CN111168718B - Device for detecting collision force and collision power of cooperative mechanical arm and environment - Google Patents
Device for detecting collision force and collision power of cooperative mechanical arm and environment Download PDFInfo
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- CN111168718B CN111168718B CN202010005860.XA CN202010005860A CN111168718B CN 111168718 B CN111168718 B CN 111168718B CN 202010005860 A CN202010005860 A CN 202010005860A CN 111168718 B CN111168718 B CN 111168718B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0052—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes measuring forces due to impact
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0095—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes measuring work or mechanical power
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a device for detecting the impact force and impact power of a cooperative mechanical arm and the environment. The measuring auxiliary device comprises a testing platform and a measuring stand column, the measuring device is composed of a bearing plate, a guide column, an elastic element, an adapter plate, a force sensor and a laser displacement sensor, 4 measuring devices are respectively installed on the side face, the front face and the top of the measuring stand column and used for detecting the collision in different directions, the testing stand column is installed on the table top of the testing platform, and a data acquisition device is installed in a case of the testing platform and used for acquiring signals of the force sensor and the laser displacement sensor. The invention can be used for detecting the force curve, the acting curve and the power curve of the cooperative mechanical arm when the cooperative mechanical arm collides.
Description
Technical Field
The invention relates to the technical field of safety detection, in particular to a device for detecting the impact force and the impact power of a cooperative mechanical arm and the environment.
Background
With the development of science and technology, intelligent manufacturing is gradually mature, and with the continuous expansion of the working range of robots in the production and manufacturing process, the cooperation between the robots and the human beings starts to be more close, and the safety problems of the robots are continuously exposed. At present, the safety standards related to the cooperative mechanical arm are GB 11291.1-2011 and GB11291.2-2013, and the two standards are mainly applicable to the traditional industrial robot. However, the collaborative robot is developing from a man-machine isolated working environment to a man-machine integrated working environment, the safety standard ISO/TS 15066 and 2016 for the collaborative robot indicates that the power and force of the collaborative robot should be limited, the evaluation of the collaborative robot requires testing the force and pressure under quasi-static and dynamic conditions, and the testing conditions are different due to different positions of the human body contacted by the collaborative robot.
Disclosure of Invention
The embodiment of the invention provides a device for detecting the impact force and the impact power of a cooperative type mechanical arm and the environment, which can meet the safety standard of the cooperative type mechanical arm, bear the impact when the cooperative type mechanical arm to be detected collides and collect the impact force and the power curve.
The embodiment of the invention provides a device for detecting the impact force and the impact power of a cooperative mechanical arm and environment, which is characterized by comprising the following components: the device comprises a measurement auxiliary device, a measurement device and a data acquisition unit;
the measurement auxiliary device is used for providing a measurement platform for the measurement device, the data acquisition unit and the cooperative mechanical arm to be detected;
the measuring device is arranged on the auxiliary measuring device and is used for bearing impact brought by collision when the cooperative mechanical arm to be detected collides with the measuring device and measuring impact force and displacement generated in collision;
and the data acquisition unit is connected with the measuring device and used for acquiring the impact force and the displacement detected by the measuring device and transmitting the impact force and the displacement to computer equipment so that the computer equipment can generate a corresponding force curve, a corresponding work curve and a corresponding power curve.
Furthermore, the auxiliary measuring device comprises a testing platform and a measuring upright post, wherein the testing platform also comprises a testing table top and a case; the test platform surface is provided with a mounting groove for mounting the measuring upright post and the cooperative mechanical arm to be detected; the measuring upright post is used for mounting the measuring device; the case is used for installing the data acquisition unit.
Furthermore, the measuring device at least comprises a bearing plate, a guide post, an elastic element, an adapter plate, a force sensor and a laser displacement sensor;
the bearing plate is positioned at the uppermost part of the measuring device and is used for bearing the impact force when collision occurs;
the guide post penetrates through the bearing plate and the adapter plate, is vertically arranged on the measuring upright post and is used for guiding the displacement of the bearing plate when collision occurs;
the elastic element is sleeved on the guide post between the bearing plate and the adapter plate and used for providing buffer for the measuring device when collision occurs;
the adapter plate is arranged below the elastic element and used for enabling the force sensor to be stressed uniformly when collision happens;
the force sensor is arranged between the adapter plate and the measuring upright column and used for obtaining a force signal based on the extrusion of the adapter plate when collision occurs;
the laser displacement sensor is positioned on the measuring upright column and used for measuring the linear displacement variation of the bearing plate when collision occurs.
Furthermore, the measuring point of the laser displacement sensor is positioned on the lower surface of the bearing plate.
Further, the measuring device is of a cylindrical structure and comprises 4 guide columns which are uniformly arranged in the circumferential direction and vertically arranged on the measuring upright column.
Further, each guide post in the measuring device is provided with 1 linear bearing for limiting the force bearing plate to move along the direction of the guide post when collision occurs.
Furthermore, the data collector comprises a force sensor collecting module and a laser displacement sensor collecting module.
Furthermore, the measuring column is provided with a fabrication hole, and the data lines of the force sensor and the laser displacement sensor enter the measuring column through the fabrication hole and enter the case under the test platform to be connected with the data collector.
In the embodiment of the invention, the measurement auxiliary device, the measurement device and the data acquisition unit cooperate with each other to detect the impact force and the displacement caused by the collision of the cooperative mechanical arm, the detected data is transmitted to the computer equipment through the data acquisition unit, and the force curve, the work curve and the power curve generated by the collision are analyzed, so that the measurement device capable of meeting the safety standard of the cooperative mechanical arm is provided for the collision detection experiment of the cooperative mechanical arm.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a cooperative arm and ambient impact force and impact power detection apparatus provided in an embodiment of the present invention;
2-4 are schematic structural diagrams of the measurement auxiliary device provided by the embodiment of the invention;
fig. 5 and 6 are schematic structural diagrams of a measuring device provided by an embodiment of the invention
Fig. 7 is a schematic structural diagram of a data collector provided in an embodiment of the present invention.
Reference numerals: a measurement assisting device 1; a test platform 11; a test table 111; a chassis 112; measuring the upright 12; a process hole 121; a measuring device 2; a force bearing plate 21; a guide post 22; an elastic member 23; an interposer 24; a force sensor 25; a laser displacement sensor 26; a measurement point 261; a linear bearing 27; a screw 28; a protective cover 29; a data collector 3; a force sensor acquisition module 31; a laser displacement sensor acquisition module 32; a cooperative arm 4 to be detected; a computer device 5.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "including" and "having," and any variations thereof, in the description and claims of this invention and the above-described drawings are intended to cover a non-exclusive inclusion, and the terms "first" and "second" are used for distinguishing designations only and do not denote any order or magnitude of a number. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
The cooperative arm and ambient impact force and impact power detection apparatus shown in fig. 1-7 may include at least a measurement assisting apparatus 1, a measurement apparatus 2, and a data collector 3. The auxiliary measuring device 1 is used for providing a measuring platform for the measuring device 2, the data collector 3 and the to-be-detected cooperative mechanical arm 4. The measuring device 2 is installed on the auxiliary measuring device 1 and used for bearing impact caused by collision when the cooperative mechanical arm 4 to be detected collides with the measuring device 2 and measuring impact force and displacement generated in the collision. And the data acquisition unit 3 is connected with the measuring device 2 and is used for acquiring the impact force and the displacement detected by the measuring device 2 and transmitting the impact force and the displacement to the computer equipment 5 so that the computer equipment 5 can generate a corresponding force curve, a corresponding work curve and a corresponding power curve.
In a preferred implementation manner, the measurement assisting device 1 includes a test platform 11 and a measurement upright 12, where the test platform 11 further includes a test table 111 and a case 112, and a T-shaped mounting slot is formed in the test table 111 for mounting the measurement upright 12 and the cooperative mechanical arm 4 to be detected; the measuring column 12 is used for installing the measuring device 2; chassis 112 is used to mount data collector 3. It should be noted that the top and the side of the measuring column 12 are both provided with a fabrication hole 121 for installing the measuring device 2, which can be used to detect the collision in different directions. Alternatively, each measuring device 2 mounted on the measuring column 12 may be covered with a protective cover 29, i.e. a thin-walled sleeve, for protecting the components of the measuring device 2 in the event of a collision of the cooperating robot arm 4 to be detected.
In a preferred embodiment, the measuring device 2 may comprise at least a force-bearing plate 21, a guide post 22, an elastic element 23, an adapter plate 24, a force sensor 25 and a laser displacement sensor 26. The bearing plate 21 is located at the uppermost part of the measuring device 2, and the upper surface of the bearing plate 21 directly faces to the collision when the collision occurs, so that the impact force generated by the collision can be borne. The guide column 22 penetrates through the bearing plate 21 and the adapter plate 24 and is vertically arranged on the measuring upright column 12 and used for guiding the displacement of the bearing plate 21 when collision occurs. The elastic element 23 is sleeved on the guide column 22 between the bearing plate 21 and the adapter plate 24 and is used for providing buffer for the measuring device 2 when collision occurs. The adapter plate 24 is installed below the elastic member 23, and is used for uniformly applying force to the force sensor 25 when a collision occurs, thereby improving the measurement accuracy. A force sensor 25 is mounted between the adapter plate 24 and the measuring column 12, which can be connected to the adapter plate 24 by means of screws 28, for acquiring a force signal in the event of a crash on the basis of the pressing of the adapter plate 24. The laser displacement sensor 26 is positioned on the measuring upright post 12, and a measuring point 261 of the laser displacement sensor 26 is positioned on the lower surface of the bearing plate 21 and is used for measuring the linear displacement variation of the bearing plate 21 when collision occurs.
It can be understood that the bearing plate 21, the elastic element 23 and the adapter plate 24 arranged in the measuring device 2 enable the bearing plate 21 and the force sensor 25 to be flexibly connected, so that the measuring device 2 can detect the collision force and the power of the cooperative mechanical arm 4 to be detected under the quasi-static condition and the dynamic condition, and the detection result of the cooperative mechanical arm 4 to be detected meets the technical effect of the detection standard for the cooperative mechanical arm in ISO/TS 15066 and 2016.
It should be noted that the measuring device 2 of the present application is a cylindrical structure as a whole, and the guiding columns 22 may be 4 penetrating columns uniformly distributed in the circumferential direction and vertically installed on the measuring column 12. Preferably, the lateral section of the bearing plate 21 is in an i-shaped structure, 1 linear bearing 27 is arranged in the middle hollow position of the i-shaped structure, the guide column 22 penetrates through the linear bearing 27, and the linear bearing 27 can limit the bearing plate 21 to move only along the direction of the guide column 22 when collision occurs. It will be appreciated that each linear bearing 27 may be secured to the force-bearing plate 21 by two screws 28.
In alternative embodiments, the elastic element 23 may be a disc spring, a compression spring, rubber, or the like. When the elastic element 23 is selected, the mass of the elastic element 23 needs to be ensured to be small, so that the influence of inertia of the elastic element 23 on a measurement result is avoided when the cooperative type mechanical arm to be measured performs collision detection, and the accuracy of the measurement result is enhanced. Meanwhile, as the elastic element 23 is arranged between the bearing plate 21 and the adapter plate 24, the elastic element with proper hardness can be replaced according to the measured impact force.
It can be understood that the data lines of the force sensor 25 and the laser displacement sensor 26 enter the interior of the measuring column 12 through the fabrication hole 121 and enter the case 112 under the test platform 11 to be connected with the data collector 3.
In a specific implementation manner, the data collector 3 includes a force sensor collecting module 31 and a laser displacement sensor collecting module 32, the force sensor collecting module 31 obtains the impact force detected by the force sensor 25 through a data line, and the laser displacement sensor collecting module 32 obtains the linear displacement variation of the bearing plate 21 detected by the laser displacement sensor 26. The data acquisition device 3 can upload the acquired data to the computer device 5 based on a TCP/IP communication protocol, and the computer device 5 can analyze the data and realize real-time display of a force curve, an acting curve and a power curve.
It should be noted that the side sectional views of the other components of the measuring device shown in fig. 5 and 6, except the laser displacement sensor mounted on the measuring column, can be considered to be nearly axisymmetric, the emphasis in the figures is to give structural schematic and related part labels to one side of symmetry (such as the right side of symmetry in fig. 6), and the other side which is not drawn or labeled can be understood by referring to the side which is drawn or labeled, and the structure which is not drawn on the other side cannot be considered to be absent.
The above is only a preferred embodiment of the present invention and is not intended to limit the present invention in any way. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the protection scope of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (7)
1. A cooperative arm and ambient impact force and impact power detection apparatus, comprising: the device comprises a measurement auxiliary device, a measurement device and a data acquisition unit;
the measurement auxiliary device is used for providing a measurement platform for the measurement device, the data acquisition unit and the cooperative mechanical arm to be detected;
the measuring device is arranged on the auxiliary measuring device and is used for bearing impact brought by collision when the cooperative mechanical arm to be detected collides with the measuring device and measuring impact force and displacement generated in collision;
the data acquisition unit is connected with the measuring device and used for acquiring the impact force and the displacement detected by the measuring device and transmitting the impact force and the displacement to computer equipment so that the computer equipment can generate a corresponding force curve, a corresponding work curve and a corresponding power curve;
the measuring device at least comprises a bearing plate, a guide post, an elastic element, an adapter plate, a force sensor and a laser displacement sensor;
the bearing plate is positioned at the uppermost part of the measuring device and is used for bearing the impact force when collision occurs;
the guide post penetrates through the bearing plate and the adapter plate, is vertically arranged on the measuring upright post and is used for guiding the displacement of the bearing plate when collision occurs;
the elastic element is sleeved on the guide post between the bearing plate and the adapter plate and used for providing buffer for the measuring device when collision occurs;
the adapter plate is arranged below the elastic element and used for enabling the force sensor to be stressed uniformly when collision happens;
the force sensor is arranged between the adapter plate and the measuring upright column and used for obtaining a force signal based on the extrusion of the adapter plate when collision occurs;
the laser displacement sensor is positioned on the measuring upright column and used for measuring the linear displacement variation of the bearing plate when collision occurs.
2. The cooperative arm and ambient impact force and impact power detection apparatus of claim 1, wherein the measurement assistance device comprises a test platform and a measurement column, the test platform further comprising a test table and a chassis; the test platform surface is provided with a mounting groove for mounting the measuring upright post and the cooperative mechanical arm to be detected; the measuring upright post is used for mounting the measuring device; the case is used for installing the data acquisition unit.
3. The cooperative arm and ambient impact force and impact power detection apparatus according to claim 1, wherein the measuring point of the laser displacement sensor is located on the lower surface of the bearing plate.
4. The cooperative arm and ambient impact force and impact power detection apparatus of claim 1, wherein the measurement apparatus is a cylindrical structure comprising 4 guide posts uniformly arranged circumferentially and vertically mounted on the measurement post.
5. The cooperative arm and ambient impact force and impact power detection apparatus of claim 4 wherein each guide post in the measurement apparatus is configured with 1 linear bearing for limiting the movement of the bearing plate along the direction of the guide post when an impact occurs.
6. The cooperative arm and ambient impact force and impact power detection apparatus of claim 1, wherein the data collector comprises a force sensor collection module and a laser displacement sensor collection module.
7. The device for detecting the impact force and the impact power of the cooperative mechanical arm and the environment as claimed in claim 1, wherein the measuring column is provided with a fabrication hole, and the data lines of the force sensor and the laser displacement sensor enter the inside of the measuring column through the fabrication hole and enter a case below the testing platform to be connected with the data collector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010005860.XA CN111168718B (en) | 2020-01-03 | 2020-01-03 | Device for detecting collision force and collision power of cooperative mechanical arm and environment |
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| CN202010005860.XA CN111168718B (en) | 2020-01-03 | 2020-01-03 | Device for detecting collision force and collision power of cooperative mechanical arm and environment |
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| CN111168718B true CN111168718B (en) | 2021-06-22 |
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| CN112092015B (en) * | 2020-09-10 | 2022-02-01 | 中科新松有限公司 | Robot collision detection test method |
| CN113580203B (en) * | 2021-09-28 | 2021-11-30 | 季华实验室 | Evaluation system for mechanical arm collision detection performance |
| CN114833837B (en) * | 2022-05-16 | 2023-12-15 | 浙江谱麦科技有限公司 | Industrial robot tail end TCP transfer method |
| JP2024086352A (en) * | 2022-12-16 | 2024-06-27 | セイコーエプソン株式会社 | Robot inspection system |
| DE102023106524A1 (en) | 2023-03-15 | 2024-09-19 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Device and method for determining and/or determining traction forces of a robot system and method for controlling a robot system |
| CN116330355B (en) * | 2023-05-30 | 2023-08-04 | 山东致远通信网络有限公司 | AGV intelligent robot braking performance testing arrangement |
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