KR102224404B1 - 6-axis compliance device with force/torque sensing capability - Google Patents

Abstract

The present invention relates to a 6-axis compliance apparatus with force/moment measuring function, which comprises: a fixing frame; a moving frame; and a compliance instrument unit which makes an elastic deformation when the moving frame relocates based on the fixing frame; and a detection measuring unit which measures three forces and three moments working on the moving frame based on a fixed coordinate system. The compliance instrument unit includes a first through third compliance modules installed by diagonalizing into an interval of angle of 120 degrees. Each of the first through third compliance modules includes: a support block fixed on an upper surface of the fixing frame; a first elastic piece whose one end is fixed on the support block, and whose other end is a free end; a first link member which is detachably engaged by magnetism by the medium of a first strong magnetic ball, whose lower end is engaged with the other end of the first elastic piece, and which is detachably engaged by magnetism by the medium of a second strong magnetic ball whose upper end is engaged with the moving frame; a second elastic piece whose one end is fixed on the support block and whose other end is a free end for being symmetrical to the first elastic piece; and a second link member which is detachably engaged by magnetism by the medium of a third strong magnetic ball whose lower end is engaged with the other end of the second elastic piece, and which is detachably engaged by magnetism by the medium of a fourth strong magnetic ball whose upper end is engaged with the moving frame to be symmetrical to the first link member. The present invention aims to provide the 6-axis compliance apparatus with the force/moment measuring function, which is able to perform a more precise control.

Description

6-axis force/moment measurement function {6-AXIS COMPLIANCE DEVICE WITH FORCE/TORQUE SENSING CAPABILITY}

The present invention uses a compliant center formed on the central axis of the work robot to work in the three-axis direction to prevent damage to the object and the work tool by contacting it with a constant pressure when a work tool coupled to the work robot processes or assembles an object. It relates to an acclimatization device having a six-axis force/moment measurement function that measures three forces and three moments generated by rotation about the center of the three axes.

Industrial robots are used in various fields in the modern industrial society. In the case of early industrial robots, they simply performed the role of moving heavy loads, but as 3D environment recognition became possible, they were installed in major process lines as well as logistics and carrying out various tasks. As industrial automation progresses gradually, various requirements such as productivity improvement, cost reduction, and small-scale production of various types have arisen, and in order to meet these requirements, there has been a need to put industrial robots in not only the main process line but also the entire process line. .

For example, if an industrial robot is used not only for processing operations such as deburring, buffing, polishing, grinding, sanding, etc., but also for product assembly operations that assemble each part, a lot of cost can be saved. The common point of these operations is that the work tool must be moved along the surface of the work piece while maintaining a constant contact force on the work piece's surface. Therefore, it is necessary not only to control the position of the working robot but also to control the force. In order to solve the above-described problems, a method of simultaneously controlling a position and a force by combining a device with known rigidity to an end of a working robot, that is, a wrist portion is used.

The force control method according to the prior art is used in a task requiring force control by attaching a force/torque sensor capable of measuring force to the wrist of a working robot. However, since the F/T sensor is a device that transmits necessary information as a signal, not a device that performs a task, it helps to measure and control the force/moment, but it contacts and maintains the working tool on the surface of a hard object with a constant force. It is very difficult to do.

In other words, in order to maintain a constant pressure on the surface of the object, a flexible work tool must be used, and the internal structure of the F/T sensor is made of a cross-shaped elastic structure, so there is a limit to minimizing cross sensitivity. There is a problem that there is. Therefore, as shown in FIG. 1, a device having a force/moment measurement function having flexibility while sensing a force/moment was developed.

First, a fixed frame 10 in which a fixed origin of a fixed coordinate system is defined, a moving frame 20 that is installed to be spaced upward from the fixed frame 10 and defines a moving origin of the moving coordinate system, and the fixed frame 10 ) Is installed between the moving frame 20 to support the moving frame 20 with respect to the fixed frame 10, and each of the three axes acting on the moving origin of the moving frame 10 based on the fixed coordinate system It consists of a conforming mechanism part 30 that measures three forces with respect to the direction of and three moments in each direction of the three axes as the center of rotation.

Here, the conforming mechanism unit 30 has one end coupled to the fixed frame 10 and a ball joint, and the other end coupled to the movable frame 20 and a ball joint. In addition, when an external force acts on the moving frame 20 and the moving coordinate system of the moving frame moves in position, a buffer cylinder is provided to alleviate the impact. The buffer cylinder has a spring installed inside to form a small displacement to give the device flexibility.

Moreover, an external force acts on the moving frame 20 through an optical sensor installed on the outer surface of the buffer cylinder, and the spring installed inside the buffer cylinder is compressed to measure the small displacement formed. You will measure the direction and size. However, since the optical sensor is expensive, the cost of the device is high, and due to the characteristics of the optical sensor, it is vulnerable to foreign substances coming from the outside, so that the usable environment is limited.

In order to compensate for the above-described problems, force/moment measurement using a strain gauge as shown in FIG. 2 in the'Adaptation Device with 6-axis force/moment measurement function' of Patent Registration No. 10-1876676 filed and registered by the present applicant. A device with a function was developed. That is, the fixed frame 10, the moving frame 20, and the conforming mechanism part 30 have the same, but the structure of the conforming mechanism part 30 is changed from the conventional spring-cylinder structure to the link member 31 and the elastic piece 32. ), and by attaching a strain gauge (S) to the elastic piece (32) to detect the amount of deformation, measure the three forces and three moments acting on the moving origin based on the fixed coordinate system to reduce the cost of the device. It is possible to prevent damage and damage to the work piece and work tool while significantly reducing it.

However, even in the case of the compliant device according to the prior art described above, first, ball joints 33 are provided at both ends of the link member 31, and such a ball joint 33 has a spherical mechanical structure and requires an additional connection part, The problem that it becomes an element that interferes with more precise force/moment measurement according to design and assembly errors, and the second link member 31, the elastic piece 32, and any one of the ball joint 33 is scratched or damaged. For this reason, there is an inconvenient problem that the whole must be disassembled and reassembled again when replacing.

The object of the present invention, conceived from the above point of view, is more suitable for miniaturization and precision, can reduce manufacturing cost, but is not affected by foreign substances introduced from the outside, so that it can be applied to various working environments, and a simple force control method It is possible to measure three forces and three moments by using, and in particular, it has a 6-axis force/moment measurement function that is convenient for disassembly and assembly with more precise control by improving the structure of the ball joint provided at both ends of the link member. It is to provide acclimatization devices.

In order to achieve the above object, the adaptive device having a six-axis force/moment measurement function according to the present invention includes a fixed frame in which a fixed origin of a fixed coordinate system consisting of three axes of XYZ is defined, and spaced upward of the fixed frame. The fixed frame and the moving frame are installed so as to be movable based on the fixed coordinate system of the fixed frame, and the moving origin of the moving coordinate system of xyz is defined, and the fixed frame and the moving frame to support the moving frame with respect to the fixed frame. A compliant mechanism unit that is installed between and elastically deforms when an external force acts on the movement origin of the movable frame to move the position based on the fixed coordinate system of the fixed frame, and a deformation amount of the compliant mechanism unit is sensed based on the fixed coordinate system. And a sensing measuring unit for measuring three forces in each direction of the three axes acting on the moving origin of the moving frame and three moments having each direction of the three axes as a rotation center, and the conforming mechanism unit includes the fixed frame It includes three first conforming modules, a second conforming module, and a third conforming module installed diagonally at intervals of 120 degrees between the and the moving frame, and the first conforming module, the second conforming module, and the third conforming module. Each of the conforming modules includes a support block fixedly installed on the upper surface of the fixing frame, a first elastic piece having one end fixedly installed on the support block, the other end being a free end, and a first elastic piece having a lower end coupled to the other end of the first elastic piece. 1 A first link member detachably coupled by magnetic force through a ferromagnetic ball, and a first link member detachably coupled by magnetic force through a second ferromagnetic ball coupled to the moving frame, and the first elastic piece A second elastic piece having one end fixedly installed on the support block so as to be symmetrical to each other, and a third ferromagnetic ball having a lower end coupled to the other end of the second elastic piece so that the other end is symmetrical to each other with the first link member. It characterized in that it comprises a second link member detachably coupled by magnetic force, the upper end is detachably coupled by magnetic force through a fourth ferromagnetic ball coupled to the moving frame.

In addition, the first ferromagnetic ball is a spherical ferromagnetic body, a bolt body protruding from the lower surface is screwed through the first nut through the other end of the first elastic piece, and the third ferromagnetic ball is a spherical ferromagnetic body The bolt body protruding from the lower surface penetrates the other end of the second elastic piece and is screwed through a second nut, and each of the second ferromagnetic ball and the fourth ferromagnetic ball is a spherical ferromagnetic body, and is formed protruding from the upper surface. It characterized in that the bolt body is screwed through the lower surface of the moving frame.

In addition, the first link member includes a first lower socket formed at a lower end of a cylindrical nonmagnetic material, a first upper socket formed at an upper end, and a first lower part inserted below the inside so as to be disposed close to the first lower socket. It includes a magnet, and a first upper magnet inserted in the upper portion so as to be disposed close to the first upper socket, and the second link member is a cylindrical non-magnetic material formed at the lower end and a second lower socket formed at the upper end. Including a second upper socket, a second lower magnet inserted below the inside to be disposed close to the second lower socket, and a second upper magnet inserted above the inside to be disposed close to the second upper socket It is characterized.

In addition, the first link member is ball-joined by contacting the first lower socket with the first ferromagnetic ball, and is detachably coupled to the first ferromagnetic ball by the magnetic force of the first lower magnet, 2 The first upper socket is in contact with the ferromagnetic ball to be ball-joined, the second ferromagnetic ball is detachably coupled to the second ferromagnetic ball by the magnetic force of the first upper magnet, and the second link member is connected to the third ferromagnetic ball. The second lower socket is in contact with the ball joint, the first ferromagnetic ball is detachably coupled to the first ferromagnetic ball by the magnetic force of the second lower magnet, and the second upper socket is in contact with the fourth ferromagnetic ball to make a ball joint. , Characterized in that it is detachably coupled to the fourth ferromagnetic ball by the magnetic force of the second upper magnet.

In addition, the fixed frame and the moving frame are characterized in that they are installed in parallel with each other.

In addition, each of the first elastic piece, the second elastic piece, the first link member and the second link member of each of the first conforming module, the second conforming module, and the third conforming module is virtually formed between the fixed frame and the moving frame. It is characterized in that it is installed on the same plane vertically.

In addition, the sensing and measuring unit is attached to at least one of the upper and lower surfaces of each of the first elastic piece and the second elastic piece, a plurality of each of the first elastic piece and the second elastic piece to detect the amount of elastic deformation of the strain gage and the strain gauge transmits a respective signal receiving the strain gauges respectively from the elastic deformation amount of the F _X, Y-axis direction on the X-axis direction acting on the moving origin of the mobile frame relative to the fixed coordinate system, Each of the three forces of F _{Y and F Z} in the Z-axis direction _{and M X with the X-} axis as the rotation center, M _{Y with the Y- axis as the rotation center, and M Z} with the Z-axis as the rotation center It is characterized in that it includes a microcomputer that calculates three moments.

In addition, the fixed frame is characterized in that the lower portion is in a closed cylindrical shape, the moving frame, characterized in that it is installed to be able to flow in the open upper portion of the fixed frame in a disk shape having a diameter smaller than the inner diameter of the fixed frame. .

The acclimatization device having a six-axis force/moment measurement function according to the present invention is more suitable for miniaturization and precision, and can reduce manufacturing costs, but is not affected by foreign substances introduced from the outside, and thus can be applied to various work environments. It has the effect of being able to measure 3 forces and 3 moments using a simple force control method.

In particular, since the structure of the ball joints provided at both ends of the link member is improved by magnetic force, there is no need for additional connection parts, and there is little effect on design and assembly errors, so it has the effect of more precise control and convenient disassembly and assembly. .

In addition, the fixed frame is formed in a cylindrical shape, and the moving frame is movably coupled to the open upper part of the fixed frame, so that the arm or wrist of the working robot can be easily inserted and installed, and the working tool can also be installed on the moving frame. There is an effect that can be installed conveniently.

1 is a perspective view showing an embodiment of an acclimatization device having a six-axis force/moment measurement function according to the prior art,
Figure 2 is a perspective view showing another embodiment of the acclimatization device having a six-axis force / moment measurement function according to the prior art,
Figure 3 is a perspective view showing an embodiment of the acclimatization device having a six-axis force / moment measurement function according to the present invention,
4 is an exploded perspective view of only the moving frame in the embodiment of FIG. 3,
Figure 5 is a side view of the embodiment of Figure 3,
6 is an enlarged perspective view of a main part showing only one of the first to third conforming modules in the embodiment of FIG. 4;
Figure 7 is a side cross-sectional view of the embodiment of Figure 6,
8 is a side cross-sectional view of the embodiment of FIG. 7 exploded for each configuration,
9 is a schematic diagram showing a coupling relationship by point contact between a socket of a link member and a ferromagnetic ball in the embodiment of FIG. 7;
10 is a perspective view showing another embodiment of a compliant device having a six-axis force/moment measurement function according to the present invention,
11 is an exploded perspective view of only the moving frame in the embodiment of FIG. 10,
12 is a side view showing a state in which the embodiment of FIG. 10 is attached to a working robot.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the acclimatization device having a six-axis force / moment measurement function according to the present invention.

The acclimatization device having a six-axis force/moment measurement function according to the present invention includes a fixed frame 100, a moving frame 200, a conforming mechanism unit 300, and a sensing measurement unit 400 as shown in FIGS. 3 to 5 The compliance mechanism unit 300 includes a first compliance module 310, a second compliance module 320, and a third compliance module 330, and each of the compliance modules 310 and 320 330 is a first elastic piece 351, a first link member 352, a first ferromagnetic ball 353 and a second ferromagnetic ball ( It includes a second elastic piece 361, a second link member 362, a third ferromagnetic ball 363 and a fourth ferromagnetic ball 364 so as to correspond to the 354, respectively.

The fixed frame 100 is defined as the fixed origin 110 of the fixed coordinate system of the three axes of X-Y-Z as shown in FIGS. 3 to 5. As shown in FIG. 12, the fixed frame 100 is usually installed at the end of the working robot R, that is, on the wrist of the working robot R. Here, the working coordinate system formed on the wrist of the working robot R It is preferable to install so that the position of the work origin and the fixed origin 110 of the fixed coordinate system coincide. This is to facilitate the measurement of the position change of the moving frame 200 and to simplify the calculation by dividing it into a force and a moment acting on each axis.

As shown in Figs. 3 to 5, the moving frame 200 is spaced upward from the fixed frame 100 so as to be movable based on the fixed coordinate system of the fixed frame 100, and has three axes of xyz. The moving origin 210 of the moving coordinate system is defined. The moving coordinate system of the moving frame 200 is a coordinate system expressed based on the fixed coordinate system of the fixed frame 100. That is, as shown in FIG. 12, since the working tool T is installed on the moving frame 200 to perform processing or assembly work, the amount of change in the position of the moving origin 210 of the moving coordinate system is It generates a contact force generated between the work pieces.

Therefore, the fixed coordinate system of the fixed frame 100 must be defined in order to define the reference for the position movement of the moving origin 210 of the moving coordinate system, and at this time, the position of the fixed coordinate system is located on the wrist of the working robot R. When formed, it is possible to check the positional movement of the movement origin 210 of the movement coordinate system based on the working robot R, so that control is facilitated.

The conforming mechanism part 300 is installed between the fixed frame 100 and the moving frame 200 to support the moving frame 200 with respect to the fixed frame 100, as shown in FIGS. When an external force acts on the moving origin 210 of the moving frame 200 based on the fixed coordinate system of the fixed frame 100 and moves in position, it elastically deforms.

As shown in FIG. 3, the detection and measurement unit 400 senses the amount of deformation of the compliant mechanism unit 300, and each of the three axes acting on the moving origin 210 of the moving frame 200 based on the fixed coordinate system Measure the three forces in the direction of and three moments with each of the three axes as the center of rotation. In addition, the sensing and measuring unit 400 is composed of a strain gauge 410 and a microcomputer 420 to be described later.

Specifically, the compliant mechanism unit 300 is installed diagonally at intervals of 120 degrees between the fixed frame 100 and the moving frame 200 as shown in FIGS. 3 to 5. A module 310, a second compliance module 320, and a third compliance module 330 are included. That is, the compliance mechanism unit 300 is composed of three compliance modules 310, 320, 330, and elastically supports the moving frame 200 in parallel with respect to the fixed frame 100, and each of the compliance modules 310 ) 320, 330 are the first elastic piece 351, the first link member 352, the first ferromagnetic ball 353, and the first elastic piece 351 based on the support block 340, as shown in Figs. It includes a second elastic piece 361, a second link member 362, a third ferromagnetic ball 363 and a fourth ferromagnetic ball 364 so as to correspond to the 2 ferromagnetic balls 354, respectively.

That is, the support block 340 is fixedly installed on the upper surface of the fixing frame 100, and the first elastic piece 351 is fixedly installed at one end to the support block 340 based on the support block 340. And the other end becomes the free end. At this time, the first link member 352 is detachably coupled by magnetic force through a first ferromagnetic ball 353 having a lower end coupled to the other end of the first elastic piece 351, and the upper end of the moving frame ( It is detachably coupled by magnetic force through the second ferromagnetic ball 354 coupled to 200). In addition, the second elastic piece 361 has one end fixedly installed on the support block 340 so as to be symmetrical to each other with the first elastic piece 351, and the other end becomes a free end. At this time, the second link member 362 is symmetrical to each other with the first link member 352 by magnetic force through a third ferromagnetic ball 363 coupled to the other end of the second elastic piece 361 at the lower end. It is detachably coupled, and the upper end is detachably coupled by magnetic force through a fourth ferromagnetic ball 364 coupled to the moving frame 200.

Here, the first ferromagnetic ball 353 is a spherical ferromagnetic body, and a bolt body (B) protruding from the lower surface passes through the other end of the first elastic piece 351 and is screwed through the first nut (N1). , The third ferromagnetic ball 363 is a spherical ferromagnetic body, and the bolt body (B) protruding from the lower surface passes through the other end of the second elastic piece 361 and is screwed through the second nut (N2). . In addition, each of the second ferromagnetic ball 354 and the fourth ferromagnetic ball 364 is a spherical ferromagnetic body, and a bolt body B protruding from the upper surface is screwed through the lower surface of the moving frame 200.

At this time, the first link member 352 is a cylindrical non-magnetic material, the first lower socket 352a formed at the lower end and the first upper socket 352b formed at the upper end, and close to the first lower socket 352a. And a first lower magnet 352c inserted below the inside so as to be disposed so as to be disposed, and a first upper magnet 352d inserted above the inside so as to be disposed close to the first upper socket 352b. In addition, the second link member 362 is a cylindrical non-magnetic material, a second lower socket 362a formed at the lower end and a second upper socket 362b formed at the upper end, and close to the second lower socket 362a. And a second lower magnet 362c inserted below the inside so as to be disposed so as to be disposed, and a second upper magnet 362d inserted inside the upper part so as to be disposed close to the second upper socket 362b.

Accordingly, the first link member 352 is ball-joined by contacting the first lower socket 352a with the first ferromagnetic ball 353, and by the magnetic force of the first lower magnet 352c. 1 It is detachably coupled to the ferromagnetic ball 353, and the first upper socket 352b is in contact with the second ferromagnetic ball 354 and is ball-joined. It is detachably coupled to the second ferromagnetic ball 354. In addition, the second link member 362 is ball-joined by contacting the second lower socket 362a with the third ferromagnetic ball 363, and the third It is detachably coupled to the ferromagnetic ball 363, and the second upper socket 362b is in contact with the fourth ferromagnetic ball 364 and is ball-joined. 4 It is detachably combined with the ferromagnetic ball (364).

Therefore, as shown in FIG. 7, the structure of the ball joint provided at both ends of the first link member 352 and the second link member 362 is improved in a detachable manner by magnetic force, so that no additional connection is required, and the design And there is almost no effect of assembly error, etc., so that it has the effect of convenient disassembly or assembly along with more precise control.

At this time, the ball joints provided at both ends of each of the first link member 352 and the second link member 362 are in surface contact between the socket 352 and the ferromagnetic ball 353 as shown in FIGS. However, as shown in Fig. 9, a protrusion (not shown) may be formed on the surface of the socket 352 facing the ferromagnetic ball 353 to use a point contact method, or a protrusion line ( (Not shown) may be formed to use a contact method by line contact. These protrusions or protrusion lines have the effect of reducing the frictional resistance between the socket 352 and the ferromagnetic ball 353 compared to the surface contact, but since the coupling force between the magnet and the ferromagnetic ball 353 may be reduced, magnetic force It can be reflected in the design by considering the strength of and the degree of frictional resistance.

Meanwhile, the fixed frame 100 and the moving frame 200 are installed parallel to each other as shown in FIG. 5, and at this time, the first conforming module 310, the second conforming module 320 and the third conforming module (330) Each of the first elastic piece 351, the second elastic piece 361, the first link member 352, and the second link member 362, respectively, as shown in FIG. ) And the moving frame 200 are installed on the same plane in a virtual vertical. This structure prevents rotation of the moving frame 200 with respect to the fixed coordinate system of the fixed frame 100 when the moving frame 200 is moved by an external force.

In addition, when an external force is transmitted to the first elastic piece 351 and the second elastic piece 361 and the elastic deformation occurs, no torsion occurs in each elastic piece, and only a linear deformation is generated, as shown in FIG. This is because, when the first link member 352 and the second link member 362 are combined and the elongation is formed based on the respective centers, a conforming center in which the stiffness matrix is diagonalized at a point where they meet can be generated. Through this, the force control direction and the position control direction applied to the moving origin 210 of the moving frame 200 are made to be perpendicular to each other, thereby simplifying the equation and making the force control easier.

Each adaptation module 310 of the adaptation mechanism part 300 from the change in the movement of the moving frame 200 with respect to the fixed frame 100 through the above-described fixed frame 100, moving frame 200 and conforming mechanism part 300 Through the amount of deformation of each of the first elastic piece 351 and the second elastic piece 361 constituting the 320) 330, three forces and three moments in each direction of the three axes can be measured. , This is achieved through the detection and measurement unit 400.

That is, the sensing and measuring unit 400 detects the amount of deformation of the compliant mechanism unit 300 as shown in FIGS. 3, 4 and 6 to 8, and the moving origin 210 of the moving frame 200 is based on the fixed coordinate system. Measure the three forces acting on each of the three axes and three moments with each of the three axes as the center of rotation. To this end, the sensing and measuring unit 400 includes a plurality of strain gauges 410 and a microcomputer 420 as shown in FIG. 3.

The strain gauge 410 is attached to at least one of the upper and lower surfaces of the first elastic piece 351 and the second elastic piece 361, respectively, so that the first elastic piece 351 and the second elastic piece (361) Each strain is sensed, and the micom 420 receives a signal from each of the strain gauges 410, and the moving frame 200 is based on the fixed coordinate system from the elastic strain amount of each of the strain gauges 410. _{Three forces of each of F x} in the X-axis direction, _{F y} in the Y-axis direction, _{F z} in the Z-axis direction, _{and M x} , Y with the X-axis direction as the rotation centers acting on the movement origin 210 of Calculate three moments, _{M y} with the _{axial direction as the center of rotation and M z} with the Z-axis as the center of rotation.

Here, the strain gauge 410 is used because it has high sensitivity and low cost among sensors measuring the amount of elastic deformation. Therefore, when the strain gauge 410 is used, the manufacturing cost of the device can be reduced. The strain gauge 410 constitutes a Wheatstone bridge circuit, and is connected to the microcomputer 420 through a wire to transmit a signal. In the Wheatstone bridge circuit, the equation for obtaining the amount of elastic deformation varies according to the connection method, and the strain gauge 410 of the present invention may be configured as a bending type full bridge circuit.

In addition, the micom 420 may be provided with a memory unit (not shown) for storing data on the amount of elastic deformation transmitted in real time from the strain gauge 410 in the micom 420, By amplifying the signal, it processes the amplified signal and converts it to each force and moment value to the user.

On the other hand, as shown in Figs. 10 and 11, the fixing frame 100 is manufactured in a cylindrical shape with a closed lower part, and the moving frame 200 is a disk shape having a diameter smaller than the inner diameter of the fixing frame 200. As such, it may be installed to be flowable on the open upper portion of the fixed frame 100. This structure is derived from the simple and miniaturized structure of the conforming mechanism part 300 of the present invention, and the overall shape is manufactured in a flat disk or cylinder shape, so that any part of the working robot R can be easily inserted and installed. Becomes.

That is, as shown in Fig. 12, the acclimatization device of the present invention may be installed at the rear of the work tool T, which is the end of the work robot R. It has the effect that it can be installed on the joints, such as legs and arms, as well as on microscopic areas.

As described above, the adaptation device having the six-axis force/moment measurement function according to the present invention is more suitable for miniaturization and precision, and can reduce manufacturing cost, but is not affected by foreign substances introduced from the outside. It is applicable and has the effect of being able to measure 3 forces and 3 moments using a simple force control method.

In particular, the structure of the ball joint provided at both ends of the first link member 352 and the second link member 362 is improved by using a magnetic force to be attached and detached so that an additional connection part is not required, and design and assembly errors are hardly affected. There is no more precise control and convenient disassembly and assembly.

In addition, the fixed frame 100 is formed in a cylindrical shape, and the moving frame 200 is movably coupled to the open upper part of the fixed frame 100 to facilitate the arm or wrist of the working robot (R). It can be inserted and installed, and there is an effect that the working tool (T) can be conveniently installed in the moving frame 200 as well.

The embodiments of the present invention described above and illustrated in the drawings should not be construed as limiting the technical idea of the present invention. The scope of protection of the present invention is limited only by the matters described in the claims, and those of ordinary skill in the technical field of the present invention can improve and change the technical idea of the present invention in various forms. Therefore, such improvements and changes will fall within the scope of the present invention as long as it is apparent to those of ordinary skill in the art.

T: Work tool
R: work robot
B: Bolt body
N1: 1st nut N2: 2nd nut
100: fixed frame 110: fixed origin
200: moving frame 210: moving origin
300: compliance mechanism part 310: first compliance module
320: second compliance module 330: third compliance module
340: support block
351: first elastic piece 352: first link member
352a: first lower socket 352b: first upper socket
352c: first lower magnet 352d: first upper magnet
353: first ferromagnetic ball 354: second ferromagnetic ball
361: second elastic piece 362: second link member
362a: second lower socket 362b: second upper socket
362c: second lower magnet 362d: second upper magnet
363: third ferromagnetic ball 364: fourth ferromagnetic ball
360: connection joint
400: detection and measurement unit
410: strain gauge 420: mycom

Claims (8)

A fixed frame in which the fixed origin of the fixed coordinate system is defined by three axes of XYZ, and the fixed frame is installed so as to be movable based on the fixed coordinate system of the fixed frame by being spaced above the fixed frame. A moving frame in which a moving origin is defined, and installed between the fixed frame and the moving frame to support the moving frame with respect to the fixed frame, and an external force acts on the moving origin of the moving frame based on the fixed coordinate system of the fixed frame. When the position moves, the compliant mechanism part elastically deforms, and the three forces for each direction of the three axes acting on the moving origin of the moving frame based on the fixed coordinate system by sensing the amount of deformation of the compliant mechanism part and the direction of each of the three axes It includes a sensing measuring unit for measuring three moments as the rotation center,
The compliant mechanism portion,
It includes three first conforming modules, a second conforming module, and a third conforming module installed diagonally at intervals of 120 degrees between the fixed frame and the moving frame,
Each of the first compliance module, the second compliance module, and the third compliance module,
A support block fixedly installed on the upper surface of the fixed frame,
A first elastic piece having one end fixedly installed on the support block and the other end being a free end,
The lower end is detachably coupled by magnetic force through a first ferromagnetic ball coupled to the other end of the first elastic piece, and the upper end is detachably coupled by magnetic force through a second ferromagnetic ball coupled to the moving frame. A first link member,
A second elastic piece having one end fixedly installed on the support block so as to be symmetrical to each other with the first elastic piece, and the other end being a free end,
The lower end is detachably coupled by magnetic force through a third ferromagnetic ball coupled to the other end of the second elastic piece so that the first link member is symmetrical to each other, and the upper end is coupled to the fourth ferromagnetic ball coupled to the moving frame. Compliant device having a six-axis force / moment measurement function, characterized in that it comprises a second link member detachably coupled by magnetic force.
The method of claim 1,
The first ferromagnetic ball,
It is a spherical ferromagnetic body, and a bolt body protruding from the lower surface passes through the other end of the first elastic piece and is screwed through a first nut,
The third ferromagnetic ball,
It is a spherical ferromagnetic body, and a bolt body protruding from the lower surface passes through the other end of the second elastic piece and is screwed through a second nut,
Each of the second ferromagnetic ball and the fourth ferromagnetic ball,
A conforming device having a six-axis force/moment measurement function, characterized in that it is a spherical ferromagnetic body, and a bolt body protruding from the upper surface is screwed through the lower surface of the moving frame.
The method of claim 2,
The first link member,
A first lower socket formed at the lower end and a first upper socket formed at the upper end of a cylindrical nonmagnetic material;
A first lower magnet inserted below the inside so as to be disposed close to the first lower socket,
Including a first upper magnet inserted inside the upper so as to be disposed close to the first upper socket,
The second link member,
A second lower socket formed at the lower end and a second upper socket formed at the upper end of a cylindrical nonmagnetic material;
A second lower magnet inserted below the inside so as to be disposed close to the second lower socket,
Compliant apparatus having a six-axis force/moment measurement function, characterized in that it comprises a second upper magnet inserted above the inside so as to be disposed close to the second upper socket.
The method of claim 3,
The first link member,
The first lower socket is in contact with the first ferromagnetic ball and is ball-joined, the first upper socket is detachably coupled to the first ferromagnetic ball by magnetic force of the first lower magnet, and the first upper socket is attached to the second ferromagnetic ball It is in contact with the ball joint, and is detachably coupled with the second ferromagnetic ball by the magnetic force of the first upper magnet,
The second link member,
The second lower socket is in contact with the third ferromagnetic ball and is ball-joined, the second upper socket is detachably coupled to the first ferromagnetic ball by magnetic force of the second lower magnet, and the second upper socket is attached to the fourth ferromagnetic ball. The acclimatization device having a six-axis force/moment measurement function, characterized in that the contact is made to be ball-joined, and is detachably coupled to the fourth ferromagnetic ball by the magnetic force of the second upper magnet.
The method of claim 1,
Adaptation device having a six-axis force / moment measurement function, characterized in that the fixed frame and the moving frame are installed parallel to each other.
The method of claim 5,
Each of the first elastic piece, the second elastic piece, the first link member and the second link member of each of the first conforming module, the second conforming module, and the third conforming module,
Adaptation device having a six-axis force/moment measurement function, characterized in that it is installed on the same plane in an imaginary vertical between the fixed frame and the moving frame.
The method of claim 1,
The detection and measurement unit,
A plurality of strain gauges each attached to at least one of an upper surface and a lower surface of each of the first elastic piece and the second elastic piece to sense an elastic deformation amount of each of the first elastic piece and the second elastic piece,
_{F X in the X-axis direction, F Y} in the Y-axis direction, and F Y in the Y-axis direction acting on the moving origin of the moving frame based on the fixed coordinate system from the elastic deformation amount of each of the strain gauges by receiving the signal of each of the strain gauges Calculate the three moments of each of the three _{forces of F Z} for the direction and M _{X with the X-} axis as the center of rotation _{, M Y with the Y- axis as the center of rotation, and M Z} with the Z-axis as the center of rotation Compliant device having a six-axis force / moment measurement function, characterized in that it comprises a microcomputer.
The method of claim 1,
The fixed frame,
The lower part is a closed cylindrical shape,
The moving frame,
Adaptation device having a six-axis force/moment measurement function, characterized in that it is installed to be flowable on the open top of the fixed frame in a disk shape having a diameter smaller than the inner diameter of the fixed frame.

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