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公开(公告)号：US20170211999A1
公开(公告)日：2017-07-27
申请号：US15401232
申请日：2017-01-09
CPC分类号： G01L5/0066 , B25J13/085 , B25J15/04 , B25J19/0095 , G01L1/225 , G01L3/108 , G01L25/003 , G05B2219/39024 , G05B2219/39529
摘要： A force/torque sensor includes a number n of deformable beams connecting the TAP to the MAP, wherein n≧4. At least four of the n deformable beams are instrumented with strain gages affixed to surfaces of the beams, such that each beam outputs two gage signals. The eight gage signals are grouped into four sets of six gage signals, such that each set includes the gage signals from three of the four instrumented beams. Each set of six gage signals is multiplied by a calibration matrix to yield a set of six force and torque values. The four sets of force and torque values are compared. If one set disagrees with the other three by greater than a predetermined tolerance, a sensor fault is signaled.
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公开(公告)号：US10067019B2
公开(公告)日：2018-09-04
申请号：US15401232
申请日：2017-01-09
摘要： A force/torque sensor includes a number n of deformable beams connecting the TAP to the MAP, wherein n≥4. At least four of the n deformable beams are instrumented with strain gages affixed to surfaces of the beams, such that each beam outputs two gage signals. The eight gage signals are grouped into four sets of six gage signals, such that each set includes the gage signals from three of the four instrumented beams. Each set of six gage signals is multiplied by a calibration matrix to yield a set of six force and torque values. The four sets of force and torque values are compared. If one set disagrees with the other three by greater than a predetermined tolerance, a sensor fault is signaled.
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公开(公告)号：USRE45681E1
公开(公告)日：2015-09-29
申请号：US13998683
申请日：2013-09-13
发明人： Dwayne Perry , Richard I. Heavner
CPC分类号： B25J9/161 , B25J15/04 , G05B2219/31095 , G05B2219/31142 , G05B2219/39468 , G05B2219/49304 , G05B2219/50338 , Y02P90/18
摘要： A tool changer comprising a master module and a tool module includes a rapid-connect communication bus between the master and tool modules. A unique tool identification number, along with other tool-related information, may be transmitted from the tool module to the master module within about 250 msec of the master and tool modules coupling together. The master module includes a robotic system communications network node connected to the rapid-connect communication bus, and operative to transmit data between the tool and the network via the communication bus. The need for a separate network node in the tool module is obviated, reducing cost and reducing the start-up time required to initialize such a network node upon connecting to a new tool. The rapid-connect communication bus may be a serial bus.
摘要翻译： 包括主模块和工具模块的换刀器包括在主模块和工具模块之间的快速连接通信总线。 在主模块和工具模块耦合在一起的大约250毫秒内，可以将唯一的工具识别号以及其他与刀具相关的信息从工具模块传输到主模块。 主模块包括连接到快速连接通信总线的机器人系统通信网络节点，并且可操作以经由通信总线在工具和网络之间传输数据。 在工具模块中需要一个单独的网络节点，降低成本并减少连接到新工具时初始化这样的网络节点所需的启动时间。 快速连接通信总线可以是串行总线。
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