CN208714011U - A kind of end effector perceiving three-dimensional force - Google Patents
A kind of end effector perceiving three-dimensional force Download PDFInfo
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- CN208714011U CN208714011U CN201821293310.7U CN201821293310U CN208714011U CN 208714011 U CN208714011 U CN 208714011U CN 201821293310 U CN201821293310 U CN 201821293310U CN 208714011 U CN208714011 U CN 208714011U
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- fixed frame
- moving frame
- end effector
- dimensional force
- perceive
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Abstract
The utility model discloses a kind of end effector that can perceive three-dimensional force, including fixed frame, along the elastic component of y-axis setting, fixed frame slidably connects moving frame, it is slided respectively with fixed frame at the both ends of elastic component, moving frame connection, it further include the displacement sensor for incuding the relative displacement between fixed frame and moving frame, displacement sensor is fixed in fixed frame or moving frame, moving frame is equipped with strain section, strain described two lateral surfaces in the x direction of section, foil gauge group is equipped on described two lateral surfaces in a z-direction, institute's foil gauge group includes spaced two foil gauges in the y-direction.Displacement sensor perceives the displacement between moving frame and fixed frame, and the power F in the direction y is calculated according to the spring ratio of elastic componenty, then according to the resistance signal of the foil gauge group set up in x, the side z, calculate separately out Fz、τz, to allow the utility model that can perceive three-dimensional force.The utility model is used for robot.
Description
Technical field
The utility model relates to robot field, in particular to a kind of end effector that can perceive three-dimensional force.
Background technique
It tapes, polishes, special purpose robot's end effector of removing surface etc. is and to be added in operation process
There is the control requirement of contact force on work surface, therefore perceives the contact force of end effector and workpiece surface, in such contact type off-machine
It is necessary in device people's operation；At the same time, job task, which generally requires end effector of robot, flexibility position
Compensation and power adaptive functions are set to realize submissive contact operation.For example curved surface is taped or carried out to curved surface in robot
When removing surface, needs end effector to there is certain flexibility to contact to keep good with surface, rigidity is avoided to impact.It is existing
Some multi-dimension force sensor products are designed based on complicated structure, and price is higher, and do not have flexible member to adapt to contact
The error compensation of power and position in journey.This item patent application, propose it is a kind of based on foil gauge and position sensor for machine
The three-dimensional force of device people's end effector perceives and the sensing end actuator apparatus of single-axle flexible position compensation.
Utility model content
Technical problem to be solved by the utility model is: providing a kind of end effector that can perceive three-dimensional force.
The solution that the utility model solves its technical problem is:
A kind of end effector perceiving three-dimensional force, the elastic structure along y-axis setting including fixed frame, with both ends
Part is equipped with the moving frame slided along y-axis on fixed frame, and fixed to be erected on fixed pedestal, the both ends of elastic component are respectively and solid
Determine frame, moving frame connection, further includes the displacement sensor for incuding the relative displacement between fixed frame and moving frame, displacement sensor
It is fixed in fixed frame or moving frame, moving frame is equipped with strain section, and the two in the x direction lateral surface of the strain section is mutually flat
The two in a z-direction lateral surface of row setting, the strain section is arranged in parallel, strains in the x direction described of section
Foil gauge group is equipped on two lateral surfaces, described two lateral surfaces in a z-direction, the foil gauge group includes along the side y
To spaced two foil gauges.
It as a further improvement of the foregoing solution, further include the first through hole opened up in the x-direction, the first through hole is located at
Between the foil gauge group on two sides on the direction z.
As a further improvement of the foregoing solution, two sides of the first through hole in a z-direction and the strain direction section z
On two lateral surfaces be parallel to each other.
It as a further improvement of the foregoing solution, further include the second through-hole opened up in the z-direction, second through-hole is located at
Between the foil gauge group on two sides on the direction x.
As a further improvement of the foregoing solution, two sides of second through-hole in the x direction and the strain direction section x
On two lateral surfaces be parallel to each other.
As a further improvement of the foregoing solution, moving frame is equipped with end-of-arm tooling.
As a further improvement of the foregoing solution, fixed frame is equipped with the visual sensing of monitoring range covering end-of-arm tooling
Device.
As a further improvement of the foregoing solution, fixed frame is equipped with sliding rail, and moving frame is connect with the sliding rail.
It as a further improvement of the foregoing solution, further include fixed pedestal, fixation is erected on fixed pedestal.
The beneficial effects of the utility model are: a kind of end effector that can perceive three-dimensional force, including fixed frame, have two
The elastic component being arranged along y-axis at end is equipped with the moving frame slided along y-axis on fixed frame, and fixation is erected on fixed pedestal, bullet
The both ends of property component are connect with fixed frame, moving frame respectively, further include for incuding the relative displacement between fixed frame and moving frame
Displacement sensor, displacement sensor are fixed in fixed frame or moving frame, moving frame be equipped with strain section, it is described strain section in the side x
Two upward lateral surfaces are arranged in parallel, and the two in a z-direction lateral surface of the strain section is arranged in parallel, answer
Become described two lateral surfaces in the x direction of section, be equipped with foil gauge group, institute on described two lateral surfaces in a z-direction
State foil gauge group and include spaced two foil gauges in the y-direction.In use, end-of-arm tooling is arranged in moving frame, formed
End effector, when work, displacement sensor perceives the displacement between moving frame and fixed frame, according to the elastic force system of elastic component
Number calculates the power Fy in the direction y, then according to the resistance signal of the foil gauge group set up in x, the side z, calculates separately out the side x
To the direction Fx, x on torque τ x, or the torque τ z on the direction Fz, z in the direction z is calculated separately out, to allow practical
New Energy perceives three-dimensional force.And (Fy, Fx, τ x) or (Fy, Fz, τ z) can be used for calculating the specific stress condition of end-of-arm tooling.This
Utility model is used for robot.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described.Obviously, described attached drawing is a part of the embodiment of the utility model, rather than complete
Portion's embodiment, those skilled in the art without creative efforts, can also be obtained according to these attached drawings it
His design scheme and attached drawing.
Fig. 1 is the structural upright schematic diagram of the utility model embodiment；
Fig. 2 is the bridge circuit schematic diagram of the power on the measurement direction x of the utility model embodiment；
Fig. 3 is that the perception of the three-dimensional force of the utility model embodiment and tool tip pose compensate schematic diagram；
Fig. 4 is the stress analysis schematic diagram of the utility model embodiment.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the utility model, specific structure and generation
It clearly and completely describes, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is a part of the embodiment of the utility model, rather than whole embodiments, it is based on the embodiments of the present invention, the skill of this field
Art personnel other embodiments obtained without creative efforts belong to the model of the utility model protection
It encloses.In addition, all connection/connection relationships being previously mentioned in text, not singly refer to that component directly connects, and referring to can be according to specific reality
Situation is applied, by adding or reducing couple auxiliary, Lai Zucheng more preferably coupling structure.Each technology in the utility model is special
Sign, can be with combination of interactions under the premise of not conflicting conflict.
Referring to figs. 1 to Fig. 4, this is the embodiments of the present invention, specifically:
A kind of end effector perceiving three-dimensional force, the elastic structure along y-axis setting including fixed frame 10, with both ends
Part is equipped with the moving frame 2 slided along y-axis on fixed frame 10, and fixed frame 10 is located on fixed pedestal 1, the both ends point of elastic component
It is not connect with fixed frame 10, moving frame 2, further includes incuding for incuding the displacement of the relative displacement between fixed frame 10 and moving frame 2
Device, displacement sensor are fixed in fixed frame 10 or moving frame 2, and moving frame 2 is equipped with strain section, and the strain section is in the x direction
Two lateral surfaces it is arranged in parallel, it is described strain section two in a z-direction lateral surface it is arranged in parallel, strain section
Described two lateral surfaces in the x direction, be equipped with foil gauge group on described two lateral surfaces in a z-direction, it is described to answer
Becoming piece group includes spaced two foil gauges 3 in the y-direction.In use, end-of-arm tooling is arranged in moving frame, end is formed
Actuator, when work, displacement sensor perceives the displacement between moving frame and fixed frame, according to the spring ratio meter of elastic component
Calculate the power F in the direction yy, then according to the resistance signal of the foil gauge group set up in x, the side z, calculate separately out the direction x
Fx, torque τ on the direction xx, or the torque τ z on the direction Fz, z in the direction z is calculated separately out, to allow the utility model
Three-dimensional force can be perceived.And (Fy, Fx, τx) or (Fy, Fz, τz) it can be used for calculating the specific stress condition of end-of-arm tooling.The elasticity
Component includes spring 13.
Moreover, according to (Fy, Fx, τx) or (Fy, Fz, τz) can be achieved end-of-arm tooling position compensation.
The present embodiment further includes the first through hole 41 opened up in the x-direction, and the first through hole 41 sets two in a z-direction
Between foil gauge group on side.A thin-walled can be formed in this way, allowed strain section that there can be relatively large deformation, further included edge
The second through-hole 42 that the direction z opens up, second through-hole 42 are set between the foil gauge group on two sides in the x direction.From
And improve the sensitivity of the power in the direction z, x.
Two sides of the first through hole 41 in a z-direction are parallel to each other with two lateral surfaces on the strain direction section z.
Two sides of second through-hole 42 in the x direction are parallel to each other with two lateral surfaces on the strain direction section x.It is such to set
It sets, the signal that foil gauge provides is more linear.
The moving frame 2 of the present embodiment is equipped with end-of-arm tooling 7.
The fixed frame 10 of the present embodiment is equipped with the visual sensor 5 of monitoring range covering end-of-arm tooling 7.Visual sensor
5 provide the visual information (image information) of end-of-arm tooling 7, the posture to work according to the visual information end-of-arm tooling 7
Adjustment.
Displacement sensor includes non-contact displacement transducer and tangent displacement sensor, is displaced and passes described in the present embodiment
Sensor is slide rheostat, and slide rheostat is fixed on fixed frame 10, and the mobile terminal of slide rheostat accordingly connects with moving frame 2
It connects.
In order to reduce friction, realize guiding, fixed frame 10 is equipped with sliding rail, and moving frame 2 is connect with the sliding rail.
Power on the direction z is related such that, as shown in Figure 1, to being marked respectively for measuring the foil gauge of power on the direction z
Number be a, b, c, d, bridge circuit schematic diagram as shown in Figure 2.Fz=kfz·Ue, wherein kfzRepresent the component position where foil gauge
Set to FzStiffness coefficient.
And then also it is capable of measuring τz, with FzMeasurement it is similar, foil gauge a and b form bridge circuit can by transducer calibration
To obtain τz=kτz·Ue, wherein kτzRepresent the member position where foil gauge to FzStiffness coefficient.
For the ease of connection, the present embodiment further includes fixed pedestal 1, and fixed frame 10 is located on fixed pedestal 1.
When end-of-arm tooling is connected to robot end by fixed pedestal, end-of-arm tooling 7 is contacted with workpiece surface.For
Actual manipulating object, contact force and torque are needed in selected range.Therefore, the F perceived by sensorySize, can
To control robot end position in real time to adjust normal pressure.Typically, for taping and the operations such as removing surface, Fy
Along the normal direction of workpiece surface, effectively to complete task, Fz is usually closer to 0 in this case.It perceives biggish
Fz, it is meant that tool tip normal pressure deviates normal direction, needs timely to adjust itself corner of tool.Similar, work as FyAlong normal direction
When, τzClose to 0.If measuring biggish τzWhen, the lateral deflection angle of tool tip will be adjusted in time.Its principle is such as
Shown in Fig. 3.
Axial force F is perceived by 3 axle powers (torque) sensory, pressure FzWith torque τz, by with selected reference data
Force information compares, and obtains the error compensation of reasonable end-of-arm tooling pose (including along sliding rail side by Error Compensation Algorithm
To displacement, the pose compensation of the angle of rotation of tool and lateral corner), by the Arithmetic of inverse kinematics of robot, get machine
The compensated joint angles of device people, and send to the movement output of robot controller control robot, to realize robot
The real-time adjustment of terminal angle.
Visual sensor 5 perceives visual information, passes through the several of the available tool of image processing algorithm and workpiece surface
What feature, these features can be used as auxiliary information and carry out pose compensation to the robot for holding the present embodiment.
The force snesor of this technology and can with the perception information of additional visual sensor, can be used for based on power feel and regard
Robot manipulation's tasking learning of perception is felt, to realize that robot task study provides an economical and practical experiment porch.
The better embodiment of the utility model is illustrated above, but the utility model be not limited to it is described
Embodiment, those skilled in the art can also make various equivalent changes without departing from the spirit of the present invention
Type or replacement, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. one kind can perceive the end effector of three-dimensional force, the elastic structure along y-axis setting including fixed frame (10), with both ends
Part is equipped with the moving frame (2) slided along y-axis on fixed frame (10), the both ends of elastic component respectively with fixed frame (10), moving frame
(2) it connects, it is characterised in that: further include the displacement sensing for incuding the relative displacement between fixed frame (10) and moving frame (2)
Device, displacement sensor are fixed in fixed frame (10) or moving frame (2), moving frame (2) be equipped with strain section, it is described strain section in x
Two lateral surfaces on direction are arranged in parallel, and the two in a z-direction lateral surface of the strain section is arranged in parallel,
It strains described two lateral surfaces in the x direction of section, be equipped with foil gauge group on described two lateral surfaces in a z-direction,
The foil gauge group includes spaced two foil gauges (3) in the y-direction.
2. the end effector that one kind according to claim 1 can perceive three-dimensional force, it is characterised in that: further include along the side x
To the first through hole (41) opened up, the first through hole (41) is set between the foil gauge group on two sides in a z-direction.
3. the end effector that one kind according to claim 2 can perceive three-dimensional force, it is characterised in that: the first through hole
(41) two sides in a z-direction are parallel to each other with two lateral surfaces on the strain direction section z.
4. the end effector that one kind according to claim 1 can perceive three-dimensional force, it is characterised in that: further include along the side z
To the second through-hole (42) opened up, second through-hole (42) is set between the foil gauge group on two sides in the x direction.
5. the end effector that one kind according to claim 4 can perceive three-dimensional force, it is characterised in that: second through-hole
(42) two sides in the x direction are parallel to each other with two lateral surfaces on the strain direction section x.
6. the end effector that one kind according to claim 1 can perceive three-dimensional force, it is characterised in that: moving frame is set on (2)
There are end-of-arm tooling (7).
7. the end effector that one kind according to claim 6 can perceive three-dimensional force, it is characterised in that: on fixed frame (10)
Visual sensor (5) equipped with monitoring range covering end-of-arm tooling (7).
8. the end effector that one kind according to claim 1 can perceive three-dimensional force, it is characterised in that: the displacement sensing
Device is slide rheostat, and slide rheostat is fixed in fixed frame (10)/moving frame (2), and the mobile terminal of slide rheostat is accordingly
It is connect with moving frame (2)/fixed frame (10).
9. the end effector that one kind according to claim 1 can perceive three-dimensional force, it is characterised in that: on fixed frame (10)
Equipped with sliding rail, moving frame (2) is connect with the sliding rail.
10. the end effector that one kind according to claim 1 can perceive three-dimensional force, it is characterised in that: further include fixing
Pedestal (1), fixed frame (10) are located on fixed pedestal (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821293310.7U CN208714011U (en) | 2018-08-10 | 2018-08-10 | A kind of end effector perceiving three-dimensional force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821293310.7U CN208714011U (en) | 2018-08-10 | 2018-08-10 | A kind of end effector perceiving three-dimensional force |
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| Publication Number | Publication Date |
|---|---|
| CN208714011U true CN208714011U (en) | 2019-04-09 |
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ID=65977305
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821293310.7U Expired - Fee Related CN208714011U (en) | 2018-08-10 | 2018-08-10 | A kind of end effector perceiving three-dimensional force |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972601A (en) * | 2018-08-10 | 2018-12-11 | 佛山科学技术学院 | A kind of end effector perceiving three-dimensional force |
-
2018
- 2018-08-10 CN CN201821293310.7U patent/CN208714011U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972601A (en) * | 2018-08-10 | 2018-12-11 | 佛山科学技术学院 | A kind of end effector perceiving three-dimensional force |
| CN108972601B (en) * | 2018-08-10 | 2024-03-26 | 佛山科学技术学院 | End effector capable of sensing three-dimensional force |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190409 Termination date: 20210810 |