CN102095534A - Double rood beam high-sensitivity six-dimensional moment sensor - Google Patents
Double rood beam high-sensitivity six-dimensional moment sensor Download PDFInfo
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- CN102095534A CN102095534A CN 201010577466 CN201010577466A CN102095534A CN 102095534 A CN102095534 A CN 102095534A CN 201010577466 CN201010577466 CN 201010577466 CN 201010577466 A CN201010577466 A CN 201010577466A CN 102095534 A CN102095534 A CN 102095534A
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Abstract
The invention discloses a double rood beam high-sensitivity six-dimensional moment sensor in the technical field of robots. The double rood beam high-sensitivity six-dimensional moment sensor comprises two rood beams, two dead rings, one outer ring, and a plurality of resistance strain gages; a first rood beam and a second rood beam are arranged outside the outer ring respectively and are used as elastic bodies of the sensor for sensing stress; two dead rings are arranged outside the first rood beam and the second rood beam respectively; the resistance strain gages are adhered to the rood beams; each of the rood beams consists of four identical double-hole parallel sub beams; each double-hole parallel sub beam is provided with an I-shaped through hole; and a center hole is formed in the geometric center of each rood beam. In the double rood beam high-sensitivity six-dimensional moment sensor, floating beams used by the conventional six-dimensional moment sensor and crosstalk caused by the floating beams are removed, multi-component coupling is reduced conveniently and the measurement accuracy is improved.
Description
Technical field
What the present invention relates to is the device in a kind of Robotics field, specifically is the sextuple torque sensor of a kind of diesis deck-molding sensitivity.
Background technology
The multidimensional torque sensor is known as multi-dimension force sensor again, refers to a kind of sensor that can measure above power of both direction and moment components simultaneously.It is widely used in joint of robot; Robotic surgical; Power is felt, tactile feedback; Accurate assembling, cutting; Plastic surgery operations; Occasions such as astronaut training.Industry has covered fields such as robot, automobile making, automatic assembly line assembling, biomedicine, Aero-Space.The multidimensional torque sensor generally is made up of the elastic body and the resistance strain gage of the many component force of sensitivity, and elastic body is a force sensitive device, and resistance strain gage then converts strain to the variation of electric weight.Sextuple power/moment sensor can any one moment of measurement space three force components and three moment components.
Through the retrieval of prior art is found that traditional six-dimension force sensor elastic body mainly has two kinds of forms: 1. the form of forming by parallel institution of platform up and down (is the patent of CN101034022A as publication number); 2. cross elastic beam form (is the patent of CN101672705 as publication number).Wherein the multi-dimension force sensor of the described RSS parallel-connection structure of CN101034022A form is to connect by 3 groups of side chains to go up lower platform, and every group of side chain has several revolute pairs and elasticity spherical pair again.Though the six-dimension force sensor of this form has utilized the characteristics of the average effect of parallel-connection structure, the more complicated of its parallel institution own, volume is bigger, and data processing is complicated.And its elastic body of six-dimension force sensor of the described cross elastic beam of CN101672705 version is got by the right cylinder hollow out, and complex structure is difficult for processing; The cross elastic beam is also made troubles to adhering resistance strain sheets in the housing inboard simultaneously.Owing to the existence of floating beam, still there is cross-interference issue between dimension in this structure in addition.
Summary of the invention
The present invention is directed to the prior art above shortcomings, provide a kind of diesis deck-molding sensitivity sextuple torque sensor, can eliminate crosstalking that floating beam brings, help reducing coupling between dimension, improve measuring accuracy.
The present invention is achieved by the following technical solutions, the present invention includes: two rood beams, two dead rings, an outer shroud and some resistance strain gages, wherein: first rood beam and second rood beam are arranged at the both sides of outer shroud respectively and are used for responsive stressed as sensor elastomer, two dead rings are arranged at the outside of first rood beam and second rood beam respectively, and resistance strain gage is pasted on the rood beam.
Described rood beam is made up of four identical diplopore parallel sub beams, and each diplopore parallel sub beam is provided with I font through hole, and the geometric center of rood beam is provided with center pit.
The through hole direction of the I font through hole on described first rood beam parallels with the through hole direction of center pit, and the through hole direction of the I font through hole on described second rood beam and the through hole direction of center pit are perpendicular;
Described outer shroud is a cylindrical hull structural, near two ends up and down four equally distributed rectangular channels is being arranged respectively along the inside circumference of outer shroud, and the height of rectangular channel and width are complementary with the thickness and the width of rood beam respectively; Two rectangular channel radial distances that are oppositely arranged are greater than two relative end face distances of rood beam, after promptly rood beam is positioned over outer shroud by rectangular channel, the end face of rood beam and outer shroud radially leave the gap; The outside surface of rood beam directly contacts with the both sides of outer shroud rectangular channel with the side of coincidence of the end face of outer shroud and rood beam and does not have gap and extruding force.
Two end faces of described outer shroud are distributed with eight equally distributed threaded holes, are used for being connected with dead ring.
Described dead ring is ladder-type structure and is socketed on outer shroud and the outside of rood beam.
Described dead ring is provided with eight equally distributed through holes, is used for closely cooperating with the threaded hole of outer shroud end face the axially-movable of restriction rood beam.
Described resistance strain gage specifically is arranged at the outside surface of the I font through hole of rood beam; Be respectively equipped with four resistance strain gages on each diplopore parallel sub beam and constitute the whist full-bridge circuit.
The rood beam that the present invention will be made of the diplopore parallel girder directly is placed on the outer shroud inboard by the rectangular channel of outer shroud, and rood beam can only move radially in the rectangular channel of outer shroud.Dead ring is with after outer shroud closely is connected, and rood beam is limited along the outer shroud axially-movable.Center pit by rood beam applies after the external force of a certain sub-beam direction, and the sub-beam of this direction can slippage in rectangular channel, and produces flexural deformation perpendicular to the beam of this sub-beam.Adopt the diplopore parallel girder as elastic body among the present invention, can improve the electric bridge output sensitivity by reasonable group of bridge.
Description of drawings
Fig. 1 is a wiring layout of the present invention.
Fig. 2 is the three-dimensional explosive decomposition figure of the present invention.
Fig. 3 is the resistance strain gage position view.
Fig. 4 is the measurement strain gauge bridge circuit among the present invention.
Fig. 5 is the three-dimensional wiring layout of the present invention.
Embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: comprising: first rood beam 1, second rood beam 2, first dead ring 3, second dead ring 4, outer shroud 5 and some resistance strain gages 6, wherein: first rood beam 1 and second rood beam 2 are arranged at the both sides of outer shroud 5 respectively and are used for responsive stressed as sensor elastomer, first dead ring 3, second dead ring 4 are arranged at the outside of first rood beam 1 and second rood beam 2 respectively, and resistance strain gage 6 is pasted on the rood beam; Described rood beam is made up of four identical diplopore parallel sub beams, and each diplopore parallel sub beam is provided with I font through hole 7, and the geometric center of rood beam is provided with center pit 8.
The through hole direction of the I font through hole 7 on described first rood beam 1 parallels with the through hole direction of center pit 8, and the through hole direction of the I font through hole 7 on described second rood beam 2 and the through hole direction of center pit 8 are perpendicular.
Described outer shroud 5 is cylindrical hull structurals, inside circumference along outer shroud 5 respectively has four equally distributed rectangular channels 9 in close two ends up and down, the height of rectangular channel 9 and width are complementary with the thickness and the width of rood beam respectively, two rectangular channel that is oppositely arranged 9 radial distances are greater than two relative end face distances of rood beam, and the outside surface of rood beam overlaps with the end face of outer shroud 5 and the side of rood beam directly contacts with the both sides of outer shroud 5 rectangular channels 9 and do not have gap and extruding force.
Two end faces of described outer shroud 5 are distributed with eight equally distributed threaded holes 10.
Described first dead ring 3 and second dead ring 4 are the ladder-type structure and the outside that is socketed on outer shroud 5 and rood beam.
Be respectively equipped with eight equally distributed through holes 11 on described first dead ring 3 and second dead ring 4.
Described resistance strain gage 6 specifically is arranged at the outside surface of the I font through hole 7 of rood beam; Be respectively equipped with four resistance strain gages 6 on each diplopore parallel sub beam and constitute the whist full-bridge circuit.
Present embodiment is realized the measurement of sextuple moment in the haptic information acquiring device of endo-surgical in the following manner:
The sensor (shown in Fig. 1 and 5) that assembles is serially connected between the handle and end effector of operating theater instruments, and end effector can be a clamp, also can be blade or needle by the clamp clamping.When the operator finishes action such as organ clamping, cutting and stitching by the stick control end effector, act on operator's reacting force on hand and affact simultaneously on the sextuple torque sensor, can record power visual information in the surgical procedures by this 6 DOF torque sensor.The measurement range of three force components is 15N, and the measurement range of three moment components is 0.4NM, and the gap of rood beam end face and outer shroud rectangular channel end face is 2mm.
Each foil gauge paste position as shown in Figure 3.The mode of measurement foil gauge establishment electric bridge is that example is described as follows with the measurement foil gauge of first beam among Fig. 3 (R1, R2, R3, R4 place beam).Group bridge mode is R1, and R3 is relative arm, and R2, R4 are relative arm, i.e. R1 among Fig. 3, and R2, R3, the R1 among R4 and Fig. 4, R2, R3, R4 be correspondence one by one, and other beam is by that analogy.
With Fig. 1 is the example explanation, and the center pit A place that establishes rood beam 1 is stiff end, and the center pit B place of rood beam 2 is a loading end.Be as with reference to coordinate system with coordinate among Fig. 1 below, analyze the strained situation that different force components are made each beam of time spent.
When point of application B is subjected to the power of directions X, rood beam 1 will produce flexural deformation along the diplopore parallel girder of Y direction, and each foil gauge produces and stretches or compressive strain.Because directly there are a gap in end face and the outer shroud of each beam, though thereby along the diplopore parallel girder of directions X in directions X generation displacement, end face does not directly contact with outer shroud, so only be subjected to a very less friction at the beam of directions X, be out of shape and can ignore fully; Thereby measurement this moment can be measured the power of Y direction along the strain of Y direction.
With should put B and be subjected to power along the Y direction time, the diplopore parallel girder of rood beam 1X direction will produce flexural deformation, the generation strain, and the Y direction will only be subjected to very little friction force, distortion can be ignored.
When a B is subjected to external force along Z-direction, rood beam 1 and rood beam 2 all will produce distortion in Z-direction, but the foil gauge strain is less on rood beam 1, and " rood beam 2 " strain is bigger, and it is stressed at this moment can to measure Z-direction by the foil gauge on the rood beam 2.
When a B was subjected to moment around X-axis, size that two diplopore parallel girders of rood beam 2Y direction are stressed and direction will be with B central point.Therefore, the strain of measuring rood beam 2Y direction diplopore parallel girder can calculate a B and be subjected to moment around X-axis.
In like manner, when a B was subjected to moment around Y-axis, the strain of measuring rood beam 2X direction diplopore parallel girder can calculate a B and be subjected to moment around Y-axis.
When a B was subjected to moment around the Z axle, 1 four beams of rood beam all were subjected to identical moment of flexure, produce identical distortion.Measure the wherein strain of any one beam and can measure moment around the Z axle.
With finite element sextuple torque sensor of the present invention is carried out force analysis,, then can eliminate fully and crosstalk if do not consider friction force.In actual measurement, the crosstalking generally about 5% of existing multi-dimension force sensor floating beam, and owing to cooperates by slippage between rood beam and the outer shroud among the present invention, crosstalking during the power of measurement all directions to drop to below 2%; If add suitable lubricating oil at rood beam and outer shroud cooperation place, it is more obvious to eliminate crosstalk effect, can drop to below 1%.
Claims (8)
1. the sextuple torque sensor of a diesis deck-molding sensitivity, comprise: two rood beams, two dead rings, an outer shroud and some resistance strain gages, it is characterized in that: first rood beam and second rood beam are arranged at the both sides of outer shroud respectively and are used for responsive stressed as sensor elastomer, two dead rings are arranged at the outside of first rood beam and second rood beam respectively, and resistance strain gage is pasted on the rood beam; Described rood beam is made up of four identical diplopore parallel sub beams, and each diplopore parallel sub beam is provided with I font through hole, and the geometric center of rood beam is provided with center pit.
2. the sextuple torque sensor of diesis deck-molding sensitivity according to claim 1, it is characterized in that, the through hole direction of the I font through hole on described first rood beam parallels with the through hole direction of center pit, and the through hole direction of the I font through hole on described second rood beam and the through hole direction of center pit are perpendicular.
3. the sextuple torque sensor of diesis deck-molding sensitivity according to claim 1, it is characterized in that, described outer shroud is a cylindrical hull structural, near two ends up and down four equally distributed rectangular channels are being arranged respectively along the inside circumference of outer shroud, the height of rectangular channel and width are complementary with the thickness and the width of rood beam respectively.
4. the sextuple torque sensor of diesis deck-molding sensitivity according to claim 3, it is characterized in that, two rectangular channel radial distances that are oppositely arranged are greater than two relative end face distances of rood beam, and the outside surface of rood beam directly contacts with the both sides of outer shroud rectangular channel with the side of coincidence of the end face of outer shroud and rood beam and do not have gap and extruding force.
5. the sextuple torque sensor of diesis deck-molding sensitivity according to claim 1 is characterized in that two end faces of described outer shroud are distributed with eight equally distributed threaded holes.
6. the sextuple torque sensor of diesis deck-molding sensitivity according to claim 1 is characterized in that described dead ring is ladder-type structure and is socketed on outer shroud and the outside of rood beam.
7. the sextuple torque sensor of diesis deck-molding sensitivity according to claim 1 is characterized in that described dead ring is provided with eight equally distributed through holes.
8. the sextuple torque sensor of diesis deck-molding sensitivity according to claim 1 is characterized in that described resistance strain gage specifically is arranged at the outside surface of the I font through hole of rood beam; Be respectively equipped with four resistance strain gages on each diplopore parallel sub beam and constitute the whist full-bridge circuit.
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| CN201010577466.XA CN102095534B (en) | 2010-12-08 | 2010-12-08 | Double rood beam high-sensitivity six-dimensional moment sensor |
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| CN201010577466.XA CN102095534B (en) | 2010-12-08 | 2010-12-08 | Double rood beam high-sensitivity six-dimensional moment sensor |
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