CN204064533U - A kind of new six wrist force sensor - Google Patents
A kind of new six wrist force sensor Download PDFInfo
- Publication number
- CN204064533U CN204064533U CN201420513266.1U CN201420513266U CN204064533U CN 204064533 U CN204064533 U CN 204064533U CN 201420513266 U CN201420513266 U CN 201420513266U CN 204064533 U CN204064533 U CN 204064533U
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- China
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- force sensor
- platform
- elastic link
- wrist force
- wrist
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Abstract
The utility model discloses a kind of new six wrist force sensor, comprising shape is cubical upper platform, upper platform is six faces, the center of each is all provided with the first spherical linkage, first spherical linkage is provided with one end of elastic link, the other end of elastic link connects the second spherical linkage, six the second spherical linkages are arranged on underlying platform respectively, underlying platform is also 6 faces, a face of the corresponding upper platform in each face, elastic link is arranged with the plane orthogonal of the underlying platform be connected with the plane of the upper platform be connected, elastic link is provided with Additional elastomeric, Additional elastomeric is connected with outside measuring equipment.The beneficial effects of the utility model there is provided the wrist force sensor in sextuple direction, can carry out comprehensive measurement to robot wrist's motion.
Description
Technical field
The utility model belongs to Research on Robot Wrist Force Sensor technical field, relates to a kind of new six wrist force sensor.
Background technology
In robot remote manipulation, the major function of wrist force sensor is realizable force feedback, and this is the important component part of contact force program; Another is that contact force is as the accurate location of robotic contact's hand for information source in environment.The information that wrist force sensor provides can reduce the peripherals accuracy requirement of robot.Remote sensing operating environment is by modulator and directly carry out message exchange, utilizes wrist force sensor to detect, change, be sent to main frame, thus establishes virtual environment, main modular and real-time, interactive environment.The design of sensor loop system proves, the bridge circuit designs of whole measuring system is available, also demonstrates the rationality of sensor data acquisition Software for Design.
The present age, robot development entered the intelligent robot epoch.One of most important characteristic of intelligent robot is exactly that the timely feedback transducer of surrounding enviroment information be equipped with is more complete than robot control system, and Research on Robot Wrist Force Sensor is one of important composition department of robot sensor.Along with the generally application of industrial robot and robot sensor, because Research on Robot Wrist Force Sensor is safe in robotic contact's test, better robot remote work safety will be needed future to ensure.Detected the feedback of modulator, environment and robot arm by contact force sensor, thus can enable operator be personally on the scene as operation, control is more felt.
Wrist force sensor is a most important branch in field in intelligent robotics as the force-feedback control system in detecting element, and it can be reacted to force and moment change rapidly, and therefore it possesses good behavioral characteristics.The behavioral characteristics of wrist force sensor have impact on the general performance of robot system to a great extent, if the dynamic performance of wrist force sensor is bad, can not reflect the change of the force and moment that will measure fast and accurately, so whole robot system is with regard to cisco unity malfunction.Robot architecture determines the feature of sensor to a certain extent.And the current existing Research on Robot Wrist Force Sensor of China is also fairly simple, the requirement of existing intelligent robot can not be adapted to.
Utility model content
The purpose of this utility model is to provide a kind of new six wrist force sensor, solves current robot measurement wrist force sensor too simple, can not from the problem of robot wrist being carried out on multi-direction to displacement measurement.
The technical scheme that the utility model adopts is that to comprise shape be cubical upper platform, upper platform is six faces, the center of each is all provided with the first spherical linkage, first spherical linkage is provided with one end of elastic link, the other end of elastic link connects the second spherical linkage, six the second spherical linkages are arranged on underlying platform respectively, underlying platform is also 6 faces, a face of the corresponding upper platform in each face, elastic link is arranged with the plane orthogonal of the underlying platform be connected with the plane of the upper platform be connected, elastic link is provided with Additional elastomeric, Additional elastomeric is connected with outside measuring equipment.
The beneficial effects of the utility model there is provided the wrist force sensor in sextuple direction, can carry out comprehensive measurement to robot wrist's motion.
Accompanying drawing explanation
Fig. 1 is a kind of mechanical arm platform structure schematic diagram measuring wrist force sensor of the utility model;
Fig. 2 is a kind of new six wrist force sensor of the utility model structural representation.
In figure, 1. base, 2. swivel base, 3. report control platform, 4. forearm, 5. first connecting rod, 6. forearm control knob, 7. connecting rod control knob, 8. large arm, 9. mechanical arm head, 10. second connecting rod, 11. wrist force sensors, 12. hocks, 13. display screens, 14. mechanical arm Electric Machine Control buttons, 101. upper platforms, 102. first spherical linkages, 103. elastic links, 104. second spherical linkages, 105. underlying platforms, 106. Additional elastomeric.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
Test platform of the present utility model comprises base 1, base 1 is provided with swivel base 2, swivel base 2 is rotatable to be arranged on base 1, swivel base 2 is provided with report control platform 3, report control platform 3 is provided with one end of forearm 4 and one end of first connecting rod 5, forearm 4 is controlled to rotate on report control platform 3 by the forearm control knob 6 on report control platform 3, first connecting rod 5 is controlled rotatable movement by the connecting rod control knob 7 on report control platform 3, the other end of forearm 4 and one end of large arm 8 is rotating links together, the rotating connection machinery of large arm 8 other end portion 9 at hand, the other end of first connecting rod 5 and one end of second connecting rod 10 link together and are mobilizablely arranged in large arm 8, the other end of second connecting rod 10 is movably connected on mechanical arm head 9, when first connecting rod 5 rotary motion, second connecting rod 10 can be driven to move thus pull mechanical arm head 9 to do side-to-side motion, mechanical arm head 9 is provided with wrist force sensor 11, wrist force sensor 11 connects hock 12, the motor that hock 12 is installed in mechanical arm head 9 controls, report control platform 3 is also provided with display screen 13 and mechanical arm Electric Machine Control button 14.
Mechanical arm Electric Machine Control button 14 on report control platform 3 of the present utility model, the motor start and stop being arranged on mechanical arm head 9 can be controlled, display screen 13 is used for showing the sensor states of wrist force sensor 11, namely connect the robot wrist service data of hock 12, thus carry out the performance test of wrist force sensor 11.And hock 12 can be replaced by all kinds, to adapt to different application requirements.
Wherein, wrist force sensor 11 is the Multidimensional wrist force sensor of the proprietary design of the utility model, comprising shape is cubical upper platform 101, upper platform 1 is six faces, the center of each is all provided with the first spherical linkage 102, first spherical linkage 102 is provided with one end of elastic link 103, the other end of elastic link 103 connects the second spherical linkage 104, six the second spherical linkages 104 are arranged on underlying platform 105 respectively, underlying platform 105 is also 6 faces, a face of the corresponding upper platform 101 in each face, elastic link 103 is arranged with the plane orthogonal of the underlying platform 105 be connected with the plane of the upper platform 101 be connected, elastic link 103 is provided with Additional elastomeric 106, Additional elastomeric 106 is connected with outside measuring equipment.
This novel Multidimensional wrist force sensor feature is: 6 elastic links 103 are divided into 3 groups, any two groups all with the 3rd mutually vertical in orientation, mounting plane and elastic link 103 are also mutual vertical, realize 6 axle power and torque decoupling zero from structure; When the ergometry acting on a platform makes 6 elastic links 103 that microstrain occur, elastic link 103 is produced the amplification of tension force by Additional elastomeric 106, so just can obtain the detection signal on 6 tunnels.
The above is only to preferred embodiment of the present utility model, not any pro forma restriction is done to the utility model, every according to technical spirit of the present utility model to any simple modification made for any of the above embodiments, equivalent variations and modification, all belong in the scope of technical solutions of the utility model.
Claims (1)
1. a new six wrist force sensor, it is characterized in that: comprising shape is cubical upper platform (101), upper platform (101) is six faces, the center of each is all provided with the first spherical linkage (102), first spherical linkage (102) is provided with one end of elastic link (103), the other end of elastic link (103) connects the second spherical linkage (104), six the second spherical linkages (104) are arranged on underlying platform (105) respectively, underlying platform (105) is also 6 faces, a face of the corresponding upper platform (101) in each face, elastic link (103) is arranged with the plane orthogonal of the underlying platform be connected (105) with the plane of the upper platform be connected (101), elastic link (103) is provided with Additional elastomeric (106), Additional elastomeric (106) is connected with outside measuring equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420513266.1U CN204064533U (en) | 2014-09-09 | 2014-09-09 | A kind of new six wrist force sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420513266.1U CN204064533U (en) | 2014-09-09 | 2014-09-09 | A kind of new six wrist force sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204064533U true CN204064533U (en) | 2014-12-31 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420513266.1U Expired - Fee Related CN204064533U (en) | 2014-09-09 | 2014-09-09 | A kind of new six wrist force sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204064533U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109632173A (en) * | 2018-12-26 | 2019-04-16 | 东南大学 | A kind of caliberating device of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision |
-
2014
- 2014-09-09 CN CN201420513266.1U patent/CN204064533U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109632173A (en) * | 2018-12-26 | 2019-04-16 | 东南大学 | A kind of caliberating device of multiple-degree-of-freedom force feedback equipment end three-dimensional force precision |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141231 Termination date: 20150909 |
|
| EXPY | Termination of patent right or utility model |