SU1516351A1 - Force-sensing device ,particularly, for manipulator - Google Patents

Abstract

The invention relates to robotics and can be used to force sensing manipulators of industrial robots. The aim of the invention is to increase the load capacity of the base unit by increasing its rigidity while improving the sensing accuracy by reducing the stress-strain state of the elastic elements. When loading the base link 1, a relative movement of the base 2 relative to the base 3 occurs due to the elasticity of the link 1 itself. In this case, a relative movement of Tg 5 and 6 occurs, which is detected by the corresponding sensor 7 of linear displacements. 3 il.

Description

The invention relates to robotics and can be used to force sensing manipulators of industrial robots.

The aim of the invention is to increase the load capacity of the base zone by increasing its rigidity with one time increase in the accuracy of sensation by reducing the stress-strain state of the elastic elements.

Figure 1 shows the device, about the first view {in figure 2 - view A in figure 1 in fig. 3 - section BB in figure 1.

On base link 1, for example, a manipulator with an axial displacement L, bases 2 and 3 are fixed, on which with circular symmetry oi. Hooke 4 hinges are placed in pairs (aiB, these, ei). Ti 5 and 6 are coupled with sensors of 7 linear displacements and with like (for example, a and a, f and f3) Hooke A hinges on bases 2 and 3 so That the sensor axes 7 and 5 and 6 lie on the same line. The statically stressed spring 8 at one end is coupled with the cup on the sensor body 7, connected with the pull 5, and the other with the cup rigidly connected with the pull 6, which is fixed to the movable element of the displacement sensor 7.

Ustr (-1Istvo works as follows.

Under the action of the force factor, the link 1 of the manipulator is deformed, which causes the movement of one base relative to another because of their rigid connection with the link of the manipulator in different parts. The relative movement of the bases 2 and 3 is characterized by a set of relative linear displacements t 5 and 6 up to 10 axes of the axis, which are fixed by the sensor 7. Thus, the link 1 of the manipulator plays the role of an elastic element in the measuring device, and the sensors of the 7 linear displacements play the role of resistors jjiKf-ieHTbi 2-6 devices with elastic element.

The biaxiality of the hinges 4 ensures the first self-alignment of elements 5–7 on one straight line, which makes it possible to move the moving parts of the sensors progressively and, for any character, move them directly.

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HOBaHnit 2 and 3. The inevitable gaps in the joints are selected by means of springs 8 and due to the invariance of the sign of the loading of the springs during operation of the device do not adversely affect the measurement accuracy,

Since the straight lines in which the elements 5–7 are self-aligning are straight lines forming a single-band hyperboloid of rotation, with circular symmetry of the arrangement of pairs of biaxial hinges each type of relative movement of the bases 2 and 3 is characterized by a non-repeating sign combination of relative displacements T 5 and 6, fixed by the sensors 7. The design of the device allows varying within wide limits by the parameters L, R, R, jb and thereby ensures the required transfer functions for the main types of movement rd,

In the proposed device due to the almost unloaded all components of the next I can be made quite easy, which will cause a small increment of the mass of the link. The installation of the proposed device on the link of the manipulator does not cause a decrease in the rigidity of the latter, and therefore does not impair the dynamic characteristics of the manipulator. Disassembling the handpiece is not required for mounting the device, which results in high manufacturability

Claims (1)

Invention Formula Device for force sensing predominantly of a manipulator, containing a base link with bases installed on it, Hooke hinges, linear displacement sensors, pipes and elastic elements, characterized in that in order to increase the load capacity of the base link by increasing its rigidity while improving accuracy sensing by reducing the stress-strain state of elastic elements, the base is rigidly mounted on the base link symmetrically about its longitudinal axis and kinematic are bonded to each other by rods, assembled in pairs, the longitudinal axes of which are coaxial in pairs and form together sheeted hyperboloid of rotation. 515 herewith, one ends of each pair of tg svy with the corresponding base using Hooke hinges, and others with a linear displacement sensor, the longitudinal axis of which is coaxial with the longitudinal axis of the corresponding pair of tg, with Hooke's hinges being placed) 1Y 63516 on each base, pairwise and symmetrically with respect to other pairs of Hooke hinges, and between the moving elements of each linear displacement sensor, elastic elements are installed that are statically loaded and the sign of their loading is constant. 3 f.