CN117628026A - Manufacturing method of force sensor for robot - Google Patents
Manufacturing method of force sensor for robot Download PDFInfo
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- CN117628026A CN117628026A CN202410109995.9A CN202410109995A CN117628026A CN 117628026 A CN117628026 A CN 117628026A CN 202410109995 A CN202410109995 A CN 202410109995A CN 117628026 A CN117628026 A CN 117628026A
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 31
- 239000003292 glue Substances 0.000 claims abstract description 80
- 238000000034 method Methods 0.000 claims abstract description 47
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical group [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims abstract description 45
- 229910052710 silicon Inorganic materials 0.000 claims abstract description 45
- 239000010703 silicon Substances 0.000 claims abstract description 45
- 229920001971 elastomer Polymers 0.000 claims abstract description 43
- 239000000806 elastomer Substances 0.000 claims abstract description 41
- 238000005516 engineering process Methods 0.000 claims abstract description 10
- 238000011417 postcuring Methods 0.000 claims abstract description 10
- 238000004381 surface treatment Methods 0.000 claims abstract description 6
- 238000004140 cleaning Methods 0.000 claims abstract description 5
- 238000010438 heat treatment Methods 0.000 claims abstract description 4
- 238000003466 welding Methods 0.000 claims abstract description 4
- 239000000853 adhesive Substances 0.000 claims description 12
- 230000001070 adhesive effect Effects 0.000 claims description 12
- 238000012795 verification Methods 0.000 claims description 10
- 238000012216 screening Methods 0.000 claims description 3
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 34
- 238000004026 adhesive bonding Methods 0.000 abstract description 2
- 238000003892 spreading Methods 0.000 description 5
- 230000007480 spreading Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- 241001391944 Commicarpus scandens Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 239000011888 foil Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000007650 screen-printing Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000000227 grinding Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011056 performance test Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005488 sandblasting Methods 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Abstract
The invention relates to the technical field of sensor manufacturing, in particular to a manufacturing method of a force sensor for a robot, which comprises the following steps: cleaning the elastomer and carrying out surface treatment on the area to be pasted; marking the position of the silicon strain gauge to be pasted on the surface of the to-be-pasted area of the elastomer to form a dispensing area; according to the dispensing parameters, dispensing the dispensing area by adopting a pneumatic dispensing mode; feeding the elastomer subjected to dispensing into a high-temperature furnace for heating and curing treatment; taking out the heated and cured elastomer, determining a spot gluing area according to the indication of the mark, and placing a silicon strain gauge on the cured glue surface; maintaining the silicon strain gauge in a horizontal upward state, and sending the elastomer into a curing furnace for post-curing treatment; a wiring terminal is arranged on the elastic body, and an ultrasonic welding technology and a lead are used for connecting a bonding pad of the silicon strain gauge and the wiring terminal to form a Wheatstone bridge; the bonding process between the strain gauge and the elastic body is easy to realize, and the volume of the force sensor is greatly reduced.
Description
Technical Field
The invention relates to the technical field of sensor manufacturing, in particular to a manufacturing method of a force sensor for a robot.
Background
With the development of robot technology, the application of force sensors in robots is increasingly important, in robots, force sensors for external force detection are mainly based on the principle of resistance strain, and the sensors are usually manufactured by sticking metal foil strain gauges on elastic elements through adhesive, and have the advantages of multiple structures, mature process and the like.
With the development requirement of the humanoid robot, new requirements are put forward on the volume and integration degree of the force sensor, and in the related technology, if a metal foil type strain gauge is adopted, the volume of the strain gauge is often larger due to low resistivity of metal, so that the volume of the force sensor is difficult to reduce; if a silicon strain gauge is adopted, the size of the sensor can be greatly reduced, but due to the brittleness of silicon, the silicon strain gauge is extremely easy to break when a certain pressure is applied to adhere the silicon strain gauge to an elastomer by using an adhesive; when the silicon strain gauge is fixed on the elastomer by adopting the screen printing process, the screen printing process can only work on a plane area due to the limit of the production process level, and the application scene of the force sensor for the robot determines that the strain gauge sticking area can only be positioned in a pit of the elastomer, so that the strain gauge sticking area and the strain gauge sticking area are mutually contradicted, and the bonding process of the strain gauge is difficult to finish.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art that is known to a person skilled in the art.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the manufacturing method of the force sensor for the robot is easy to realize the bonding process between the strain gauge and the elastic body, and greatly reduces the volume of the force sensor.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a method of manufacturing a force sensor for a robot, comprising the steps of:
pretreatment: cleaning an elastomer, and carrying out surface treatment on a region to be pasted so that the surface of the region to be pasted reaches the required roughness;
scribing: marking the position of the silicon strain gage to be pasted on the surface of the region to be pasted of the elastomer to form a dispensing region;
dispensing: according to the dispensing parameters, dispensing the dispensing area in a pneumatic dispensing mode;
curing: feeding the elastomer subjected to dispensing into a high-temperature furnace for heating and curing treatment;
and (3) sticking: taking out the heated and cured elastomer, determining the dispensing area according to the identification indication, and placing a silicon strain gauge on the cured rubber surface;
post-curing: the silicon strain gauge is kept in a horizontal upward state, and the elastomer is sent into a curing furnace to be subjected to post-curing treatment, so that the silicon strain gauge is fixed in a dispensing area of the elastomer;
and (3) connecting: and a wiring terminal is arranged on the elastic body, and an ultrasonic welding technology and a lead wire are used for connecting a bonding pad of the silicon strain gauge and the wiring terminal to form a Wheatstone bridge, so that the manufacturing of the force sensor is completed.
Further, according to the area of the dispensing areaTotal thickness of dispensing ∈>Determining the dispensing parameters, and performing dispensing treatment on the dispensing area for multiple times in a pneumatic dispensing mode according to the dispensing parameters, wherein the dispensing parameters comprise the diameter of a dispensing needle tube>Air pressure of dispensing->Duration of single dispensing->Time between dispensingAnd the dispensing times->。
Further, the area of the dispensing area is determinedTotal thickness of dispensing ∈>Determining the dispensing parameters comprises the following steps:
determining the viscosity of the glue at the moment according to the model and the temperature of the glue；
According to the viscosity of the glueDetermining the adhesive interval time->And area thickness ratio interval->；
According to the dispensing interval timeAnd the area thickness ratio interval ++>Obtaining a plurality of initial single dispensing durations +.>、/>……/>；
Sequentially obtaining a plurality of initial single dispensing duration times、/>……/>Corresponding thickness of single dispensing->And the dispensing times->And obtain the corresponding verification error +.>Will verify error->The initial single dispensing duration exceeding the set interval +.>Excluding, obtaining multiple intermediate single dispensing duration +.>、/>……/>；
Sequentially obtaining a plurality of intermediate single dispensing duration、/>……/>Corresponding actual station duration->Selecting the actual station duration +.>Length of time from theoretical station->Said middle single dispensing duration with minimal difference +.>Duration of final single dispensing +.>；
The final obtained single dispensing durationAnd the corresponding single dispensing thickness +.>The number of dispensing times->Actual station duration->And as a result, output outwards.
Further, a plurality of initial single dispensing durations are obtained by screening、/>……/>：
；
Wherein,represents the minimum area thickness ratio,/>Represents the maximum area thickness ratio,/-)>Indicating the area of the dispensing area,for calculating the coefficient, a fixed value set for human; />Indicating the diameter of the dispensing needle tube; />Indicates the air pressure of dispensing, +.>Is a positive integer; />Indicating the glue out time in units.
Further, sequentially obtaining a plurality of initial single dispensing durations by the following formula、/>……/>Corresponding thickness of single dispensing->And the dispensing times->And obtain the corresponding verification error +.>：
；
Wherein,represents the duration of initial single dispensing +.>Corresponding single dispensing thickness; />Represents the duration of initial single dispensing +.>Corresponding dispensing times; />Indicating the total thickness of theoretical glue; />Indicating rounding of the values in brackets.
Further, the intermediate single-shot dispensing duration is obtained by、/>……/>Corresponding actual station duration->：
；
Wherein,indicating the dispensing interval time; />Representing the duration of the middle single dispensing +.>Corresponding dispensing times.
Further, at the time of the dispensing intervalControlling the up-shift of the dispensing needle tube by a single dispensing thickness +.>The distance between the glue outlet end face of the glue needle tube and the tiled glue face is equal when glue is discharged each time.
Further, a database record is established for the dispensing parameters, and the method comprises the following steps:
recording and arranging the determined dispensing parameters to form an original database, wherein the original database comprises input parameters of the dispensing parameters and corresponding output parameters, and the input parameters comprise the model of a silicon strain gauge, the model and temperature of glue and the diameter of a dispensing needle tubeAir pressure of dispensing->The method comprises the steps of carrying out a first treatment on the surface of the The output parameters include single dispensing duration +.>The number of dispensing times->Single upward movement distance of dispensing needle tube>；
Searching the original database according to the current input parameters, and if the corresponding output parameters exist in the original database, determining the output parameters as the current dispensing parameters; if the original database does not have the corresponding output parameters, recalculating to obtain the corresponding output parameters, and recording the current input parameters and output parameters into the original database.
Further, verifying the dispensing area through image recognition to obtain the area of the dispensing area and the relative position of the edge of the dispensing area.
Further, the clamping table with the elastic body is vibrated and clamped while dispensing.
The beneficial effects of the invention are as follows: according to the invention, the silicon strain gauge is arranged, so that the volume of the force sensor is greatly reduced, and the application requirement of the humanoid robot is met; the silicon strain gauge is adhered to the adhesive dispensing area at the pit of the elastomer in a mode of adhesive dispensing technology and twice curing treatment, so that the adhesion process between the strain gauge and the elastomer is greatly simplified, and the silicon strain gauge is not easy to break during adhesion; in the dispensing process, the position of the silicon strain gauge to be adhered can be accurately determined through the identification of the dispensing area, the glue consumption can be accurately controlled through controlling the dispensing parameters, and the accuracy and the bonding quality of the bonding position are ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.
FIG. 1 is a schematic flow chart of a method for manufacturing a force sensor for a robot according to an embodiment of the invention;
FIG. 2 is a schematic flow chart of a glue dispensing parameter determination process according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a process for creating a database of dispensing parameters according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of bonding locations of a silicon strain gauge according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a working process of the dispensing process according to an embodiment of the present invention.
Reference numerals: 01. an elastomer; 02. a silicon strain gage; 03. a transfer table; 04. dispensing equipment; 05. dispensing needle tube.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
The method for manufacturing the force sensor for the robot shown in fig. 1 to 5 includes the steps of:
pretreatment: cleaning the elastomer 01, and carrying out surface treatment on the area to be pasted so that the surface of the area to be pasted reaches the required roughness;
scribing: marking the position to be pasted of the silicon strain gauge 02 on the surface of the to-be-pasted area of the elastomer 01 to form a dispensing area;
dispensing: according to the dispensing parameters, dispensing the dispensing area by adopting a pneumatic dispensing mode;
curing: feeding the elastomer 01 subjected to dispensing into a high-temperature furnace for heating and curing treatment;
and (3) sticking: taking out the heated and cured elastomer 01, determining a spot gluing area according to the indication of the mark, and placing the silicon strain gauge 02 on the cured glue surface;
post-curing: the silicon strain gauge 02 is kept in a horizontal upward state, and the elastomer 01 is sent into a curing furnace to be subjected to post-curing treatment, so that the silicon strain gauge 02 is fixed in a dispensing area of the elastomer 01;
and (3) connecting: and a wiring terminal is arranged on the elastic body 01, and an ultrasonic welding technology and a lead are used for connecting a bonding pad of the silicon strain gauge 02 with the wiring terminal to form a Wheatstone bridge, so that the manufacturing of the force sensor is completed.
According to the invention, the silicon strain gauge 02 is arranged, so that the volume of the force sensor is greatly reduced, and the application requirement of the humanoid robot is met; the silicon strain gauge 02 is adhered to the adhesive dispensing area at the pit of the elastomer 01 in a mode of adhesive dispensing technology and twice curing treatment, so that the adhesion process between the strain gauge and the elastomer 01 is greatly simplified, and the silicon strain gauge 02 is not easy to break during adhesion; in the dispensing process, the position of the silicon strain gauge 02 to be adhered can be accurately determined through the identification of the dispensing area, the glue consumption can be accurately controlled through controlling the dispensing parameters, and the accuracy and the bonding quality of the bonding position are ensured.
In the pretreatment process, firstly, a solvent or a cleaning agent is required to be used for cleaning the surface of the elastomer 01, impurities or dust and the like on the surface are removed, so that the surface is in a clean state, then, surface treatment is performed on the area to be pasted by grinding, sand blasting, laser scanning and the like, the roughness of the surface of the area to be pasted is increased, so that the adhesion between the surface of the area to be pasted and glue is improved, and after the surface treatment is finished, the elastomer 01 is required to be cleaned again, so that the cleanliness of the area to be pasted is ensured, and the adhesion quality and reliability of the silicon strain gauge 02 are ensured.
In the scribing process, marking can be performed through actual scratches, marking and positioning can be performed under a camera, specific limitation is not performed here, in addition, in order to ensure the accuracy of position determination of a dispensing area, verification can be performed on the dispensing area through an image recognition technology, the area of the dispensing area and the relative position of the edge of the dispensing area are obtained, and the accuracy of the bonding position of a subsequent silicon strain gauge 02 is ensured.
Through the setting of point gum technology, can realize carrying out the demand of paster on various non-level surfaces, and in order to guarantee the effect of point gum, in the paster in-process, can be fixed in clamping bench with elastomer 01 to vibrate the clamping bench that the clamping has elastomer 01 when the point gum, thereby the bubble in the discharge glue, and accelerate the spreading speed of glue.
In the curing and post-curing processes, the curing temperature and the curing time are different, and the structural characteristics of the glue are changed under the high temperature action of a high temperature furnace and a curing furnace, so that the bonding stability of the silicon strain gauge 02 is ensured; in the selection of the curing temperature and curing time, the curing temperature and curing time should be reasonably selected according to the type and characteristics of the glue, and are not particularly limited herein.
Before the connecting process, the elastomer 01 needs to be subjected to appearance inspection, namely whether the silicon strain gauge 02 is accurately and firmly adhered to the elastomer 01 is observed, so that the quality of a subsequently formed force sensor is ensured, after the connecting bridge is assembled, the force sensor can be completely manufactured through the steps of dampproof treatment, ageing treatment, performance test and the like, and warehouse entry and storage can be performed.
In the above process, only the case of single-sided bonding is described, and if there are a plurality of bonding surfaces, the single-sided dispensing-curing process needs to be repeated, and after all surfaces have completed the dispensing-curing process, the single-sided bonding-post-curing process may be performed, and after all surfaces have completed the bonding-post-curing process, the wiring process may be performed.
Based on the above embodiment, the area of the adhesive dispensing area is determinedTotal thickness of dispensing ∈>Determining dispensing parameters, and performing dispensing treatment on a dispensing area for multiple times in a pneumatic dispensing mode according to the dispensing parameters, so that uniformity of glue paving during dispensing is ensured, and bubbles are prevented from being generated in the glue; the dispensing parameters include the diameter of the dispensing needle tube 05 +.>Air pressure of dispensing->Duration of single dispensing->Time between dispensing->And the dispensing times->The method comprises the steps of carrying out a first treatment on the surface of the According to the dispensing parameters, the dispensing area and the dispensing thickness can be accurately controlled, and the continuity and stability of the dispensing process are ensured.
Based on the above embodiment, the area of the adhesive dispensing area is determinedTotal thickness of dispensing ∈>Determining dispensing parameters comprises the following steps:
determining the viscosity of the glue at the moment according to the model and the temperature of the glue；
According to the viscosity of the glueDetermining the adhesive interval time->And area thickness ratio interval->；
According to the adhesive dispensing interval timeAnd area thickness ratio interval->Obtaining a plurality of initial single dispensing durations +.>、/>……/>；
Sequentially obtaining a plurality of initial single dispensing durations、/>……/>Corresponding thickness of single dispensing->And the dispensing times->And obtain the corresponding verification error +.>Will verify error->Initial single dispensing duration beyond the set intervalExcluding, obtaining multiple intermediate single dispensing duration +.>、/>……/>；
Sequentially obtaining a plurality of intermediate single dispensing durations、/>……/>Corresponding actual station duration->Selecting the actual station duration +.>Length of time from theoretical station->Middle single dispensing duration with minimum difference +.>Duration of final single dispensing +.>；
The final obtained single dispensing durationAnd the corresponding single dispensing thickness +.>The number of dispensing times->Actual station duration->And as a result, output outwards.
Due to the theoretical station duration of the elastomer 01 being arranged at the transfer station 03 during the preparation of the preambleTo determine the value, and to ensure that the production line can form a continuous and stable working state, the time required for single dispensing and the theoretical station duration are ensured>And the next elastomer 01 is kept consistent, so that the next elastomer 01 is exactly moved to the dispensing station by the turntable 03 after the dispensing process of the previous elastomer 01 is completed.
All initial single dispensing duration meeting the single dispensing thickness control requirement at the moment can be accurately screened out through the constraint of the area thickness ratio intervalThe method comprises the steps of carrying out a first treatment on the surface of the Then through the thickness of single dispensing>And the dispensing times->And obtain the corresponding verification error +.>By verification error->For the initial single dispensing duration obtained +.>Sequentially verifying so as to eliminate the initial single dispensing duration time which does not meet the total dispensing thickness requirement and the station duration requirement interval currently>Obtaining the duration time of middle single dispensing meeting the error requirement>The method comprises the steps of carrying out a first treatment on the surface of the Finally, by obtaining all intermediate single dispensing duration +.>Is>Selecting the actual station duration +.>Length of time from theoretical station->Middle single dispensing duration with minimum difference +.>Duration of final single dispensing +.>The dispensing equipment 04 performs a dispensing process under corresponding dispensing parameters, so that the time required by single dispensing and the theoretical station duration +.>And the production line is basically consistent, so that the production line is suitable for production lines with different station durations.
It should be noted that the viscosity of the glueThe glue is influenced by the type and temperature of the current glue and changes in real time, and the temperature of the glue needs to be detected in real timeSo as to adjust the viscosity of the glue and ensure the viscosity of the glue +.>Ensuring the accuracy of the single dispensing duration of the subsequent determination +.>Accuracy of (2); wherein, the glue is influenced by the glue storage place, storage time, storage temperature and other environments, in order to ensure the viscosity of the glue>The accuracy of the measurement can be determined, in particular, by: when in use, part of the glue can be taken out from the glue bottle, the glue is uniformly shaken by a shaking machine for more than 12 hours, and the viscosity of the part of the glue is equal to or higher than the viscosity of the part of the glue by a viscometer>The measurement is carried out so as to ensure the glue viscosity +.>Ensuring the accuracy of the single dispensing duration of the subsequent determination +.>Accuracy of (2); dispensing interval time->The time required for the glue dispensing needle tube 05 to move upwards or the time required for the glue to flow to the spreading state, namely the glue to flow to the spreading state, and the glue dispensing needle tube 05 to move upwards to the designated position again, and the time required for the glue dispensing action to be performed again is the glue dispensing interval time>The continuity and stability of each dispensing operation are ensured; area thickness ratio interval->Representing the spreading area and the spreading of the glueThe ratio of the flat thickness +.>Area thickness ratio interval->Different interval ranges are needed to be selected, so that the glue can achieve the optimal flattening effect.
On the basis of the embodiment, the time between the dispensing is equal toIn the middle of (a), the dispensing needle tube 05 is controlled to move upwards by a single dispensing thickness +.>The distance between the glue outlet end face of the glue needle tube 05 and the tiled glue surface is equal when glue is discharged each time; namely, the glue outlet end face of the glue dispensing needle tube 05 and the plane where the glue is required to be dripped can be controlled to be always in the same height difference, so that the time required for dripping and tiling the glue each time is ensured to be approximately the same, namely, the time between glue dispensing intervals is controlled>The same is ensured to be the same, so that the stability of dispensing is ensured; and the uniformity of glue tiling after each dispensing can be controlled, and the bonding effect of the follow-up silicon strain gauge 02 is ensured.
Based on the above embodiment, a plurality of initial single dispensing durations are obtained by the following screening、/>……：
；
Wherein,represents the minimum area thickness ratio,/>Represents the maximum area thickness ratio,/-)>Indicating the area of the dispensing area,for calculating the coefficient, a fixed value set for human; />Indicating the diameter of the dispensing needle tube 05; />Indicates the air pressure of dispensing, +.>Is a positive integer; />Indicating the glue out time in units.
It should be noted that the number of the substrates,representing unit glue outlet time, namely the minimum glue outlet time which can be controlled by the glue dispensing equipment 04, and according to the initial setting of the equipment, the single glue outlet time of the glue dispensing equipment 04, namely the single glue outlet duration time is the unit glue outlet time->Integer multiples of (2); />For calculating the coefficient, a fixed value set for human is related to the parameter of the dispensing equipment 04, and can be obtained through multiple tests; all initial products meeting the single dispensing thickness control requirement at the moment can be accurately screened out through the constraint of the area thickness ratio intervalDuration of starting single dispensing->。
On the basis of the embodiment, a plurality of initial single dispensing durations are sequentially obtained by the following formula、/>……Corresponding thickness of single dispensing->And the dispensing times->And obtain the corresponding verification error +.>：
；
Wherein,represents the duration of initial single dispensing +.>Corresponding single dispensing thickness; />Represents the duration of initial single dispensing +.>Corresponding dispensing times; />Indicating the total thickness of theoretical glue; />Indicating rounding of the values in brackets.
It should be noted that, in all the obtained initial single dispensing durationsIn the process, due to the limitation of the total thickness, the area and the station duration of dispensing, after dispensing for a plurality of times, a certain error exists between the actual dispensing thickness and the theoretical total thickness, and when the error exceeds a certain range value, the fact shows that in the set station duration, the single dispensing duration is heat->And the corresponding dispensing thickness ∈thereof>And the dispensing times->It is difficult to meet the dispensing requirement and to ensure the stability of the subsequent bonding of the silicon strain gauge 02, therefore, verification error is utilized>For the initial single dispensing duration obtained +.>Sequentially verifying so as to eliminate the initial single dispensing duration time which does not meet the total dispensing thickness requirement and the station duration requirement interval currently>Obtaining the duration time of middle single dispensing meeting the error requirement>。
On the basis of the above embodiment, the intermediate single-shot dispensing duration is obtained by、/>……/>Corresponding actual station duration->：
；
Wherein,indicating the dispensing interval time; />Representing the duration of the middle single dispensing +.>Corresponding dispensing times.
It should be noted that, in order to make a single dispensing durationLength of time from theoretical station->Keeping consistent, the middle single dispensing duration meeting the error requirement is needed to be obtained>Select and theoretical station duration->Middle single dispensing duration with minimum difference +.>Duration of final single dispensing +.>By the above formula, each intermediate single dispensing duration +.>The actual station time length required by the corresponding dispensing procedure can be accurately selected from the theoretical station time length after comparison>Keep consistent single dispensing duration +.>According to the single dispensing duration +.>And the corresponding single dispensing thickness +.>The number of dispensing times->Actual station duration->The dispensing equipment 04 is controlled to perform dispensing procedure treatment, so that the continuous and stable dispensing working state of the production line can be ensured.
On the basis of the above embodiment, in order to simplify the current dispensing parameter obtaining process, avoiding the need of performing calculation and processing before each dispensing, establishing a database record for dispensing parameters, including the following steps:
recording and arranging the determined dispensing parameters to form an original database, wherein the original database comprises input parameters and corresponding output parameters of the dispensing parameters, and the input parameters comprise the model of the silicon strain gauge 02, the model and temperature of glue and the diameter of the dispensing needle tube 05Dispensing gasPressure->The method comprises the steps of carrying out a first treatment on the surface of the The output parameters include single dispensing duration +.>Number of dispensing timesSingle upward movement distance of dispensing needle tube 05>；
Searching the original database according to the current input parameters, and if the original database has corresponding output parameters, determining that the output parameters are current dispensing parameters; if the original database does not have the corresponding output parameters, recalculating to obtain the corresponding output parameters, and recording the current input parameters and the current output parameters into the original database.
Before the dispensing process, the original database can be searched according to the current input parameters, if the data processing process of the same input parameters exists in the previous dispensing process, the output parameters can be directly obtained as the dispensing parameters, and the data processing process is greatly shortened; and when the parameters do not exist, the data processing process of the dispensing parameters is operated again, and the obtained dispensing parameters are formed into new input parameters and output parameters which are recorded into the original database, so that the record of the original database is updated continuously.
The area of the dispensing region can be determined by the type of the silicon strain gauge 02Total thickness of needed dispensing +.>According to the type and temperature of the glue, the glue viscosity at this time can be determined>Diameter of the joint dispensing needle tube 05>Air pressure of dispensing->The final single dispensing duration +.>The number of dispensing times->Single upward movement distance of dispensing needle tube 05>The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the model of the silicon strain gauge 02, the model and the temperature of glue and the diameter of the dispensing needle tube 05 are +.>Air pressure of dispensing->May be obtained by the current production line and production requirements, or may be determined according to the specific requirements of the customer, and is not limited herein.
It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A method of manufacturing a force sensor for a robot, comprising the steps of:
pretreatment: cleaning an elastomer, and carrying out surface treatment on a region to be pasted so that the surface of the region to be pasted reaches the required roughness;
scribing: marking the position of the silicon strain gage to be pasted on the surface of the region to be pasted of the elastomer to form a dispensing region;
dispensing: according to the dispensing parameters, dispensing the dispensing area in a pneumatic dispensing mode;
curing: feeding the elastomer subjected to dispensing into a high-temperature furnace for heating and curing treatment;
and (3) sticking: taking out the heated and cured elastomer, determining the dispensing area according to the identification indication, and placing a silicon strain gauge on the cured rubber surface;
post-curing: the silicon strain gauge is kept in a horizontal upward state, and the elastomer is sent into a curing furnace to be subjected to post-curing treatment, so that the silicon strain gauge is fixed in a dispensing area of the elastomer;
and (3) connecting: and a wiring terminal is arranged on the elastic body, and an ultrasonic welding technology and a lead wire are used for connecting a bonding pad of the silicon strain gauge and the wiring terminal to form a Wheatstone bridge, so that the manufacturing of the force sensor is completed.
2. The method of manufacturing a force sensor for a robot according to claim 1, wherein the area of the dispensing area is determined byTotal thickness of dispensing ∈>Determining the dispensing parameters, and performing dispensing treatment on the dispensing area for multiple times in a pneumatic dispensing mode according to the dispensing parameters, wherein the dispensing parameters comprise the diameter of a dispensing needle tube>Air pressure of dispensing->Duration of single dispensing->Time between dispensing->And the dispensing times->。
3. The method of manufacturing a force sensor for a robot according to claim 2, wherein the dispensing area is defined by an area of the dispensing areaTotal thickness of dispensing ∈>Determining the dispensing parameters comprises the following steps:
determining the viscosity of the glue at the moment according to the model and the temperature of the glue；
According to the viscosity of the glueDetermining the adhesive interval time->And area thickness ratio interval->；
According to the dispensing interval timeAnd the area thickness ratio interval ++>Obtaining a plurality of initial single dispensing durations +.>、/>……/>；
Sequentially obtaining a plurality of initial single dispensing duration times、/>……/>Corresponding thickness of single dispensing->And the dispensing times->And obtain the corresponding verification error +.>Will verify error->The initial single dispensing duration exceeding the set interval +.>Excluding, obtaining multiple intermediate single dispensing duration +.>、/>……/>；
Sequentially obtaining a plurality of intermediate single dispensing duration、/>……/>Corresponding actual station duration->Selecting the actual station duration +.>Length of time from theoretical station->Said middle single dispensing duration with minimal difference +.>Duration of final single dispensing +.>；
The final obtained single dispensing durationAnd the corresponding single dispensing thickness +.>The number of dispensing times->Actual station duration->And as a result, output outwards.
4. A method of manufacturing a force sensor for a robot according to claim 3, wherein a plurality of said initial single dispensing durations are obtained by screening of the formula、/>……/>：
Wherein,represents the minimum area thickness ratio,/>Represents the maximum area thickness ratio,/-)>Indicates the area of the dispensing area, < >>For calculating the coefficient, a fixed value set for human; />Indicating the diameter of the dispensing needle tube; />Indicates the air pressure of dispensing, +.>Is a positive integer; />Indicating the glue out time in units.
5. The method of manufacturing a force sensor for a robot of claim 4, wherein a plurality of the initial single dispensing durations are sequentially obtained by、/>……/>Corresponding thickness of single dispensing->And the dispensing times->And obtain the corresponding verification error +.>：
Wherein,represents the duration of initial single dispensing +.>Corresponding single dispensing thickness; />Represents the duration of initial single dispensing +.>Corresponding dispensing times; />Indicating the total thickness of theoretical glue; />Indicating rounding of the values in brackets.
6. The method of manufacturing a force sensor for a robot of claim 5, wherein the intermediate single dispensing duration is obtained by、/>……/>Corresponding actual station duration->：
Wherein,indicating the dispensing interval time; />Representing the duration of the middle single dispensing +.>Corresponding dispensing times.
7. A method of manufacturing a force sensor for a robot as set forth in claim 3, wherein the time between dispensing is equal to the time between dispensingControlling the up-shift of the dispensing needle tube by a single dispensing thickness +.>The distance between the glue outlet end face of the glue needle tube and the tiled glue face is equal when glue is discharged each time.
8. A method of manufacturing a force sensor for a robot according to claim 3, wherein creating a database record of the dispensing parameters comprises the steps of:
recording and arranging the determined dispensing parameters to form an original database, wherein the original database comprises input parameters of the dispensing parameters and corresponding output parameters, and the input parameters comprise the model of a silicon strain gauge, the model and temperature of glue and the diameter of a dispensing needle tubeAir pressure of dispensing->The method comprises the steps of carrying out a first treatment on the surface of the The output parameters include single dispensing duration +.>The number of dispensing times->Single upward movement distance of dispensing needle tube>；
Searching the original database according to the current input parameters, and if the corresponding output parameters exist in the original database, determining the output parameters as the current dispensing parameters; if the original database does not have the corresponding output parameters, recalculating to obtain the corresponding output parameters, and recording the current input parameters and output parameters into the original database.
9. The method of manufacturing a force sensor for a robot according to claim 1, wherein the area of the dispensing area and the relative position at the edge of the dispensing area are obtained by verifying the dispensing area through image recognition.
10. The method of manufacturing a force sensor for a robot of claim 1, wherein the clamping stage on which the elastic body is clamped is vibrated while dispensing.
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| CN202410109995.9A CN117628026B (en) | 2024-01-26 | Manufacturing method of force sensor for robot |
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| CN202410109995.9A CN117628026B (en) | 2024-01-26 | Manufacturing method of force sensor for robot |
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