CN101281067A - Underwater robot four dimensional fingertip force sensor and information acquisition method - Google Patents
Underwater robot four dimensional fingertip force sensor and information acquisition method Download PDFInfo
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- CN101281067A CN101281067A CNA2008100978979A CN200810097897A CN101281067A CN 101281067 A CN101281067 A CN 101281067A CN A2008100978979 A CNA2008100978979 A CN A2008100978979A CN 200810097897 A CN200810097897 A CN 200810097897A CN 101281067 A CN101281067 A CN 101281067A
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Abstract
The present invention discloses an underwater robot four-dimensional fingertip force sensor and information obtaining method thereof; the sensor comprises mutually connected base, upper cover, sealing ring, fingertip, elastomer, measuring circuit board and digital hardware circuit board. The E-shaped film of the elastomer induces the normal force Fz, tangential force Fx, Fy of contacting face of the paw; the thin rectangle metal sheet induces the torque Mz around the normal; the detecting circuit composed by strain foil stuck on the elastomer converts the change caused by force and moment of the sensor into change of voltage. In the method, the change of the voltage is executed signal conditioning via the measuring circuit board integrated on the sensor, and the four-dimensional force information is sent to the underwater robot body through the analog-to-digital conversion, digital filtering, numerical calculation and decoupling of the digital hardware circuit board via the communication interface. The present invention uses screw fluid sealant to encrypt so as to realize underwater sealing, uses silica gel and round metal soleplate to realize deep underwater automatic pressure compensation; the present invention is able to obtain the four-dimensional force subjected by the intelligent paw of the underwater robot.
Description
Technical field
The present invention relates to Ocean Surveying and sensing technology, anthropomorphic robot technology, particularly underwater robot four dimensional fingertip force sensor and information getting method thereof.
Background technology
As everyone knows, environments such as subsea very severe.No matter be raising of a wreck, sea rescue, optical cable laying, or resource exploration and exploitation, general equipment is difficult to finish.At this situation, developed multiple underwater robot both at home and abroad, in order to allow underwater robot finish operation in the particular surroundings under water more smoothly, should make robot hand have certain autonomic function, this just requires robot hand to possess the function of environmental informations such as perception such as power feel, sense of touch, sliding feel, seismesthesia.Though various usual forces feel that touch sensor is multiple functional, of a great variety, be subjected to the deep-marine-environment restriction and can not be directly used under water, must transform or redesign.
Still there is not the force transducer that better solves the deep-water pressure problem at present both at home and abroad.The UDMW3 force transducer of AMTI company development adopts an oil-filled bladder to come balance hydraulic pressure; but under deep-marine-environment, to satisfy the requirement of hydraulic balance preferably; need bladder that bigger distortion takes place; the machine man-hour; the bladder that is subjected to water resistance produces certain distortion; the performance of force transducer is descended greatly, and the anti-ability of destroying of bladder is relatively poor in addition and shape, barycenter are indefinite, and these have all limited the working condition and the environmental requirement of the force transducer of this pressure equilibrium mode.
Finger contact model result requires finger sensor that 4 direction power detectabilities are arranged during according to underwater operation, promptly contacts the normal pressure Fx of normal direction, detects as clamping force size and contacting feeling; Power Fy, the Fz of contact section both direction as sliding feel detect, when the torque M z around the surface of contact normal gets as many finger grippers, target force constraint condition is analyzed.In actual applications, find that the four dimensional force sensor in the application scenario under water is the most practical force transducer, and still do not have at present a four dimensional force sensor that is exclusively used under water, generally be to utilize existing six-dimension force sensor four-dimensional signal wherein to realize obtaining of four dimensional force information, so not only cause the waste of hardware resource, and coupling is difficult to eliminate between dimension.And present most of sensor all fails to consider sealing and pressure compensation, thereby can't be directly used in underwater robot intelligence paw.
The present existing multiple force transducer of technology, equaling April 4 calendar year 2001 disclosed publication number as Hefei Intelligent Machinery Inst., Chinese Academy of Scineces's dagger-axe fine jade, Ge Yunjian is the CN1289917A patent of invention.This denomination of invention is: a kind of six-dimension force sensor based on the ceramic thick film technology, the type circular iris of E up and down of this six-dimension force sensor employing sintered body pottery and rood beam are as elastic body, and the sintering ruthenium is a thick film force sensitive resistance on up and down E type circular iris and rood beam, three groups of resistance of following E type film are used for realizing to Fx, Fy, the measurement of Fz, two groups of resistance of last E type film are used for realizing to Mx, the measurement of My, rood beam are used for realizing the measurement to Mz.Its processing realizes easily, is easy to realize miniaturization, but complex structure, elastic body be not incorporate structure, have bulk redundancy information, when stressed rood beam deformation effect the measurement of time E type circular iris, and rood beam and sintered body ceramics strength are limited, so the range of sensor is also limited, limited its application in sensor under water.
Summary of the invention
The objective of the invention is: at the problem and the defective of correlation technique existence both at home and abroad at present, a kind of novel underwater robot four dimensional fingertip force sensor and information getting method thereof are proposed, this invention can be obtained the four dimensional force information that underwater robot intelligence paw finger tip is subjected to simultaneously, finishes intelligent operation for submerged organ people and intelligent paw high-quality force information is provided.This four dimensional fingertip force sensor is simple in structure, highly sensitive, little, the easy demarcation of coupling between dimension, obtains precision height, the good reliability of force information simultaneously.
Technical scheme of the present invention is: a kind of underwater robot four dimensional fingertip force sensor, comprise interconnective finger tip, loam cake, O-ring seal, elastic body, base, finger tip is the beaer in the underwater robot four dimensional fingertip force sensor, adopt the semielliptical shape to increase lifting surface area, place the top of underwater robot four dimensional fingertip force sensor, the centre of finger tip is equipped with the right cylinder external thread rotation of aperture internal thread on loam cake and elastic body and is connected, and is equipped with internal thread and external thread in the loam cake;
Elastomeric structure is to be fixedly connected on the circular metal base plate by two following thin rectangular shape sheet metals by E type film, have aperture in the middle of the circular metal base plate, be convenient on the elastic body metering circuit be integrated in base in the metering circuit plate be connected, the centre of E type film is a right cylinder, be equipped with screw thread above cylindrical and be a circular groove all around, the edge of circular groove is equipped with annular groove and is used to place O-ring seal, the external thread that is equipped with on the E type film periphery is connected with the internal thread of loam cake inside and seals with thread locking adhesive, the external thread that is equipped with in the loam cake is rotatably connected with internal thread in the base and seals with thread locking adhesive, base is equipped with a cavity and is used for placing the metering circuit plate after installation, be equipped with a plurality of apertures below the base, aperture in the middle of it is used to draw lead, the aperture on next door is that threaded hole is used for the intelligent paw mechanical connection with the robot hand body, E type film in the elastic body is fixedly connected on the circular metal base plate, particularly by two following thin rectangular shape sheet metals:
Underwater robot four dimensional fingertip force sensor also comprises two thin rectangular shape sheet metals, E type film bottom and the digital hardware circuit board that is electrically connected with the metering circuit plate;
Elastomeric structure is to be fixedly connected on the circular metal base plate by two following thin rectangular shape sheet metals by E type film, the back side posts foil gauge R1～R12 that 12 initial resistivity value equate on E type film, be divided into a, b, three groups of electric bridges of c, every group of electric bridge is made of four foil gauges, wherein:
R1, R2, R3, R4 constitute a group electric bridge and are used to detect Fx, and R1, R2, R3, the R4 of a group electric bridge are put in the parallel subsides of the longitudinal direction of thin rectangular shape sheet metal;
R5, R6, R7, R8 constitute b group electric bridge and are used to detect Fy, and R5, R6, R7, the R8 of b group electric bridge are put in the parallel subsides of the horizontal direction of thin rectangular shape sheet metal;
R9, R10, R11, R12 constitute c group electric bridge and are used to detect Fz, and foil gauge R9, R10, R11, the R12 of c group electric bridge is mutually even subsides of 90 degree and puts on circumference;
Two thin rectangular shape sheet metals comprise the first thin rectangular shape sheet metal and the second thin rectangular shape sheet metal, wherein the first thin rectangular shape sheet metal posts foil gauge R13, R14, the second thin rectangular shape sheet metal posts foil gauge R15, R16 respectively, foil gauge R13, R14 are affixed on the cornerwise two ends of first thin rectangular plate respectively, and foil gauge R15, the R16 formation d group electric bridge that posts respectively with the second thin rectangular shape sheet metal diagonal is used to detect Mz;
R1 and R2, R3 and the R4 of a group electric bridge in a, b, four groups of electric bridges of c, d, foil gauge R5 and R6, R7 and the R8 of b group electric bridge, foil gauge R9 and R12, R10 and the R11 of c group electric bridge, d organizes the foil gauge R13 and the R14 of electric bridge, and R15 and R16 place respectively separately on the corresponding brachium pontis of full-bridge testing circuit;
Foil gauge R1, R2, R3, R4, R5, R6, R7, R8, R10, R11 are affixed on the inner periphery at the E type film back side (42), and R9, R12 are affixed on the excircle at the E type film back side (42);
Underwater robot four dimensional fingertip force sensor is before installing end, silica gel is irritated in whole internal cavities, prevent that the circular metal plate below the E type film from deforming under the deep sea pressure effect, guarantee that the internal and external pressure balance of sensor reaches the effect of automatic pressure compensation;
The metering circuit plate is the analog hardware circuit board, is used for that information to the collection of full-bridge testing circuit returns to zero, amplifier, analog filtering;
The digital hardware circuit board places the intelligent paw of underwater robot body, be used for to analog information carry out analog to digital conversion, digital filtering, numerical evaluation, decoupling zero and with the communication of underwater robot body;
Be equipped with three fingers on the intelligent paw of underwater robot body, each finger tip is equipped with four dimensional fingertip force sensor, during the intelligent paw grabbing workpiece of underwater robot body, the underwater robot four dimensional fingertip force sensor that is positioned at robot finger's finger tip can detect suffered separately four dimensional force information Fx, Fy, Fz, Mz simultaneously.
A kind of information getting method that is used for underwater robot four dimensional fingertip force sensor comprises the signal that receives a, b, c, four groups of electric bridges of d, particularly:
The Fx signal is taken from a group electric bridge in the setting four dimensional force information, and the Fy signal is taken from b group electric bridge in the four dimensional force information, and the Fz signal is taken from c group electric bridge in the four dimensional force information, and the Mz signal is taken from d group electric bridge in the four dimensional force information;
With a organize the detected change in voltage Δ of electric bridge Ux, b group electric bridge detected change in voltage Δ Uy, the detected change in voltage Δ of c group electric bridge Uz, the detected change in voltage Δ of d group electric bridge Umz carries out zeroing, amplifier, analog filtering in the signal condition on the metering circuit plate of sensor inner chamber;
Signal after the conditioning is carried out analog to digital conversion, numerical evaluation, digital filtering, decoupling zero on the digital hardware circuit board, communication interface is sent to the underwater robot body with four dimensional force information Fx, Fy, Fz, the Mz that obtains.
Beneficial effect:
A kind of six-dimension force sensor CN1289917A of the prior art based on the ceramic thick film technology, the type circular iris of E up and down of employing sintered body pottery and rood beam are as elastic body, and the sintering ruthenium is a thick film force sensitive resistance on up and down E type circular iris and rood beam, three groups of resistance of following E type film are used for realizing to Fx, Fy, the measurement of Fz, two groups of resistance of last E type film are used for realizing to Mx, the measurement of My, rood beam are used for realizing the measurement to Mz.Its processing realizes easily, is easy to realize miniaturization, but complex structure, elastic body be not incorporate structure, have bulk redundancy information, when stressed rood beam deformation effect the measurement of time E type circular iris, and rood beam and sintered body ceramics strength are limited, so the range of sensor is also limited, limited its application in sensor under water.
Inventive point of the present invention is: the elastomeric structure of underwater robot four dimensional fingertip force sensor is to be fixedly connected on the circular metal base plate by two following thin rectangular shape sheet metals by E type film, places the testing circuit of underwater robot four dimensional fingertip force sensor and form corresponding electric bridge on the back side of E type film and thin rectangular shape sheet metal.Wherein, the inner periphery at the E type film back side posts foil gauge R1, R2, R3, R4, R5, R6, R7, R8, R10, R11, and excircle posts R9, R12; The diagonal line two ends of two thin rectangular shape sheet metals are posted foil gauge R13, R14 and foil gauge R15, R16 respectively.16 foil gauges constitute a, b, four groups of full-bridge testing circuits of c, d.Wherein, R1, R2, R3, R4 constitute a group electric bridge and are used to detect Fx, put in the parallel subsides of the longitudinal direction of thin rectangular shape sheet metal; R5, R6, R7, R8 constitute b group electric bridge and are used to detect Fy, put in the parallel subsides of the horizontal direction of thin rectangular shape sheet metal; R9, R10, R11, R12 constitute c group electric bridge and are used to detect Fz, be mutually even subsides of 90 degree and put on circumference; R13, R14, R15, R16 constitute d group electric bridge and are used to detect Mz.In each group full-bridge testing circuit: R1 and R2, R3 and R4, R5 and R6, R7 and R8, R9 and R12, R10 and R11, R13 and R14, R15 and R16 place respectively separately on the corresponding brachium pontis of full-bridge testing circuit;
E type film periphery external thread and loam cake internal female junction, loam cake external thread and base internal thread junction be all with thread locking adhesive sealing, and the O-ring seal of placing on the annular groove that is equipped with in conjunction with E type film edge is realized sealing;
Circular metal plate acting in conjunction below silica gel that waters in the whole underwater robot four dimensional fingertip force sensor internal cavities and the E type film, guarantee that the internal and external pressure balance of underwater robot four dimensional fingertip force sensor reaches the effect of automatic pressure compensation, guarantee that underwater robot four dimensional fingertip force sensor is not destroyed under the deep sea pressure effect;
The raw information that the metering circuit that receives the artificial circuit part that is arranged in the underwater robot four dimensional fingertip force sensor internal cavities transmits returns to zero, amplification, analog filtering, the digital circuit that is positioned at the underwater robot four dimensional fingertip force sensor outside partly receives the information that mimic channel transmits, carry out analog to digital conversion, digital filtering, numerical evaluation, decoupling zero, by communication interface four dimensional force information Fx, Fy, Fz, the Mz that obtains is sent to the underwater robot body at last.
Particular surroundings factors such as residing high pressure, severe corrosive when the present invention fully takes into account deep-sea underwater robot operation adopt the elastomer structure of wide range, the distortion of adopting silica gel to add the circular metal thin plate to realize that pressure compensation, employing thread locking adhesive add O-ring seal and realize that double seal is leakage-preventing.By these measures, can detect the four dimensional force information that the intelligent paw finger tip of underwater robot body is subjected to simultaneously: the power Fz of paw surface of contact normal direction, tangential power Fx, Fy, winding is to torque M z, and in real time information is sent to the underwater robot body, grip when the underwater robot body utilizes these force informations not only can detect and control the extracting object, but also can detect the weight of crawled object, and whether the seized condition in the grasping manipulation process exists slip, phenomenons such as vibration are finished intelligent operation for the intelligent paw of underwater robot body hardware foundation are provided.Underwater robot four dimensional fingertip force sensor of the present invention is simple in structure, intensity is suitable, highly sensitive, the dimension between the coupling little, easy demarcation.
Description of drawings
Fig. 1 is the underwater robot four dimensional fingertip force sensor structural representation.
Fig. 2 is the paster synoptic diagram of foil gauge on the underwater robot four dimensional fingertip force sensor elastic body.
Fig. 3 obtains the synoptic diagram of middle foil gauge group bridge for underwater robot four dimensional fingertip force sensor information.
Fig. 4 is underwater robot four dimensional fingertip force sensor elastic body force analysis figure.
Fig. 5 obtains synoptic diagram for underwater robot four dimensional fingertip force sensor information.
Fig. 6 is underwater robot four dimensional fingertip force sensor signals collecting and processing flow chart.
Embodiment
Below in conjunction with accompanying drawing enforcement of the present invention is described in further detail.
In Fig. 1, the 1st, finger tip, the 2nd, loam cake, the 3rd, O-ring seal, the 4th, elastic body, the 5th, base, the 6th, metering circuit plate, the 7th, digital hardware circuit board, the 42nd, the E type film back side, the 41st, thin rectangular shape sheet metal, the 43rd, circular metal base plate.
The structure of elastic body 4 is to be fixedly connected on the circular metal base plate 43 by two following thin rectangular shape sheet metals 41 by E type film, have aperture in the middle of the circular metal base plate 43, be convenient on the elastic body 4 metering circuit be integrated in base 5 in metering circuit plate 6 be electrically connected, the centre of E type film is a right cylinder, be equipped with screw thread above cylindrical and be a circular groove all around, the edge of circular groove is equipped with annular groove and is used to place O-ring seal 3, on the back side 42 of E type film and thin rectangular shape sheet metal 41, place the testing circuit of underwater robot four dimensional fingertip force sensor and form corresponding electric bridge, the external thread that is equipped with on the E type film periphery is connected with the internal thread of loam cake 2 inside and seals with thread locking adhesive, the external thread that is equipped with in the loam cake 2 is rotatably connected with internal thread in the base 5 and seals with thread locking adhesive, base 5 is equipped with a cavity and is used for placing metering circuit plate 6 after installation, be equipped with a plurality of apertures below the base 5, aperture in the middle of it is used to draw lead, and the threaded hole on next door is used for the intelligent paw mechanical connection with the underwater robot body.To underwater robot four dimensional fingertip force sensor inside pouring silica gel, cooperate elastic body 4 bottom circular metal thin plates 43 to finish the water pressure compensation.The raw information that the metering circuits that receive the metering circuit plate 6 that is arranged in the underwater robot four dimensional fingertip force sensor internal cavities transmit returns to zero, amplification, analog filtering, the digital circuit board 7 that is positioned at the underwater robot four dimensional fingertip force sensor outside receives the information that mimic channels transmit and carries out analog to digital conversion, digital filtering, numerical evaluation, decoupling zero, and by communication interface four dimensional force information Fx, Fy, Fz, the Mz that obtains is sent to the underwater robot body.
Fig. 2 is the paster synoptic diagram of foil gauge on the underwater robot four dimensional fingertip force sensor elastic body.Wherein: Fig. 2 left side figure is the paster mode at the E type film back side 42, post foil gauge R1～R12 that 12 initial resistivity value equate altogether, be divided into three groups of a, b, c, R1, R2, R3, R4 constitute a test set and are used to detect Fx, put in the parallel respectively subsides of the longitudinal direction of thin rectangular shape sheet metal 41; R5, R6, R7, R8 constitute the b test set and are used to detect Fy, put in the parallel respectively subsides of the horizontal direction of thin rectangular shape sheet metal 41; R9, R10, R11, R12 constitute the c test set and are used to detect Fz, be mutually even subsides of 90 degree and put on circumference.
The right figure of Fig. 2 is the paster mode on the thin rectangular shape sheet metal 41, wherein the first thin rectangular shape sheet metal posts foil gauge R13, R14 respectively, the second thin rectangular shape sheet metal posts foil gauge R15, R16 respectively, foil gauge R13, R14 are affixed on the cornerwise two ends of the first thin rectangular shape sheet metal respectively, and foil gauge R15, the R16 formation d group electric bridge that posts respectively with the second thin rectangular shape sheet metal diagonal is used to detect Mz.
Fig. 3 obtains the synoptic diagram of middle foil gauge group bridge for underwater robot four dimensional fingertip force sensor information.A, b, each group of c, d all constitute the full-bridge testing circuit respectively, wherein the R1 of a group places respectively on the corresponding brachium pontis with R2, R3 and R4, the R5 of b group places respectively on the corresponding brachium pontis with R6, R7 and R8, the R9 of c group places respectively on the corresponding brachium pontis with R12, R10 and R11, and the R13 of d group places respectively on the corresponding brachium pontis with R14, R15 and R16.
Fig. 4 is underwater robot four dimensional fingertip force sensor force analysis figure.In Fig. 4, be the former heart with semielliptical end face central point, long axis direction is set up cartesian coordinate system for the z direction.Power and moment direction dictates are: along change in coordinate axis direction is positive dirction, and corresponding moment is followed right hand principle.Analyze any a bit stressed F on the sphere, according to 2 rigid body points contact principle, the F direction should be the direction of common normal.According to the ellipsoid characteristics, the common normal of certain point must intersect with the central shaft of ellipsoid on the ellipsoid.If intersection point and initial point are at a distance of being h, the angle on directed force F and oxy plane is β, and directed force F is α in the projection on oxy plane and the angle of x axle.Because the bending resistant section coefficient of semielliptical is bigger, distortion can be ignored, and is about to beaer and is considered as rigid body, so according to the principle of arbitrary force system in space in the theoretical mechanics to some simplification, F can be reduced to the equivalent force system F of initial point o
o=(F
x, F
y, F
z, M
x, M
y, M
z)
T, and satisfy equation set:
Obviously, if sensor records equivalent force system F
o, the non-coplanar force size that is subjected to accordingly, direction, angle can be tried to achieve.Because the M that is subjected to during sensor clamping workpiece
x, M
yThe information that provides is unimportant, so do not include limit of consideration in.And have crooked or workpiece M when being in non-firm extracting when the robot hand holding workpiece
zControl to intelligent paw is most important.So only be concerned about F
x, F
y, F
z, M
zThough, can not determine fully the accurate orientation of stressed size, can obtain an equivalent force and an equivalent moment by these four force informations.This equivalent force acts on coordinate origin, with the angle on oxy plane be β, be α in the projection on oxy plane and the angle of x axle.
Fig. 5 obtains synoptic diagram for underwater robot four dimensional fingertip force sensor information.When the intelligent paw of robot body grasps object, a certain amount of deformation takes place in the power that the elastic body 4 of fingertip force sensor 1, fingertip force sensor 2, fingertip force sensor 3 is accepted to transmit from finger tip 1, the foil gauge that sticks on the elastic body 4 deforms with elastic body 4, the resistance of foil gauge also changes, the variation that is in proportion of the strain of the size of resistance change rate and foil gauge location for paste elastic body 4.The resistance variations of foil gauge is converted to the variation of voltage according to the definite metering circuit (connecing the bridge form) of measuring task, because the output signal of testing circuit is very faint, therefore the signal of fingertip force sensor 1, fingertip force sensor 2, fingertip force sensor 3 is carried out signal condition: zeroing, amplification and analog filtering with metering circuit plate 6.The signal that obtains carries out analog to digital conversion, digital filtering, numerical evaluation, decoupling zero with digital hardware circuit board 7, by communication interface four dimensional force information Fx, Fy, Fz, the Mz that obtains is sent to the underwater robot body at last.
Fig. 6 is underwater robot four dimensional fingertip force sensor signals collecting and processing flow chart.The step of underwater robot four dimensional fingertip force sensor collection and processing is:
Begin to gather (step 200); The Fx signal is taken from a group electric bridge in the setting four dimensional force information, and the Fy signal is taken from b group electric bridge, and the Fz signal is taken from c group electric bridge, and the Mz signal is taken from d group electric bridge (step 210); Four groups of electric bridges that are positioned on the underwater robot four dimensional fingertip force sensor elastic body 4 detect change in voltage (step 220); A is organized the detected change in voltage Δ of electric bridge Ux, b group electric bridge detected change in voltage Δ Uy, the detected change in voltage Δ of c group electric bridge Uz, the detected change in voltage Δ of d group electric bridge Umz carry out signal condition on the metering circuit plate 6 of robot four dimensional fingertip force sensor inner chamber under water, as zeroing, amplification, analog filtering (step 230); Signal after the conditioning is carried out analog to digital conversion (step 240) on digital hardware circuit board 7; Wait for the instruction of underwater robot body, judge whether to gather (step 250), when not receiving the data acquisition instruction, continue then to wait for that when receiving the data acquisition instruction, the original signal of collection is through numerical evaluation (step 260); By digital filtering, decoupling zero (step 270); Communication interface is sent to underwater robot body (step 280) with the four dimensional force information that obtains; Gather whether finish (step 290) by the decision of underwater robot body, if otherwise return step 250 and proceed to gather, if then task is finished end (step 300).
Embodiment: be equipped with three fingers on the intelligent paw of underwater robot body, each finger tip is equipped with four dimensional fingertip force sensor, during underwater robot intelligence paw grabbing workpiece, the underwater robot four dimensional fingertip force sensor that is positioned at robot finger's finger tip can detect suffered separately Fx, Fy, Fz, Mz.
The E type film back side 42 of each underwater robot four dimensional fingertip force sensor elastic body 4 and thin rectangular shape sheet metal 41 are along with the variation generation deformation of suffered four dimensional force, a on the sensor elastomer 4, b, c, four groups of electric bridges of d constitute the variation that the full-bridge testing circuit is converted to this deformation voltage respectively, the variation of voltage is carried out signal condition through the metering circuit plate 6 that is integrated on the underwater robot four dimensional fingertip force sensor, pass through the analog to digital conversion of digital hardware circuit 7 again, numerical evaluation, decoupling zero is at last by the four dimensional force information Fx of communication interface with acquisition, Fy, Fz, Mz is sent to the underwater robot body.
The screw thread of placing external thread and the internal thread junction of loam cake 2 inside on O-ring seal 3, the E type film periphery around the E type film on the annular groove uses fluid sealant sealing, loam cake 2 external threads to use fluid sealant sealing, the inner whole use silica gel sealings of underwater robot four dimensional fingertip force sensor with the screw thread of base 5 internal thread junctions, makes whole underwater robot four dimensional fingertip force sensor be among the double seal.The silica gel of sensor internal pouring can protect the metering circuit plate 6 placed in base 5 cavitys not with contact with sea water, cooperate elastic body 4 bottom circular metal base plates 43 to finish the deep-water pressure compensation.
Claims (2)
1, a kind of underwater robot four dimensional fingertip force sensor, comprise interconnective finger tip (1), loam cake (2), O-ring seal (3), elastic body (4), base (5), described finger tip (1) is the beaer in the underwater robot four dimensional fingertip force sensor, adopt the semielliptical shape to increase lifting surface area, place the top of underwater robot four dimensional fingertip force sensor, the centre of described finger tip (1) is equipped with the right cylinder external thread rotation of aperture internal thread on loam cake (2) and elastic body (4) and is connected, and described loam cake is equipped with internal thread and external thread in (2);
The structure of described elastic body (4) is to be fixedly connected on the circular metal base plate (43) by following two thin rectangular shape sheet metals (41) by E type film, have aperture in the middle of the circular metal base plate (43) of described elastic body (4), be convenient on the elastic body (4) metering circuit be integrated in that metering circuit plate (6) is connected in the base (5), the centre of described E type film is a right cylinder, describedly be equipped with screw thread above cylindrical and be a circular groove all around, the edge of described circular groove is equipped with annular groove and is used to place O-ring seal (3), the external thread that is equipped with on the described E type film periphery is connected with the internal thread of loam cake (2) inside and seals with thread locking adhesive, the external thread that is equipped with in the described loam cake (2) is rotatably connected with internal thread in the base (5) and seals with thread locking adhesive, described base (5) is equipped with a cavity and is used for placing metering circuit plate (6) after installation, be equipped with a plurality of apertures below the described base (5), aperture in the middle of it is used to draw lead, the aperture on next door is that threaded hole is used for the intelligent paw mechanical connection with the underwater robot body, E type film in the described elastic body (4) is fixedly connected on the circular metal base plate (43) by following two thin rectangular shape sheet metals (41), it is characterized in that:
Underwater robot four dimensional fingertip force sensor also comprises two thin rectangular shape sheet metals (41), the E type film back side (42) and the digital hardware circuit board (7) that is electrically connected with metering circuit plate (6);
The structure of described elastic body (4) is to be fixedly connected on the circular metal base plate (43) by following two thin rectangular shape sheet metals (41) by E type film, the foil gauge R1～R12 that 12 initial resistivity value equate that posts at the described E type film back side (42), be divided into a, b, three groups of electric bridges of c, every group of electric bridge is made of four foil gauges, wherein:
Foil gauge R1, R2, R3, R4 constitute a group electric bridge and are used to detect Fx, and foil gauge R1, R2, R3, the R4 of described a group electric bridge are put in the parallel subsides of longitudinal direction of thin rectangular shape sheet metal (41);
Foil gauge R5, R6, R7, R8 constitute b group electric bridge and are used to detect Fy, and foil gauge R5, R6, R7, the R8 of described b group electric bridge are put in the parallel subsides of horizontal direction of thin rectangular shape sheet metal (41);
Foil gauge R9, R10, R11, R12 constitute c group electric bridge and are used to detect Fz, and foil gauge R9, R10, R11, the R12 of described c group electric bridge is mutually even subsides of 90 degree and puts on circumference;
Foil gauge R1, R2, R3, R4, R5, R6, R7, R8, R10, R11 are affixed on the inner periphery at the E type film back side (42), and R9, R12 are affixed on the excircle at the E type film back side (42);
Described two thin rectangular shape sheet metals (41) comprise the first thin rectangular shape sheet metal and the second thin rectangular shape sheet metal, the wherein said first thin rectangular shape sheet metal posts foil gauge R13, R14, the described second thin rectangular shape sheet metal posts foil gauge R15, R16, described foil gauge R13, R14 are affixed on the cornerwise two ends of first thin rectangular plate respectively, and foil gauge R15, the R16 formation d group electric bridge that posts respectively with the second thin rectangular shape sheet metal diagonal is used to detect Mz;
Described a, b, four groups of electric bridges of c, d constitute the full-bridge testing circuit respectively, the foil gauge R1 of wherein said a group electric bridge and R2, R3 and R4 place respectively on the corresponding brachium pontis, the foil gauge R5 of b group electric bridge and R6, R7 and R8 place respectively on the corresponding brachium pontis, the foil gauge R9 of described c group electric bridge and R12, R10 and R11 place respectively on the corresponding brachium pontis, and the foil gauge R13 of d group electric bridge and R14, R15 and R16 place respectively on the corresponding brachium pontis;
Described underwater robot four dimensional fingertip force sensor is before installing end, silica gel is irritated in whole internal cavities, prevent that the circular metal plate (43) below the described E type film from deforming under the deep sea pressure effect, guarantee that the internal and external pressure balance of underwater robot four dimensional fingertip force sensor reaches the effect of automatic pressure compensation;
Described metering circuit plate (6) is the analog hardware circuit board that is used for signal is carried out signal condition, and described signal condition is meant that the information that the full-bridge testing circuit is collected returns to zero, amplifier, analog filtering;
Described digital hardware circuit board (7) places the intelligent paw of underwater robot body, be used for to analog information carry out analog to digital conversion, digital filtering, numerical evaluation, decoupling zero and with the communication of underwater robot body;
Be equipped with three fingers on the intelligent paw of described underwater robot body, each finger tip is equipped with four dimensional fingertip force sensor, during the intelligent paw grabbing workpiece of underwater robot body, the underwater robot four dimensional fingertip force sensor that is positioned at robot finger's finger tip can detect suffered separately four dimensional force information Fx, Fy, Fz, Mz simultaneously.
2, according to the described a kind of acquisition methods that is used for underwater robot finger tip four dimensional force information of claim 1, comprise the signal that receives a, b, c, four groups of electric bridges of d, it is characterized in that:
The Fx signal is taken from a group electric bridge in the setting four dimensional force information, and the Fy signal is taken from b group electric bridge in the four dimensional force information, and the Fz signal is taken from c group electric bridge in the four dimensional force information, and the Mz signal is taken from d group electric bridge in the four dimensional force information;
With a organize the detected change in voltage Δ of electric bridge Ux, b group electric bridge detected change in voltage Δ Uy, the detected change in voltage Δ of c group electric bridge Uz, the detected change in voltage Δ of d group electric bridge Umz carries out zeroing, amplification, analog filtering in the signal condition on the metering circuit plate (6) of sensor inner chamber;
Signal after the conditioning is carried out analog to digital conversion, digital filtering, numerical evaluation, decoupling zero on digital hardware circuit board (7), four dimensional force information Fx, Fy, Fz, the Mz that obtains is sent to the underwater robot body through communication interface.
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