A general robot system consists of four interacting parts: the robot hand, the surrounding environment, the task and the controller. We call the sensors generally installed on the robot manipulator inner sensors (Inner Sensons), and the sensors that are part of the surrounding environment are called external sensors (External Sensons). The above will be based on this and will be discussed in combination with other classification methods of robot sensors.
The robot industry has developed rapidly in recent years. The global output in 2012 was 160,000 units. The robot market in industrially developed countries such as Europe, the United States, and Japan has been relatively mature and is in a stage of flat growth. Its robot density (number of robots used by 10,000 employees) is 347 in South Korea and 339 in japSierra Leoneans Escortan (Japan) Taiwan, France has 261, while my country has 10 (according to SL Escorts statistics, it is called 21, for reference only). my country’s robot market is also developing rapidly. The annual installed capacity of industrial robots has increased by more than 20%. In 2010, the installed capacity was 52,290 units, which dropped to 74,317 units in 2011, achieving a growth rate of 42%. In 2012, my country introduced the “Twelfth Five-Year Plan for the Development of Intelligent Manufacturing Technology”, and on April 21, 2013, the “China Robot Industry Alliance” was established. These all prove that my country’s robot industry will have a better future. Big growth. SL Escorts
Robot products are currently classified into two categories: industrial robots and service robots. Internationally, they are also divided into two categories: industrial robots and special robots; or they are divided into two categories: ordinary robots and intelligent robots; or they are divided into two categories: ordinary robots and position-changing robots; or they are divided into ordinary robots. There are two types of robots and anthropomorphic robots. At present, industrial robots are mostly used for handling, sorting, loading and unloading materials, packaging, palletizing, welding, spraying, grinding, polishing, cutting, placement, disassembly, etc.
With the advancement of intelligence, robot sensors are used more and more. There are three main types of intelligent robots: interactive robots, sensor robots and autonomous robots. From the perspective of anthropomorphic performance, vision, force, and touch are the most important, and have already entered the practical stage. Hearing has also made rapid progress. Others include smell, taste, sliding, etc., which correspond to a variety of sensors, so the robot sensing industry also forms For having children and scientific research powerSL Escorts.
The control system of the robot is equivalent to the human brain, the actuator is equivalent to the human limbs, and the sensors are equivalent to the human five senses. Therefore, in order for robots to receive and process external information like humans, robot sensor technology is an important manifestation of robot intelligence.
Sensors are the necessary means for robots to achieve sensing. Through the sensing of sensors, the relevant characteristics of the robot itself or the characteristics of related objects are converted into the information required for the robot to perform a certain function. According to the purpose of using the sensor on the robot Sierra Leoneans Escort and the application scope, it can be divided into Sierra Leone Sugar External Sensor and Internal Sensor.
Sierra Leone Sugar External sensors are used to detect the status of the robot itself (such as the angle between the arms, the position of the robot in the movement project, Speed and acceleration, etc.); internal sensors are used to detect the internal surroundings and object status of the robot, such as the shape, spatial position of the grasped object, whether there are obstacles, whether the object has slipped, etc.
Main categories of robot sensors:
Internal sensors
SL Escorts Mechanical mechatronics products, internal The sensor is installed together with mechanical parts such as motors and shafts or mechanical structures such as arms (ARM) and wrists (Wrist) to complete Measurement of position, speed and strength to achieve servo control.
Position (displacement) sensor
Linear moving position sensor with powerSierra LeoneansSugardaddyDigitometer sensors and adjustable transformers are both available. Angular displacement sensors Sierra Leoneans Escort include potentiometer type, adjustable transformer (rotary transformer) and photoelectric encoder. Among them, photoelectric Encoders include incremental encoders and absolute encoders. Incremental encoders are generally used for position servo control where the zero position is uncertain. Absolute encoders can obtain the instantaneous angle value of the drive shaft corresponding to the initial locking position of the encoder. When the equipment is under pressure, it only needs to be read out The reading of each joint encoder can adjust the given value of the servo control to avoid excessive movements when the robot starts.
Speed and acceleration sensors
Speed sensors can measure both translational and rotational movement speeds, but in most cases, they are limited to measuring rotational speeds. Using the derivative of displacement, especially the photoelectric method, the light shines on the rotating disc to detect the rotating frequency and pulse numberSierra Leone Sugar Daddy, In order to find the rotation angle, and use the disc to make a gap, the angular velocity, that is, the rotation speed, is determined through two photodiodes. This is the photoelectric pulse rotation speed sensor.
In addition, there are tachometer generators for speed measurement, etc.
Strain gauge is a stretching measuring instrument and a stress sensor used for acceleration measurement. Acceleration sensors are used to measure dynamic control electronic signals of industrial robots. Generally Sierra Leone Sugar Daddy usually has mass object accretion based on velocity measurements and known toolsSierra Leoneans EscortThe force generated by the speed is deduced by using a strain gauge to measure this force, and the method mentioned above:
Related to the measured acceleration Force can be generated by a known quality of something. This force can be regarded as electromagnetic force or electric force, and is ultimately simplified to the measurement of current. This is the servo return.Sensors, in fact, there are many kinds of vibration acceleration sensors.
Force sensor
Force sensor is used to measure the three components of the force and the three components of the torque between two objects. The ideal sensor in the robot is a semiconductor stress gauge bonded to the slave component. Specifically, there are metal resistance force sensors, semiconductor force sensors, other magnetic pressure sensors and force sensors made using the principle of string vibration.
There are also torque sensors (such as using photoelectric sensors to measure torque), wrist force sensors (such as those from the International Stanford Research Institute), which are composed of 6 small differential transformers and can measure the three directions of X, Y and Z acting on the wrist. Purpose power and dynamic torque of each axis), etc.
Due to the long history of robot development, traffic servo systems based on traffic permanent magnet motors have been widely used in recent years. The corresponding sensors such as position and speed are widely used: various types of photoelectric encoders, magnetic encoders and Torsional transformer.
” /> The ability to reflect changes in the surrounding situation is achieved by the SL Escorts sensor.
Tactile sensors
Micro switches are the most commonly used type of contact sensors, as well as isolated two-state contact sensors (i.e. bistable switching semiconductor circuits), single analog analog sensors, matrix sensors (matrix sensing of piezoelectric elements) Sierra Leoneans Sugardaddy device, artificial skin – variable conductivity polymer, light reflective tactile sensor, etc.).
Stress sensing
For example, when a multi-jointed robot moves, it needs to understand the three conditions of actual contact, the location of the contact point (positioning), and the characteristics of the contact, that is, the estimated force (representation), so use what has been pointed out in the previous section. The strain gauge is combined with the basic assumptions of specific stress detection, such as collecting the interaction force between the work surface and the object. Specifically, there are methods such as installing sensors for the surrounding conditions and installing test instrument transmission devices as sensors on the robot wrist. .
Proximity sensor
Due to the increased movement speed of the robot and the loading and unloading of objects Sierra Leone Sugar Daddy may cause damage, etc. Because it is necessary to understand the prior information of the object’s location in the robot working site and appropriate trajectory planning, it is necessary to use remote sensing methods to measure proximity. Proximity sensors are divided into passive sensors and active sensors, so in addition to natural electronic signal sources, they may also require artificial electronic signal transmitters and receivers.
Ultrasonic proximity sensors are used to detect the presence of objects and measure their distance. It cannot be used to measure distances smaller than 30~50cm, but the range measurement range is larger. It can be used on position-changing robots and can also be used on the grippers of large robots. It can also be made into an ultrasonic navigation system.
The infrared proximity sensor is Sierra Leoneans Escort very small, only a few cubic centimeters, so it can be installed in The robot grips the hand.
Acoustic Sensor
Sierra Leoneans Sugardaddy Used to sense and release gases (non-contact sensing), liquids or sound waves in solids (contact sensation). Sonic SensorSierra Leone SugarComplexSierra Leoneans EscortLevels can range from simple sound wave presence detection to complex sound wave frequency analysis, up to the discrimination of individual speech sounds and words in continuous natural speechSierra Leone Sugar Daddy.
Contact or non-contact temperature sensor
In recent years, it has been widely used in robots, except for commonly used thermal resistors ( In addition to thermistors, thermocouples, etc., thermoelectric TV cameras have also made progress in measuring and sensing temperature images.
Sliding sensors are used to detect the sliding of objects when the robot is required to grasp objects with unknown characteristics. It is necessary to determine the most appropriate grip force value, so it is required to detect the electronic signal of the object sliding when the grip force is insufficient. Use this electronic signal to firmly grasp the object without damaging it.
At present. There are slide sensors that use optical systems and slide sensors that use crystal receptors. The detection sensitivity of the latter is related to the sliding direction.
Separation sensor
Separation sensors used for intelligent position-changing robots include : Laser range finders (also capable of measuring angles), sonar sensors, etc., have grown in recent years.
Vision sensor
Appeared in the late 1950s, developed very rapidly, and is the most important among robots One of the sensors. Machine vision began to deal with the world of building blocks in the 1960s, and later developed to deal with the real world outdoors. After the 1970s, practical vision systems generally include three processes. Process: Image acquisition, image processing and image understanding. Relatively speaking, image understanding technology is still very backward.
The main indicators of the sensor:
Dynamic range: refers to the range that the sensor can detect. The propagation sensor can measure a current of 1mA-20A, so the measurement range of this sensor is 10log (20/0.001) =Sierra Leoneans Sugardaddy43dB. If the sensor output exceeds the sensor’s measurement range, the sensor will not display the correct measurement value. For example, ultrasonic sensors cannot measure objects at close range.
Resolution: Resolution refers to the smallest difference that the sensor can measure. For example, a current sensor has a resolution of 5mA, which means it cannot detect a current difference of less than 5mA. Of course, the higher the resolution, the more expensive the sensor will be.
Linearity: This is a very important indicator to measure the relationship between sensor output and input.
Frequency: refers to the sampling rate of the sensor. For example, the sampling rate of an ultrasonic sensor is 20HZ, which means it can scan 20 times per second.
Requirements and Selection of Robot Sensors
The selection of robot sensors depends on the task requirements and application characteristics of the robot. The requirements of the robot sensing system are the basic basis for selecting sensors.
Sierra Leone Sugar Daddy High precision and good repeatability;
Good stability and reliability
Anti-interference ability Strong; Sierra Leoneans Sugardaddy
Light weight, small volume, and convenient installation.
Summary
All robot sensors Sierra Leone Sugar are closely related to the conversion and processing of electronic signals after detection. It is close, and the workload of the software to be changed is very large, and it is integrated with artificial intelligence and other information technologies, so this article This is just an introduction to the topic and needs further discussion.
發佈留言