CN109514589B - Force measuring type robot end device - Google Patents
Force measuring type robot end device Download PDFInfo
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- CN109514589B CN109514589B CN201811514661.0A CN201811514661A CN109514589B CN 109514589 B CN109514589 B CN 109514589B CN 201811514661 A CN201811514661 A CN 201811514661A CN 109514589 B CN109514589 B CN 109514589B
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- force transmission
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- measuring rod
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- 230000005540 biological transmission Effects 0.000 claims abstract description 79
- 238000005452 bending Methods 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 238000012546 transfer Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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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 invention relates to a force measuring type robot end device, which comprises a fixed handle, a multi-dimensional force sensor, a force transmission assembly, a hinge seat and an amplitude limiting force measuring rod, wherein: the multi-dimensional force sensor is arranged on the fixed handle; the hinge base is fixedly arranged on the multi-dimensional force sensor; the limiting force measuring rod is movably connected with the hinge seat through the force transmission assembly, force is transmitted to the force transmission assembly when the limiting force measuring rod is stressed, the force transmission assembly transmits the force to the hinge seat, the multidimensional force sensor measures the stress, and the technical problem that in the actual measurement process of the existing robot tail end device, due to the fact that the measurement structural design is unreasonable, bending moment can be generated, and therefore measurement accuracy is affected is solved.
Description
Technical Field
The invention relates to the field of robots, in particular to a force measuring type robot end device.
Background
Robots are devices that perform work automatically, and are used for automated and semi-automated production. With the development and maturity of the robot technology, the products of the tail end (various execution mechanisms such as a manipulator) of the robot are more and more diversified, and the application scenes are more and more. The functioning speed of robot is fast, and positioning accuracy is high, and many stations can all replace manual operation with the robot in the course of working, nevertheless because the robot is not good to the effort of product grasp, can not be like artifical specific real-time perception and make the adjustment, probably cause the damage because of exerting oneself the outward appearance and the performance that lead to the product too big, and end device is in the actual measurement in-process, because measure structural design's unreasonable, can produce the moment of flexure, thereby make measurement accuracy receive the influence.
Disclosure of Invention
The invention aims to provide a force measuring type robot end device, which aims to solve the technical problem that in the actual measurement process of the existing robot end device, due to the fact that the measurement structure is unreasonable in design, bending moment can be generated, and therefore the measurement accuracy is affected.
In order to solve the above problems, the present invention provides a force measuring robot end device, which comprises a fixed handle, a multi-dimensional force sensor, a force transmission assembly, a hinge base and a limiting force measuring rod, wherein:
the multi-dimensional force sensor is arranged on the fixed handle;
the hinge seat is fixedly arranged on the multi-dimensional force sensor;
the limiting force measuring rod is movably connected with the hinge seat through the force transmission assembly, force is transmitted to the force transmission assembly when the limiting force measuring rod is stressed, the force transmission assembly transmits the force to the hinge seat, and the multi-dimensional force sensor measures the stress.
Preferably, the force transmission assembly comprises a first force transmission member, a second force transmission member and a third force transmission member, wherein the first force transmission member and the second force transmission member are both in rotational connection with the hinge base; the third force transfer member is rotationally connected with the second force transfer member; the amplitude limiting force measuring rod penetrates through the third force transmission component and is in rotary connection with the first force transmission component;
when the amplitude limiting force measuring rod is stressed, force is transmitted to the force transmission assembly, and the first force transmission component, the second force transmission component and the third force transmission component transmit force to the hinge seat through the revolute pair.
Preferably, the first force transmission member comprises two side plates, one ends of the two side plates are rotatably connected to two sides of the hinge base through a first pin shaft, and the other ends of the two side plates are rotatably connected to two sides of the amplitude limiting force measuring rod through a second pin shaft.
Preferably, the two side plates are fixedly connected.
Preferably, the second force transmission component is an H-shaped plate, the lower end of the H-shaped plate is rotatably connected to two sides of the hinge seat through the first pin shaft, and the upper end of the H-shaped plate is rotatably connected with the third force transmission component through the third pin shaft.
Preferably, the third force transmission component is an L-shaped plate formed by fixedly connecting a cross rod and a vertical rod, and the upper end of the H-shaped plate is rotatably connected to two sides of the end part of the cross rod through a third pin shaft;
a guide hole is transversely formed in the vertical rod, and the amplitude limiting force measuring rod penetrates through the guide hole to form a moving pair;
and the amplitude limiting force measuring rod penetrates through the guide hole and then is rotationally connected with the first force transmission member through the second pin shaft.
Preferably, the multi-dimensional force sensor is installed in the installation groove of the fixed handle, the rear groove wall of the installation groove is higher than the front groove wall, the vertical rod of the third force transmission member is located on the outer side of the rear groove wall of the installation groove, the horizontal rod penetrates through the rear groove wall and is rotatably connected with the rear groove wall through a fourth pin shaft, and the amplitude limiting force measuring rod penetrates through the rear groove wall.
Preferably, the amplitude limiting force measuring rod comprises a force measuring rod body and a probe, and the head of the force measuring rod body penetrates through the third force transmission component to be rotatably connected with the first force transmission component; the probe is elastically connected to the tail of the force measuring rod body through an amplitude limiting spring.
Preferably, the elastic body of the multi-dimensional force sensor is a combination of three groups of double bending beams, and strain gauges are attached to the surfaces of the three groups of double bending beams;
the elastic body of the multi-dimensional force sensor is provided with a plurality of threaded holes for connecting the fixed handle and the hinge seat, and the fixed handle and the hinge seat are correspondingly provided with a plurality of threaded holes.
Compared with the prior art, the invention has the following technical effects:
the invention provides a force measuring type robot end device which can be installed at a contact end of a robot and the external environment and used for detecting the magnitude and the direction of the contact force, and the influence of bending moment generated by the length of a measuring rod on a measuring result can be avoided.
The invention has simple structure, can make the robot more widely applied, has extremely high sensitivity and response speed compared with other sensors, and can effectively ensure the feedback speed of contact force.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. In the drawings:
fig. 1 is a schematic perspective view of an exemplary embodiment of a force measuring robot end device according to the present invention;
FIG. 2 is a cross-sectional view of an embodiment of a force measuring robot end unit according to the present invention;
FIG. 3 is a schematic structural diagram of a first force transfer member embodiment of the present invention;
FIG. 4 is a schematic construction of a third force transfer member embodiment of the invention;
fig. 5 is a schematic structural diagram of an embodiment of the multi-dimensional force sensor of the present invention.
Detailed Description
The force measuring type robot end device provided by the present invention will be described in detail with reference to fig. 1 to 5, and the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments, and those skilled in the art can modify and decorate the force measuring type robot end device within the scope of not changing the spirit and content of the present invention.
Referring to fig. 1 and 2, a force measuring robot end device includes a fixed handle 1, a multi-dimensional force sensor 2, a force transmission assembly, a hinge base 5, and a limiting force measuring rod 7, wherein:
the multi-dimensional force sensor 2 is arranged on the fixed handle 1;
the hinge seat 5 is fixedly arranged on the multi-dimensional force sensor 2;
the amplitude limiting force measuring rod 7 is movably connected with the hinge seat 5 through the force transmission component, force is transmitted to the force transmission component when the amplitude limiting force measuring rod 7 is stressed, the force transmission component transmits the force to the hinge seat 5, and the multidimensional force sensor 2 measures the stress.
In this embodiment, the force transmission assembly comprises a first force transmission member 6, a second force transmission member 3 and a third force transmission member 4, both the first force transmission member 6 and the second force transmission member 3 being in rotational connection with the hinge base 5; the third force transfer member 4 is in rotational connection with the second force transfer member 3; the amplitude limiting force measuring rod 7 penetrates through the third force transmission component 4 and is connected with the first force transmission component 6 in a rotating mode;
when the amplitude limiting force measuring rod 7 is stressed, force is transmitted to the force transmission assembly, and the first force transmission component 6, the second force transmission component 3 and the third force transmission component 4 transmit force to the hinge seat 5 through a revolute pair.
Further, referring to fig. 3, the first force transmission member 6 includes two side plates 61, one end of each of the two side plates 61 is rotatably connected to two sides of the hinge base 5 through a first pin 8, and the other end of each of the two side plates 61 is rotatably connected to two sides of the amplitude limiting force measuring rod 7 through a second pin 9.
The two side plates 61 are fixed relatively, and in this embodiment, the two side plates 61 are fixedly connected at the tail part by a connecting rod 62.
Furthermore, the second force transmission component 3 is an H-shaped plate, the lower end of the H-shaped plate is rotatably connected to the two sides of the hinge seat 5 through the first pin shaft 8, and the upper end of the H-shaped plate is rotatably connected with the third force transmission component 4 through the third pin shaft 10.
Further, the third force transmission component 4 is an L-shaped plate formed by fixedly connecting a cross rod 43 and a vertical rod 42, and the upper end of the H-shaped plate is rotatably connected to two sides of the end part of the cross rod 43 through the third pin shaft 10;
a guide hole 41 is transversely arranged on the vertical rod 42, and the amplitude limiting force measuring rod 7 penetrates through the guide hole 41 to form a moving pair;
the amplitude limiting force measuring rod 7 penetrates through the guide hole 41 and then is rotatably connected with the first force transmission component 6 through the second pin shaft 9.
Furthermore, the multi-dimensional force sensor 2 is installed in the mounting groove 11 of the fixed handle 1, the rear groove wall of the mounting groove 11 is higher than the front groove wall, the vertical rod 42 of the third force transmission member 4 is located on the outer side of the rear groove wall of the mounting groove 11, the horizontal rod 43 penetrates through the rear groove wall and is rotatably connected with the rear groove wall through a fourth pin shaft, and the amplitude limiting force measuring rod 7 penetrates through the rear groove wall.
Further, the amplitude limiting force measuring rod 7 comprises a force measuring rod body 71 and a probe 72, and the head of the force measuring rod body 71 passes through the third force transmission component 4 to be connected with the first force transmission component 6 in a rotating mode; the probe 72 is elastically connected to the tail of the force measuring rod body 71 through an amplitude limiting spring 73, and the amplitude limiting spring 73 is protected and pre-tightened.
Further, referring to fig. 5, the elastic body of the multi-dimensional force sensor 2 is a combination of three sets of double bending beams 21, and the surfaces of the three sets of double bending beams 21 are adhered with strain gauges. The strain gauge generates micro deformation along with the double-bending beam to cause resistance change, and the change of the contact force of the double-bending beam is fed back through the change of a strain analog electric signal.
The elastic body of the multidimensional force sensor 2 is provided with a plurality of threaded holes for connecting the fixed handle 1 and the hinge seat 5, the fixed handle 1 and the hinge seat 5 are correspondingly provided with a plurality of threaded holes, and the fixed handle 1 and the hinge seat 5 are respectively fixedly connected with the elastic body of the multidimensional force sensor 2 through bolts.
Referring to fig. 1, when the amplitude limiting force measuring rod 7 is stressed, the force measuring rod transmits forces in two directions to the first force transmission member 6 in the X direction and the second force transmission member 3 and the third force transmission member 4 in the Y direction, respectively, and transmits the forces to the hinge base 5 by the revolute pair to avoid the generation of bending moment, so that the multidimensional force sensor 2 measures the stress in the two directions.
The disclosure above is only one specific embodiment of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.
Claims (4)
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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811514661.0A CN109514589B (en) | 2018-12-11 | 2018-12-11 | Force measuring type robot end device |
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| CN109514589A CN109514589A (en) | 2019-03-26 |
| CN109514589B true CN109514589B (en) | 2021-12-17 |
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| CN201811514661.0A Active CN109514589B (en) | 2018-12-11 | 2018-12-11 | Force measuring type robot end device |
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| CN111941445B (en) * | 2020-08-13 | 2022-09-16 | 燕山大学 | A multi-branch deformable robot protection device |
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 | Ankle 6-axis force / moment sensor of humanoid robot |
| 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 | Three-dimensional force sensor with parallel 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 | Ankle 6-axis force / moment sensor of humanoid robot |
| 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 | Three-dimensional force sensor with parallel 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 |
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| CN109514589A (en) | 2019-03-26 |
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