CN115319740A - Calibration system and calibration method for joint torque sensor in cooperative robot - Google Patents
Calibration system and calibration method for joint torque sensor in cooperative robot Download PDFInfo
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- CN115319740A CN115319740A CN202210937655.6A CN202210937655A CN115319740A CN 115319740 A CN115319740 A CN 115319740A CN 202210937655 A CN202210937655 A CN 202210937655A CN 115319740 A CN115319740 A CN 115319740A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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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
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Abstract
The application provides a calibration system and a calibration method for a joint torque sensor in a cooperative robot, wherein the calibration system comprises a robot joint body, a rotating speed torque sensor, a bottom plate, a flange fixing seat, a flange, a horizontal rod, a signal acquisition device and an upper computer; the robot joint body and the rotating speed torque sensor are fixedly arranged on the bottom plate, the rotating speed torque sensor is connected with the tail end of the robot joint body and the flange fixing seat, the flange is fixedly arranged on the flange fixing seat, the torque sensor to be calibrated is arranged on the flange, and the horizontal rod is arranged on the flange; the signal acquisition device is used for acquiring a voltage signal of the torque sensor and a torque signal of the rotating speed torque sensor and sending the voltage signal and the torque signal to the upper computer, and the upper computer obtains a linearity trend line, a zero drift trend line and an overload characteristic curve of the torque sensor to be calibrated according to the received signals. The method and the device can accurately and reliably calibrate the characteristics of the torque sensor automatically.
Description
Technical Field
The application belongs to the field of sensor calibration, and particularly relates to a calibration system and a calibration method for a joint torque sensor in a cooperative robot.
Background
The rapid development of the cooperative robot technology and the continuous expansion of the application field thereof promote the joint of the cooperative robot to develop towards the direction of function diversification, feedback information precision and intellectualization. Currently, joint sensors of the cooperative robot joint include, but are not limited to, temperature sensors, moment sensors, and the like. The torque sensor plays a decisive role in measuring the joint torque and the tail end output force of the cooperative robot and protecting the joint overload.
At present, a resistance type one-dimensional torque sensor commonly used for a cooperative robot joint has the following characteristics: (1) Errors can be generated when the torque sensor recovers to a calibrated zero position of the sensor after measuring the joint force. (2) When the joint of the cooperative robot works beyond the rated torque, the torque sensor generates corresponding slope change so as to achieve the purpose of protecting the joint of the cooperative robot, and the numerical value change has different characteristics according to different types of the sensors.
The calibration of the robot joint torque sensor plays a key role in the actual use of the sensor, the function of the cooperative robot, the hardware protection of the cooperative robot and the actual sensor function, and the key for the test of the cooperative robot sensor is how to calibrate the torque sensor correctly. However, the calibration method conventionally used at present has the following disadvantages: the zero drift of the sensor and the overload characteristic of the resistance-type one-dimensional torque sensor can be roughly measured only by manually carrying out step loading along the clockwise direction on the resistance-type sensor and then sequentially carrying out load reduction and repeated operation for many times.
Disclosure of Invention
In order to overcome the problems in the related art at least to a certain extent, the application provides a calibration system and a calibration method for a joint torque sensor in a cooperative robot.
According to a first aspect of an embodiment of the present application, the present application provides a calibration system for a joint torque sensor in a cooperative robot, which includes a calibration device, a signal acquisition device and an upper computer; the calibration device comprises a robot joint body, a rotating speed torque sensor, a bottom plate, a flange fixing seat, a flange and a horizontal rod;
the robot joint body and the rotating speed torque sensor are fixedly arranged on the bottom plate, one end of the rotating speed torque sensor is connected with a concentric shaft at the tail end of the robot joint body, the other end of the rotating speed torque sensor is connected with the flange fixing seat, the flange is fixedly arranged on the flange fixing seat, a torque sensor to be calibrated is arranged on the flange, and the horizontal rod is arranged at the opposite end of the end, connected with the flange fixing seat, of the flange; the flange, the rotating speed torque sensor and the tail end of the robot joint body synchronously rotate;
the rotating speed torque sensor and the torque sensor to be calibrated are both connected with the signal acquisition device, and the signal acquisition device and the robot joint body are both connected with the upper computer;
the upper computer is used for controlling the robot joint body to rotate, the robot joint body drives the rotating speed torque sensor and the flange to rotate through a concentric shaft, the flange drives the horizontal rod to synchronously rotate, and the horizontal rod is in contact with the bottom plate in the rotating process to generate torque;
the signal acquisition device is used for acquiring a voltage signal of the torque sensor to be calibrated and a torque signal of the rotating speed torque sensor and sending the voltage signal and the torque signal to the upper computer, and the upper computer obtains a linearity trend line, a zero drift trend line and an overload characteristic curve of the torque sensor to be calibrated according to the received voltage signal and the received torque signal.
In the calibration system for the joint torque sensor in the cooperative robot, the upper computer fits voltage signals of the torque sensor in the clockwise and anticlockwise rotation processes according to the robot joint body from the initial position to obtain a linearity trend line of the torque sensor to be calibrated, and fits zero-position voltage information of the torque sensor in the clockwise and anticlockwise rotation processes according to the robot joint body from the initial position to obtain a zero-position drift trend line of the torque sensor to be calibrated; and the upper computer fits the voltage signal change conditions of the torque sensor in the clockwise and anticlockwise rotation process of the robot joint body from the initial position to obtain an overload characteristic line of the torque sensor to be calibrated.
According to a second aspect of the embodiments of the present application, the present application further provides a calibration method for a joint torque sensor in a cooperative robot, which includes connecting a torque sensor to be calibrated, a calibration device, a signal acquisition device and an upper computer; measuring zero offset and linearity of the torque sensor to be calibrated; and carrying out overload characteristic determination on the torque sensor to be calibrated.
In the calibration method of the joint torque sensor in the cooperative robot, the specific process of connecting the torque sensor to be calibrated, the calibration device, the signal acquisition device and the upper computer is as follows:
setting a calibration device which comprises a robot joint body, a rotating speed torque sensor, a bottom plate, a flange fixing seat, a flange and a horizontal rod;
fixing the robot joint body on a bottom plate under an indoor test environment with constant temperature, and installing and fixing the bottom plate on the ground or a desktop;
fixing a flange on a flange fixing seat, fixedly arranging a torque sensor to be calibrated on the flange, connecting the flange with one end of a rotating speed and torque sensor, and connecting the other end of the rotating speed and torque sensor with the tail end of a robot joint body, so that the flange, the rotating speed and torque sensor and the tail end of the robot joint body synchronously rotate;
mounting the horizontal rod on the flange;
and connecting the torque sensor to be calibrated and the rotating speed torque sensor with a signal acquisition device, and connecting the signal acquisition device and the robot joint body with an upper computer.
In the calibration method of the joint torque sensor in the cooperative robot, the process of measuring the zero offset and the linearity of the torque sensor to be calibrated is as follows:
in a constant-temperature indoor environment, electrifying the torque sensor to be calibrated to enable the torque sensor to be in a working state; in the current state of the calibration device, the upper computer performs channel balancing and zero clearing operations and records current zero position information;
the upper computer controls the robot joint body to rotate clockwise from an initial position, the robot joint body drives the horizontal rod to rotate through the concentric shaft, and one end of the horizontal rod is in contact with the bottom plate to generate torque;
the signal acquisition device acquires a voltage signal of the torque sensor and a torque signal of the rotating speed torque sensor, when the torque signal reaches the maximum range of the torque sensor preset in the upper computer software, the signal acquisition device sends a trigger signal to the upper computer, the upper computer controls the robot joint body to return to an initial position anticlockwise according to the received trigger signal, and the zero voltage information of the current torque sensor is recorded;
the upper computer controls the robot joint body to rotate anticlockwise from an initial position, the robot joint body drives the horizontal rod to rotate through the concentric shaft, and the other end of the horizontal rod is in contact with the bottom plate to generate torque; the signal acquisition device acquires a voltage signal of the torque sensor and a torque signal of the rotating speed torque sensor, when the torque signal reaches the maximum range of the torque sensor preset in the upper computer software, the signal acquisition device sends a trigger signal to the upper computer, the upper computer controls the robot joint body to return to an initial position clockwise according to the received trigger signal, and the zero voltage information of the current torque sensor is recorded;
repeating the clockwise and anticlockwise rotation operations of the robot joint body from the initial position according to preset times;
fitting voltage signals of the torque sensor in the clockwise and anticlockwise rotation processes from the initial position of the robot joint body to obtain a linearity trend line of the torque sensor to be calibrated; and fitting the zero voltage information of the torque sensor in the clockwise and anticlockwise rotation processes according to the initial position of the robot joint body to obtain a zero drift trend line of the torque sensor to be calibrated.
Further, the process of determining the zero offset and the linearity of the torque sensor to be calibrated further includes a process of verifying a linearity trend line and a zero drift trend line of the torque sensor to be calibrated.
Further, the process of verifying the linearity trend line of the torque sensor to be calibrated is as follows:
according to the linear degree trend line of the torque sensor to be calibrated, the upper computer compares parameters of the torque of every 5% of the upper limit of the measuring range of the torque sensor;
the upper computer controls the robot joint body to rotate clockwise and anticlockwise from an initial position, when a torque value of 5% of the range upper limit of the torque sensor is reached, the robot joint body keeps the current state when the signal acquisition device receives an actual torque signal fed back by the rotating speed torque sensor, the upper computer records the voltage value of the torque sensor received by the signal acquisition device, and the upper computer controls the robot joint body to move to the next comparison point until the range upper limit of the torque sensor is reached.
Further, the process of verifying the zero drift trend line of the torque sensor to be calibrated is as follows:
and comparing the actual verification data with the linearity trend line to obtain a linearity standard deviation, and comparing the linearity standard deviation and the zero drift trend line with a parameter manual of the torque sensor to be detected to determine whether the linearity and the zero drift exceed the minimum error of corresponding parameters in the parameter manual, so as to judge whether the torque sensor meets the use requirement.
In the calibration method of the joint torque sensor in the cooperative robot, the process of determining the overload characteristic of the torque sensor to be calibrated is as follows:
in a constant-temperature indoor environment, electrifying the torque sensor to be calibrated to enable the torque sensor to be in a working state; in the current state of the calibration device, the upper computer performs channel balancing and zero clearing operations;
the upper computer controls the robot joint body to rotate clockwise from an initial position, the robot joint body drives the horizontal rod to rotate through the concentric shaft, and one end of the horizontal rod is in contact with the bottom plate to generate a moment;
the signal acquisition device acquires a voltage signal of the torque sensor and a torque signal of the rotating speed torque sensor, when the torque signal reaches a torque value of the torque sensor preset in upper computer software, the signal acquisition device sends a trigger signal to an upper computer, the upper computer controls the robot joint body to return to an initial position anticlockwise according to the received trigger signal, and the voltage signal change conditions of the torque sensor in the clockwise rotation and anticlockwise rotation processes of the robot joint body are recorded;
the upper computer controls the robot joint body to rotate anticlockwise from an initial position, the robot joint body drives the horizontal rod to rotate through the concentric shaft, and the other end of the horizontal rod is in contact with the bottom plate to generate torque; the signal acquisition device acquires a voltage signal of the torque sensor and a torque signal of the rotating speed torque sensor, when the torque signal reaches the maximum range of the torque sensor preset in the upper computer software, the signal acquisition device sends a trigger signal to the upper computer, the upper computer controls the robot joint body to clockwise return to the initial position according to the received trigger signal, and the voltage signal change conditions of the torque sensor in the clockwise rotation and anticlockwise rotation processes of the robot joint body are recorded.
Repeating the operation of clockwise and anticlockwise rotation of the robot joint body from the initial position according to preset times;
and fitting according to the voltage signal change conditions of the torque sensor in the clockwise and anticlockwise rotation processes of the robot joint body from the initial position to obtain an overload characteristic line of the torque sensor to be calibrated.
Further, the process of determining the overload characteristic of the torque sensor to be calibrated further includes verifying the overload characteristic of the torque sensor to be calibrated, where the verifying process includes:
and comparing the overload characteristic of the actually measured torque sensor with the sensor parameter book to judge whether the torque sensor meets the use requirement.
According to the above embodiments of the present application, at least the following advantages are obtained: the calibration method of the joint torque sensor in the cooperative robot can be widely applied to joint torque sensors of cooperative robots with different types and different measuring ranges; the characteristics of the torque sensor can be accurately and automatically calibrated, the introduction of human errors can be avoided, and the calibration result is more accurate, so that the safety and the reliability of the joint of the cooperative robot are improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the invention, as claimed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of the specification of the application, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Fig. 1 is a block diagram of a structure of a calibration system for a joint torque sensor in a cooperative robot according to an embodiment of the present disclosure.
Fig. 2 is a schematic structural diagram of a calibration device in a joint torque sensor calibration system in a cooperative robot according to an embodiment of the present application.
Fig. 3 is a side view of a calibration device in a joint torque sensor calibration system in a cooperative robot according to an embodiment of the present disclosure.
Fig. 4 is a flowchart of determining zero offset and linearity of a torque sensor in a method for calibrating a joint torque sensor in a cooperative robot according to the embodiment of the present disclosure.
Fig. 5 is a flowchart for determining overload characteristics of a torque sensor in a method for calibrating a joint torque sensor in a cooperative robot according to an embodiment of the present disclosure.
Description of the reference numerals:
1. a calibration device; 11. a robot joint body; 12. a rotational speed torque sensor; 13. a base plate; 14. a flange fixing seat; 15. a flange; 16. a horizontal bar;
2. a signal acquisition device;
3. and (4) an upper computer.
Detailed Description
For the purpose of promoting a clear understanding of the objects, aspects and advantages of the embodiments of the present application, reference will now be made to the accompanying drawings and detailed description, wherein like reference numerals refer to like elements throughout.
The illustrative embodiments and descriptions of the present application are provided to explain the present application and not to limit the present application. In addition, the same or similar reference numbers used in the drawings and the embodiments are used to denote the same or similar parts.
As used herein, "first," "second," "8230," etc., are not specifically referred to in an ordered or sequential sense, nor are they intended to limit the application, but merely to distinguish between elements or operations described in the same technical language.
As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including but not limited to.
As used herein, "and/or" includes any and all combinations of the described items.
"plurality" in reference to this text includes "two" and "more than two"; reference to "multiple sets" herein includes "two sets" and "more than two sets".
Certain terms used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the present application.
As shown in fig. 1, an embodiment of the present application provides a calibration system for a joint torque sensor in a cooperative robot, which includes a calibration device 1, a signal acquisition device 2, and an upper computer 3, where the calibration device 1 includes a robot joint body 11, a rotational speed and torque sensor 12, a bottom plate 13, a flange fixing base 14, a flange 15, and a horizontal rod 16.
Robot joint body 11 and rotational speed torque sensor 12 are all fixed to be set up on bottom plate 13, and rotational speed torque sensor 12's one end and the terminal concentric shaft of robot joint body 11 are connected, and its other end flange fixing base 14 is connected, fixedly on the flange fixing base 14 sets up flange 15, is provided with on the flange 15 and remains to mark torque sensor, and the horizon bar 16 sets up the looks remote site at flange 15 and flange fixing base 14 one end of being connected. The flange 15, the rotational speed torque sensor 12 and the end of the robot joint body 11 can be rotated synchronously.
The rotating speed torque sensor 12 and the torque sensor to be calibrated are both connected with the signal acquisition device 2, and the signal acquisition device 2 and the robot joint body 11 are both connected with the upper computer 3. The signal acquisition device 2 adopts a multi-channel dynamic signal acquisition device.
The upper computer 3 is used for controlling the robot joint body 11 to rotate, the robot joint body 11 drives the rotating speed torque sensor 12 and the flange 15 to rotate through a concentric shaft, the flange 15 drives the horizontal rod 16 to synchronously rotate, and the horizontal rod 16 is in contact with the bottom plate 13 in the rotating process to generate torque. The signal acquisition device 2 is used for acquiring a voltage signal of the torque sensor to be calibrated and a torque signal of the rotating speed torque sensor 12 and sending the voltage signal and the torque signal to the upper computer 3, and the upper computer 3 obtains a linearity trend line, a zero drift trend line and an overload characteristic curve of the torque sensor to be calibrated according to the received voltage signal and torque signal.
The upper computer 3 fits voltage signals of the torque sensor in the clockwise and anticlockwise rotation processes according to the robot joint body 11 from the initial position to obtain a linearity trend line of the torque sensor to be calibrated; and fitting the zero voltage information of the torque sensor in the clockwise and anticlockwise rotation process from the initial position according to the robot joint body 11 to obtain a zero drift trend line of the torque sensor to be calibrated. The upper computer 3 obtains an overload characteristic line of the torque sensor to be calibrated by fitting according to the voltage signal change condition of the torque sensor in the clockwise and anticlockwise rotation process of the robot joint body 11 from the initial position.
The calibration system for the joint torque sensor in the cooperative robot is high in safety and low in calibration cost, and can complete calibration of the joint torque sensor without manual operation.
As shown in fig. 1 to fig. 3, the calibration method for a joint torque sensor in a cooperative robot provided in the embodiment of the present application includes connecting a to-be-calibrated torque sensor, a calibration device 1, a signal acquisition device 2, and an upper computer 3, performing zero offset and linearity measurement on the to-be-calibrated torque sensor, and performing overload characteristic measurement on the to-be-calibrated torque sensor.
In a specific embodiment, as shown in fig. 2 and 3, the specific process of connecting the torque sensor to be calibrated, the calibration device 1, the signal acquisition device 2 and the upper computer 3 is as follows:
s11, under an indoor test environment with constant temperature, fixing the robot joint body 11 on a bottom plate 13, and installing and fixing the bottom plate 13 on a solid ground or a table top, wherein the ground or the table top has no flatness requirement.
S12, fixing a flange 15 on a flange fixing seat 14, fixedly arranging a torque sensor to be calibrated on the flange 15, connecting the flange 15 with one end of a rotating speed and torque sensor 12, and connecting the other end of the rotating speed and torque sensor 12 with the tail end of a robot joint body 11, so that the flange 15 can synchronously rotate with the rotating speed and torque sensor 12 and the tail end of the robot joint body 11.
And S13, mounting the horizontal rod 16 on the flange 15.
And S14, connecting the torque sensor to be calibrated and the rotating speed torque sensor 12 with the signal acquisition device 2, and connecting the signal acquisition device 2 and the robot joint body 11 with the upper computer 3.
In one specific embodiment, as shown in fig. 4, the specific process of determining the null offset and linearity of the torque sensor is as follows:
s21, in a constant-temperature indoor environment, electrifying the torque sensor to be calibrated to enable the torque sensor to be in a working state; in the current state of the calibration device 1, the upper computer 3 performs channel balancing and zero clearing operations, and records current zero position information.
S22, the upper computer 3 controls the robot joint body 11 to rotate clockwise from the initial position, the robot joint body 11 drives the horizontal rod 16 to rotate through the concentric shaft, and one end of the horizontal rod 16 is in contact with the bottom plate 13 to generate moment.
The signal acquisition device 2 acquires a voltage signal of the torque sensor and a torque signal of the rotating speed torque sensor 12, when the torque signal reaches the maximum range of the torque sensor preset in software of the upper computer 3, the signal acquisition device 2 sends a trigger signal to the upper computer 3, the upper computer 3 controls the robot joint body 11 to return to an initial position anticlockwise according to the received trigger signal, and zero voltage information of the current torque sensor is recorded.
S23, the upper computer 3 controls the robot joint body 11 to rotate anticlockwise from an initial position, the robot joint body 11 drives the horizontal rod 16 to rotate through a concentric shaft, and the other end of the horizontal rod 16 is in contact with the bottom plate 13 to generate torque. The signal acquisition device 2 acquires a voltage signal of a torque sensor and a torque signal of the rotating speed torque sensor 12, when the torque signal reaches the maximum range of the torque sensor preset in software of the upper computer 3, the signal acquisition device 2 sends a trigger signal to the upper computer 3, the upper computer 3 controls the robot joint body 11 to clockwise return to the initial position according to the received trigger signal, and the zero-position voltage information of the current torque sensor is recorded.
And S24, repeating the operations of the steps S22-S23 according to preset times.
S25, fitting voltage signals of the torque sensor in the clockwise and anticlockwise rotating process according to the initial position of the robot joint body 11 to obtain a linearity trend line of the torque sensor to be calibrated; and fitting the zero voltage information of the torque sensor in the clockwise and anticlockwise rotation process from the initial position according to the robot joint body 11 to obtain a zero drift trend line of the torque sensor to be calibrated.
The specific process of measuring the zero offset and the linearity of the torque sensor also comprises verifying a linearity trend line and a zero drift trend line of the torque sensor to be calibrated.
The specific process of the linearity trend line of the torque sensor to be calibrated is as follows:
according to the linear degree trend line of the torque sensor to be calibrated, the upper computer 3 compares the parameters of the torque of every 5% of the upper limit of the measuring range of the torque sensor. The host computer 3 controls the robot joint body 11 to rotate clockwise and anticlockwise from an initial position, when a torque value of 5% of the range upper limit of the torque sensor is reached, the robot joint body 11 keeps a current state when the signal acquisition device 2 receives an actual torque signal fed back by the rotating speed torque sensor 12, the host computer 3 records a voltage value of the torque sensor received by the signal acquisition device 2, the host computer 3 controls the robot joint body 11 to move to a next comparison point, and the comparison is carried out until the range upper limit of the torque sensor.
That is to say, according to the torque values of 5%, 10%, 15%, 10.. 9%, 95%, 100% of the torque sensor range upper limit, the actual torque signal fed back by the torque sensor is obtained, the voltage value of the torque sensor is obtained, and the torque value corresponding to the voltage value of the torque sensor is compared with the actual torque signal fed back by the torque sensor.
And comparing the actual verification data with the linearity trend line to obtain a linearity standard deviation, and comparing the linearity standard deviation and the zero drift trend line with a parameter manual of the torque sensor to be detected to determine whether the linearity and the zero drift exceed the minimum error of corresponding parameters in the parameter manual, so that whether the torque sensor meets the use requirement can be determined.
In one specific embodiment, as shown in fig. 5, the overload characteristic of the torque sensor is determined by the following specific steps:
s31, in a constant-temperature indoor environment, electrifying the torque sensor to be calibrated to enable the torque sensor to be in a working state; in the current state of the calibration device 1, the upper computer 3 performs channel balancing and zero clearing operations.
S32, the upper computer 3 controls the robot joint body 11 to rotate clockwise from the initial position, the robot joint body 11 drives the horizontal rod 16 to rotate through the concentric shaft, and one end of the horizontal rod 16 is in contact with the bottom plate 13 to generate moment.
The signal acquisition device 2 acquires the voltage signal of the torque sensor and the torque signal of the rotating speed torque sensor 12, when the torque signal reaches the torque value of the torque sensor preset in software of the upper computer 3, the signal acquisition device 2 sends a trigger signal to the upper computer 3, the upper computer 3 controls the robot joint body 11 to return to the initial position anticlockwise according to the received trigger signal, and the voltage signal change conditions of the torque sensor in the clockwise rotation and anticlockwise rotation processes of the robot joint body 11 are recorded.
S33, the upper computer 3 controls the robot joint body 11 to rotate anticlockwise from the initial position, the robot joint body 11 drives the horizontal rod 16 to rotate through the concentric shaft, and the other end of the horizontal rod 16 is in contact with the bottom plate 13 to generate torque. The signal acquisition device 2 acquires a voltage signal of the torque sensor and a torque signal of the rotating speed torque sensor 12, when the torque signal reaches the maximum range of the torque sensor preset in software of the upper computer 3, the signal acquisition device 2 sends a trigger signal to the upper computer 3, the upper computer 3 controls the robot joint body 11 to clockwise return to the initial position according to the received trigger signal, and the voltage signal change conditions of the torque sensor in the clockwise rotation and anticlockwise rotation processes of the robot joint body 11 are recorded.
And S34, repeating the operations of the steps S32-S33 according to preset times.
And S35, fitting according to the voltage signal change conditions of the moment sensor in the clockwise and anticlockwise rotation process of the robot joint body 11 from the initial position to obtain an overload characteristic line of the moment sensor to be calibrated.
And obtaining an overload characteristic line of the torque sensor to be calibrated in each test. Repeated tests can accurately measure the signal characteristics of the torque sensor to be calibrated in the overload process. And fitting to obtain an overload characteristic line of the torque sensor to be calibrated according to the voltage signal of the torque sensor acquired in the repeated test process.
The specific process of carrying out overload characteristic determination on the torque sensor further comprises verifying the overload characteristic of the torque sensor to be calibrated.
The process of verifying the overload characteristic of the torque sensor to be calibrated comprises the following steps:
and comparing the overload characteristic of the actually measured torque sensor with the sensor parameter book to judge whether the torque sensor meets the use requirement. Specifically, if the overload characteristic of the torque sensor is higher than the overload characteristic described in the sensor parameter book, it is determined that the torque sensor satisfies the use requirement.
The calibration method of the joint torque sensor in the cooperative robot provided by the embodiment of the application can be widely applied to joint torque sensors of cooperative robots with different types and different measuring ranges; the characteristics of the torque sensor can be accurately and automatically calibrated, the introduction of human errors can be avoided, and the calibration result is more accurate, so that the safety and the reliability of the joint of the cooperative robot are improved.
The embodiments of the present application described above may be implemented in various hardware, software code, or a combination of both. For example, the embodiments of the present application may also be program code for executing the above-described method in a data signal processor. The present application may also relate to various functions performed by a computer processor, digital signal processor, microprocessor, or field programmable gate array. The processor described above may be configured in accordance with the present application to perform certain tasks by executing machine-readable software code or firmware code that defines certain methods disclosed herein. Software code or firmware code may be developed in different programming languages and in different formats or forms. Software code may also be compiled for different target platforms. However, different code styles, types, and languages of software code and other types of configuration code to perform tasks according to the present application do not depart from the spirit and scope of the present application.
The foregoing is merely an illustrative embodiment of the present application, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present application shall fall within the protection scope of the present application.
Claims (10)
1. A calibration system for a joint torque sensor in a cooperative robot is characterized by comprising a calibration device, a signal acquisition device and an upper computer; the calibration device comprises a robot joint body, a rotating speed torque sensor, a bottom plate, a flange fixing seat, a flange and a horizontal rod;
the robot joint body and the rotating speed torque sensor are fixedly arranged on the bottom plate, one end of the rotating speed torque sensor is connected with a concentric shaft at the tail end of the robot joint body, the other end of the rotating speed torque sensor is connected with the flange fixing seat, the flange is fixedly arranged on the flange fixing seat, a torque sensor to be calibrated is arranged on the flange, and the horizontal rod is arranged at the opposite end of the end, connected with the flange fixing seat, of the flange; the flange, the rotating speed torque sensor and the tail end of the robot joint body synchronously rotate;
the rotating speed torque sensor and the torque sensor to be calibrated are both connected with the signal acquisition device, and the signal acquisition device and the robot joint body are both connected with the upper computer;
the upper computer is used for controlling the robot joint body to rotate, the robot joint body drives the rotating speed torque sensor and the flange to rotate through a concentric shaft, the flange drives the horizontal rod to synchronously rotate, and the horizontal rod is in contact with the bottom plate in the rotating process to generate torque;
the signal acquisition device is used for acquiring a voltage signal of the torque sensor to be calibrated and a torque signal of the rotating speed torque sensor and sending the voltage signal and the torque signal to the upper computer, and the upper computer obtains a linearity trend line, a zero drift trend line and an overload characteristic curve of the torque sensor to be calibrated according to the received voltage signal and the received torque signal.
2. The system for calibrating the joint torque sensor in the cooperative robot as claimed in claim 1, wherein the upper computer fits the voltage signal of the torque sensor during clockwise and counterclockwise rotation from the initial position of the robot joint body to obtain a linearity trend line of the torque sensor to be calibrated, and fits the zero-position voltage information of the torque sensor during clockwise and counterclockwise rotation from the initial position of the robot joint body to obtain a zero-position drift trend line of the torque sensor to be calibrated; and the upper computer fits the voltage signal change conditions of the torque sensor in the clockwise and anticlockwise rotation process of the robot joint body from the initial position to obtain an overload characteristic line of the torque sensor to be calibrated.
3. A calibration method of a joint torque sensor in a cooperative robot is characterized by comprising the steps of connecting a torque sensor to be calibrated, a calibration device, a signal acquisition device and an upper computer; measuring zero offset and linearity of the torque sensor to be calibrated; and carrying out overload characteristic determination on the torque sensor to be calibrated.
4. The method for calibrating the joint torque sensor in the cooperative robot as claimed in claim 3, wherein the specific process of connecting the torque sensor to be calibrated, the calibration device, the signal acquisition device and the upper computer is as follows:
setting a calibration device which comprises a robot joint body, a rotating speed torque sensor, a bottom plate, a flange fixing seat, a flange and a horizontal rod;
fixing the robot joint body on a bottom plate under an indoor test environment with constant temperature, and installing and fixing the bottom plate on the ground or a desktop;
fixing a flange on a flange fixing seat, fixedly arranging a torque sensor to be calibrated on the flange, connecting the flange with one end of a rotating speed and torque sensor, and connecting the other end of the rotating speed and torque sensor with the tail end of a robot joint body, so that the flange, the rotating speed and torque sensor and the tail end of the robot joint body synchronously rotate;
mounting the horizontal rod on the flange;
and connecting the torque sensor to be calibrated and the rotating speed torque sensor with a signal acquisition device, and connecting the signal acquisition device and the robot joint body with an upper computer.
5. The method for calibrating the joint torque sensor in the cooperative robot as recited in claim 4, wherein the process of measuring the zero offset and the linearity of the torque sensor to be calibrated is as follows:
in a constant-temperature indoor environment, electrifying the torque sensor to be calibrated to enable the torque sensor to be in a working state; in the current state of the calibration device, the upper computer performs channel balancing and zero clearing operations and records current zero position information;
the upper computer controls the robot joint body to rotate clockwise from an initial position, the robot joint body drives the horizontal rod to rotate through the concentric shaft, and one end of the horizontal rod is in contact with the bottom plate to generate torque;
the signal acquisition device acquires a voltage signal of the torque sensor and a torque signal of the rotating speed torque sensor, when the torque signal reaches the maximum range of the torque sensor preset in the upper computer software, the signal acquisition device sends a trigger signal to the upper computer, the upper computer controls the robot joint body to return to an initial position anticlockwise according to the received trigger signal, and the zero voltage information of the current torque sensor is recorded;
the upper computer controls the robot joint body to rotate anticlockwise from an initial position, the robot joint body drives the horizontal rod to rotate through the concentric shaft, and the other end of the horizontal rod is in contact with the bottom plate to generate torque; the signal acquisition device acquires a voltage signal of the torque sensor and a torque signal of the rotating speed torque sensor, when the torque signal reaches the maximum range of the torque sensor preset in the upper computer software, the signal acquisition device sends a trigger signal to the upper computer, the upper computer controls the robot joint body to return to an initial position clockwise according to the received trigger signal, and the zero voltage information of the current torque sensor is recorded;
repeating the operation of clockwise and anticlockwise rotation of the robot joint body from the initial position according to preset times;
fitting voltage signals of the torque sensor in the clockwise and anticlockwise rotation processes from the initial position of the robot joint body to obtain a linearity trend line of the torque sensor to be calibrated; and fitting the zero voltage information of the torque sensor in the clockwise and anticlockwise rotation process from the initial position of the robot joint body to obtain a zero drift trend line of the torque sensor to be calibrated.
6. The method for calibrating a joint torque sensor in a cooperative robot according to claim 5, wherein the step of determining the zero offset and the linearity of the torque sensor to be calibrated further comprises the step of verifying a linearity trend line and a zero drift trend line of the torque sensor to be calibrated.
7. The method for calibrating a joint torque sensor in a cooperative robot according to claim 6, wherein the process of verifying the linearity trend line of the torque sensor to be calibrated is as follows:
according to the linear degree trend line of the torque sensor to be calibrated, the upper computer compares parameters of the torque of every 5% of the upper limit of the measuring range of the torque sensor;
the upper computer controls the robot joint body to rotate clockwise and anticlockwise from an initial position, when a moment value of 5% of the range upper limit of the torque sensor is reached, the robot joint body keeps a current state when the signal acquisition device receives an actual moment signal fed back by the rotating speed torque sensor, the upper computer records a voltage value of the torque sensor received by the signal acquisition device, and the upper computer controls the robot joint body to move to a next comparison point until the range upper limit of the torque sensor.
8. The method for calibrating the joint torque sensor in the cooperative robot as recited in claim 6, wherein the process of verifying the zero drift trend line of the torque sensor to be calibrated is as follows:
and comparing the actual verification data with the linearity trend line to obtain a linearity standard deviation, and comparing the linearity standard deviation and the zero drift trend line with a parameter manual of the torque sensor to be tested to determine whether the linearity and the zero drift exceed the minimum error of corresponding parameters in the parameter manual, so as to judge whether the torque sensor meets the use requirement.
9. The method for calibrating a joint torque sensor in a cooperative robot according to claim 5, wherein the process of determining the overload characteristic of the torque sensor to be calibrated comprises:
in a constant-temperature indoor environment, electrifying the torque sensor to be calibrated to enable the torque sensor to be in a working state; in the current state of the calibration device, the upper computer performs channel balancing and zero clearing operations;
the upper computer controls the robot joint body to rotate clockwise from an initial position, the robot joint body drives the horizontal rod to rotate through the concentric shaft, and one end of the horizontal rod is in contact with the bottom plate to generate torque;
the signal acquisition device acquires a voltage signal of the torque sensor and a torque signal of the rotating speed torque sensor, when the torque signal reaches a torque value of the torque sensor preset in upper computer software, the signal acquisition device sends a trigger signal to an upper computer, the upper computer controls the robot joint body to return to an initial position anticlockwise according to the received trigger signal, and the voltage signal change conditions of the torque sensor in the clockwise rotation and anticlockwise rotation processes of the robot joint body are recorded;
the upper computer controls the robot joint body to rotate anticlockwise from an initial position, the robot joint body drives the horizontal rod to rotate through the concentric shaft, and the other end of the horizontal rod is in contact with the bottom plate to generate torque; the signal acquisition device acquires a voltage signal of the torque sensor and a torque signal of the rotating speed torque sensor, when the torque signal reaches the maximum range of the torque sensor preset in the upper computer software, the signal acquisition device sends a trigger signal to the upper computer, the upper computer controls the robot joint body to clockwise return to the initial position according to the received trigger signal, and the voltage signal change conditions of the torque sensor in the clockwise rotation and anticlockwise rotation processes of the robot joint body are recorded.
Repeating the operation of clockwise and anticlockwise rotation of the robot joint body from the initial position according to preset times;
and fitting according to the voltage signal change conditions of the torque sensor in the clockwise and anticlockwise rotation processes of the robot joint body from the initial position to obtain an overload characteristic line of the torque sensor to be calibrated.
10. The method for calibrating a joint torque sensor in a cooperative robot according to claim 9, wherein the step of determining the overload characteristic of the torque sensor to be calibrated further comprises verifying the overload characteristic of the torque sensor to be calibrated, and the verifying step comprises:
and comparing the overload characteristic of the actually measured torque sensor with the sensor parameter book to judge whether the torque sensor meets the use requirement.
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| DD301561A7 (en) * | 1988-03-09 | 1993-03-18 | Fischer Karl Heinz Dipl Ing | DEVICE FOR THE STATIC AND DYNAMIC TESTING AND CALIBRATION OF MULTICOMPONENT POWER / MOMENT SENSORS |
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| CN112254876A (en) * | 2020-11-24 | 2021-01-22 | 哈尔滨工业大学 | Automatic calibration system and calibration method for robot joint torque sensor |
| CN112525420A (en) * | 2020-11-24 | 2021-03-19 | 哈尔滨工业大学 | Automatic calibration device of robot joint torque sensor |
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| DD301561A7 (en) * | 1988-03-09 | 1993-03-18 | Fischer Karl Heinz Dipl Ing | DEVICE FOR THE STATIC AND DYNAMIC TESTING AND CALIBRATION OF MULTICOMPONENT POWER / MOMENT SENSORS |
| CN105352647A (en) * | 2015-10-22 | 2016-02-24 | 哈尔滨工业大学 | Robot tail end twelve-dimension sensor and design method therefor |
| CN109015758A (en) * | 2018-08-31 | 2018-12-18 | 重庆电子工程职业学院 | The robot six-dimension force sensor calibration device for being moved easily and operating |
| CN112033592A (en) * | 2020-09-04 | 2020-12-04 | 东南大学 | Robot joint torque calibration test device |
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