2015-01-09 | 2017-08-01 | 史赛克公司 | Independent force/torque sensor assembly for force controlled robot |
-
2018
- 2018-12-11 CN CN201811514661.0A patent/CN109514589B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2589238A1 (en) * | 1985-10-25 | 1987-04-30 | Commissariat Energie Atomique | SENSOR FOR EFFORT AND TORQUE MEASUREMENT AND APPLICATIONS OF SUCH A SENSOR TO A PROBE AND TO A GRIPPING DEVICE |
| CA2264827A1 (en) * | 1997-07-15 | 1999-01-28 | Mts Systems Corporation | Multi-axis load cell |
| KR100760123B1 (en) * | 2006-11-01 | 2007-09-18 | 경상대학교산학협력단 | 6-axis force/moment for intelligent robot's ankle |
| CN101825507A (en) * | 2010-05-25 | 2010-09-08 | 上海应用技术学院 | Multi-axis force transducer with double-bending beam structure |
| CN101907502A (en) * | 2010-07-23 | 2010-12-08 | 燕山大学 | Parallel-connection three-dimensional force sensor with decoupling structure |
| CN103308234A (en) * | 2013-05-14 | 2013-09-18 | 同济大学 | Internal force measuring sensor |
| CN103630285A (en) * | 2013-12-13 | 2014-03-12 | 中国航天空气动力技术研究院 | Device for measuring RCS (Radar Cross Section) jet disturbance force and disturbance moment of near space aircraft |
| CN106999252A (en) * | 2015-01-09 | 2017-08-01 | 史赛克公司 | Independent force/torque sensor assembly for force controlled robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941445A (en) * | 2020-08-13 | 2020-11-17 | 燕山大学 | Multi-branch deformable robot protection device |
| CN111941445B (en) * | 2020-08-13 | 2022-09-16 | 燕山大学 | Multi-branch deformable robot protection device |
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| Publication number | Publication date |
|---|---|
| CN109514589B (en) | 2021-12-17 |
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