Embedded three-dimensional force and torque measuring device for light-weight flexible mechanical arm joint

A flexible robotic arm and torque measurement technology, which is applied in the direction of measuring devices, torque measurement, and elastic deformation force measurement through measuring gauges, etc., can solve the problems of unsuitable light flexible robotic arm application, difficult joint customization, and difficult integration. Achieve the effects of light weight, strong anti-electromagnetic interference, and fast response

Inactive Publication Date: 2017-07-04
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the traditional multi-dimensional force and moment measuring device is not suitable for the application of light flexible manipulator due to its large size, heavy weight, difficulty in integrating into joints and difficulty in customization due to different working environments and requirements.

Method used

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  • Embedded three-dimensional force and torque measuring device for light-weight flexible mechanical arm joint
  • Embedded three-dimensional force and torque measuring device for light-weight flexible mechanical arm joint
  • Embedded three-dimensional force and torque measuring device for light-weight flexible mechanical arm joint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0037] In the elastic body unit 1, the outer ring 11 and the inner ring 12 are connected together through the first elastic rib 13, the second elastic rib 14, the third elastic rib 15 and the fourth elastic rib 16, and the first elastic rib 13, The second elastic rib 14 , the third elastic rib 15 and the fourth elastic rib 16 are symmetrical about the center. The first elastic ribs 13, the second elastic ribs 14, the third elastic ribs 15 and the fourth elastic ribs 16 are respectively provided with a first light blocking sheet installation groove 114, a second light blocking sheet installation groove 115, a third blocking sheet The light-blocking sheet installation groove 116 and the fourth light-blocking sheet installation groove 117, the first light-blocking sheet installation groove 114, the second light-blocking sheet installation groove 115, the third light-blocking sheet installation groove 116 and the fourth light-blocking sheet installation groove The groove 117 is re...

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PUM

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Abstract

The invention relates to a measuring device and specifically relates to an embedded three-dimensional force and torque measuring device for a light-weight flexible mechanical arm joint. The embedded three-dimensional force and torque measuring device comprises an elastic body unit, light barrier sheets, support devices and photoelectric displacement sensors. The elastic body unit comprises an outer ring, an inner ring and elastic ribs. The outer ring and the inner ring are connected through the plurality of elastic ribs; each elastic rib is provided with one light barrier sheet; and each light barrier sheet is corresponding to one photoelectric displacement sensor arranged to the outer ring through one support device. The embedded three-dimensional force and torque measuring device is simple in structure, small in size, light in weight, high in reliability, good in rigidity and good in real-time performance, and is suitable for the light-weight compact-structure mechanical arm joint.

Description

technical field [0001] The invention relates to a measuring device, in particular to an embedded three-dimensional force and moment measuring device for joints of light flexible mechanical arms. Background technique [0002] The light flexible manipulator is a new generation of manipulator system oriented to the harmonious environment with people. As the robot faces the family and enters the service and medical fields, the new generation of light and flexible manipulator system has attracted more and more attention. Communion with people is the core idea of ​​the new generation of light flexible manipulator system design. [0003] In order to improve the flexibility and compliance of the light flexible manipulator to perform tasks and the ability to interact with the environment, in addition to accurately obtaining the joint position and speed information of the manipulator in performing tasks, it is also necessary to obtain its force and moment information and It has a co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01L1/04G01L3/00
CPCG01L1/04G01L3/00
Inventor 刘玉旺田恬张德福王福华
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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