As the level of intelligence increases, more and more robotic sensors are used. There are three types of intelligent robots : interactive robots, sensor robots and autonomous robots. From the anthropomorphic function, vision, force and touch are the most important. It has already entered the practical stage, and the hearing has also made great progress. Others have sense of smell, taste, and slid. There are various sensors, so the robot sensing industry has also formed. Production and research strength.
Internal sensor
Machine-mechatronics products, internal sensors and mechanical components such as motors and shafts or mechanical structures such as arm (arm), wrist (Wrist), etc. are installed together to complete the measurement of position, speed and strength to achieve servo control.
Position (displacement) sensor
The linear motion sensor has two types of potentiometer sensors and adjustable transformers. The angular displacement sensor has three types: a potentiometer type, a variable transformer (resolver) and a photoelectric encoder. The photoelectric encoder has an incremental encoder and an absolute encoder. The incremental encoder is generally used for zero-position uncertain position servo control. The absolute encoder can obtain the instantaneous value of the drive shaft corresponding to the initial lock position of the encoder. When the device is under pressure, just read each joint code. The reading of the servo can adjust the given value of the servo control to prevent excessive movement during the start of the robot.
Speed ​​and acceleration sensor
Speed ​​sensors measure both translational and rotational motion speeds, but in most cases are limited to measuring rotational speed. Using the derivative of the displacement, especially the photoelectric method, the light is irradiated to the rotating disk, the rotation frequency and the number of pulses are detected, the rotation angle is determined, and a gap is formed by the disk, and the angular velocity is recognized by the two photodiodes, that is, the rotation speed This is the photoelectric pulse speed sensor. In addition, there are speed measuring generators for speed measurement.
A strain gauge, a telescopic gauge, is also a stress sensor for acceleration measurements. The acceleration sensor is used to measure the dynamic control signals of industrial robots . Generally, there is a power derived from the velocity measurement and the power generated by the acceleration of a known mass object, that is, the strain gauge is used to measure the force for deduction, and the following method is also performed:
The force associated with the measured acceleration can be generated by a known mass. This force can be electromagnetic or electrodynamic, and is ultimately reduced to the measurement of the current. This is the servo return sensor, and actually there are a variety of vibrating acceleration sensors.
Force sensor
The force sensor is used to measure the three components of the force between the two objects and the three components of the moment. The ideal sensor in the robot is a semiconductor strain gauge bonded to the compliant component. Specifically, there are a metal resistance type force sensor, a semiconductor type force sensor, other magnetic pressure type, and a force sensor manufactured by the principle of string vibration.
There are also torque sensors (such as measuring torque with photoelectric sensors) and wrist force sensors (such as the International Stanford Research Institute consisting of six small differential transformers that measure the power acting in the X, Y and Z directions of the wrist and Each axis dynamic torque).
Due to the long history of robot development, AC servo systems based on AC permanent magnet motors have been widely used in recent years. Sensors corresponding to position and speed are widely used in various types of photoelectric encoders, magnetic encoders and resolvers.
External sensor
In the past, general industrial robots have no external sensory ability, and new generation robots such as multi-joint robots, especially mobile robots and intelligent robots, require the ability to correct and change the reaction environment. External sensors are capable of realizing these capabilities.
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