CN102095534B - 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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- CN102095534B CN102095534B CN201010577466.XA CN201010577466A CN102095534B CN 102095534 B CN102095534 B CN 102095534B CN 201010577466 A CN201010577466 A CN 201010577466A CN 102095534 B CN102095534 B CN 102095534B
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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 a kind of double rood beam high-sensitivity six-dimensional moment sensor.
Background technology
Multidimensional torque sensor is known as again multi-dimension force sensor, refers to a kind of sensor that can simultaneously measure the above power of both direction and moment components.It is widely used in joint of robot; Robotic surgical; Power is felt, tactile feedback; Accurate assembling, cutting; Plastic surgery operations; The occasions such as astronaut training.Industry has covered the fields such as robot, automobile making, automatic assembly line assembling, biomedicine, Aero-Space.Multidimensional torque sensor is generally comprised of elastic body and the resistance strain gage of the many component force of sensitivity, and elastic body is force sensitive device, and resistance strain gage converts strain to the variation of electric weight.Six-dimensional force/moment sensor can any one moment of measurement space three force components and three moment components.
Through the retrieval of prior art is found, traditional six-dimension force sensor elastic body mainly has two kinds of forms: 1. the form of platform being up and down comprised of parallel institution (as the publication number patent that is CN101034022A); 2. cross elastic beam form (as the publication number patent that is CN101672705).Wherein the multi-dimension force sensor of the RSS parallel-connection structure form described in CN101034022A is to connect upper lower platform by 3 groups of side chains, and every group of side chain has again several revolute pairs and elasticity spherical pair.Although the six-dimension force sensor of this form has utilized the feature of the average effect of parallel-connection structure, the more complicated of its parallel institution own, volume is larger, and data processing is more complicated.And its elastic body of six-dimension force sensor of cross elastic beam structure form described in CN101672705 is obtained by right cylinder hollow out, complex structure, is difficult for processing; Cross elastic beam is also made troubles to adhering resistance strain sheets in housing inner side simultaneously.Due 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 prior art above shortcomings, a kind of double rood beam high-sensitivity six-dimensional moment sensor is provided, can eliminate crosstalking that floating beam brings, be conducive to reduce 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: the first rood beam and the second rood beam are arranged at respectively the both sides of outer shroud stressed for sensitivity as sensor elastomer, two dead rings are arranged at respectively the outside of the first rood beam and the second rood beam, and resistance strain gage is pasted on rood beam.
Described rood beam is comprised of four parallel sub-beams of identical diplopore, and the parallel sub-beam of each diplopore is provided with I font through hole, and the geometric center of rood beam is provided with center pit.
The through hole direction of I font through hole and the through hole direction of center pit on the first described rood beam parallel, and the through hole direction of I font through hole and the through hole direction of center pit on the second described rood beam are perpendicular;
Described outer shroud is a cylindrical hull structural, along the inside circumference of outer shroud, near upper and lower two ends, is respectively having four equally distributed rectangular channels, and the height of rectangular channel and width match with thickness and the width of rood beam respectively; Two rectangular channel radial distances that are oppositely arranged are greater than two end face distances that rood beam is relative, and rood beam is positioned over after outer shroud by rectangular channel, the end face of rood beam and outer shroud radially leave gap; The outside surface of rood beam and the end face of outer shroud overlap and the side of rood beam and the both sides of outer shroud rectangular channel directly contact and do not have gap and extruding force.
Two end faces of described outer shroud are distributed with eight equally distributed threaded holes, 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, for closely cooperating with the threaded hole of outer shroud end face, and the axially-movable of restriction rood beam.
Described resistance strain gage is specifically arranged at the outside surface of the I font through hole of rood beam; On the parallel sub-beam of each diplopore, be respectively equipped with four resistance strain gages and form whist full-bridge circuit.
By the rood beam consisting of diplopore parallel girder, the rectangular channel by outer shroud is directly placed on outer shroud inner side in the present invention, and rood beam can only move radially in the rectangular channel of outer shroud.After dead ring is closely connected with outer shroud, rood beam is limited along 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.In the present invention, adopt diplopore parallel girder as elastic body, by reasonable group of bridge, can improve electric bridge output sensitivity.
Accompanying drawing explanation
Fig. 1 is wiring layout of the present invention.
Fig. 2 is the three-dimensional explosive decomposition figure of the present invention.
Fig. 3 is resistance strain gage position view.
Fig. 4 is the monitor strain sheet bridge diagram in the present invention.
Fig. 5 is the three-dimensional wiring layout of the present invention.
Embodiment
Below embodiments of the invention are elaborated, the present embodiment is implemented take technical solution of the present invention under prerequisite, 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, the present embodiment comprises: comprising: the first rood beam 1, the second rood beam 2, the first dead ring 3, the second dead ring 4, outer shroud 5 and some resistance strain gages 6, wherein: the first rood beam 1 and the second rood beam 2 are arranged at respectively the both sides of outer shroud 5 stressed for sensitivity as sensor elastomer, the first dead ring 3, the second dead ring 4 are arranged at respectively the outside of the first rood beam 1 and the second rood beam 2, and resistance strain gage 6 is pasted on rood beam; Described rood beam is comprised of four parallel sub-beams of identical diplopore, and the parallel sub-beam of each diplopore 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 I font through hole 7 and the through hole direction of center pit 8 on the first described rood beam 1 parallel, and the through hole direction of I font through hole 7 and the through hole direction of center pit 8 on the second described rood beam 2 are perpendicular.
Described outer shroud 5 is cylindrical hull structurals, inside circumference along outer shroud 5 is respectively having four equally distributed rectangular channels 9 near upper and lower two ends, the height of rectangular channel 9 and width match with thickness and the width of rood beam respectively, two rectangular channel being oppositely arranged 9 radial distances are greater than two end face distances that rood beam is relative, and the end face of the outside surface of rood beam and outer shroud 5 overlaps and the side of rood beam and the both sides of outer shroud 5 rectangular channels 9 directly contact 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.
The first described dead ring 3 and the second dead ring 4 are ladder-type structure and the outside that is socketed on outer shroud 5 and rood beam.
On the first described dead ring 3 and the second dead ring 4, be respectively equipped with eight equally distributed through holes 11.
Described resistance strain gage 6 is specifically arranged at the outside surface of the I font through hole 7 of rood beam; On the parallel sub-beam of each diplopore, be respectively equipped with four resistance strain gages 6 and form whist full-bridge circuit.
The present embodiment is realized the measurement of sextuple moment in the haptic information acquiring device of endo-surgical in the following manner:
The sensor assembling (as shown in Fig. 1 and 5) is serially connected between the handle and end effector of operating theater instruments, and end effector can be clamp, can be also blade or the needle clamping by clamp.When operator completes the actions such as organ clamping, cutting and stitching by stick control end effector, act on operator's reacting force on hand and be applied on sextuple torque sensor simultaneously, by this 6 DOF torque sensor, can record the power visual information in surgical procedures.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 strain gauge adhesion position as shown in Figure 3.The mode of monitor strain sheet establishment electric bridge is that example is described as follows with the monitor strain sheet of first beam in Fig. 3 (R1, R2, R3, R4 place beam).Group bridge mode is R1, and R3 is relative arm, R2, and R4 is relative arm, i.e. R1 in Fig. 3, R2, R3, the R1 in R4 and Fig. 4, R2, R3, R4 is correspondence one by one, and other beam is by that analogy.
Take Fig. 1 as 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 loading end.The coordinate in Fig. 1 of usining is below as with reference to coordinate system, analyzes the strained situation that different force components are made each beam of used time.
When point of application B is subject 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.Owing to directly there is a gap in end face and the outer shroud of each beam, although thereby along the diplopore parallel girder of directions X, at directions X, produce displacement, end face does not directly contact with outer shroud, therefore be only subject to a very less friction at the beam of directions X, distortion can be ignored completely; Thereby now measure the power that can measure Y-direction along the strain of Y-direction.
With should put B and be subject to the power along Y-direction time, the diplopore parallel girder of rood beam 1X direction will produce flexural deformation, generation strain, and Y-direction will only be subject to very little friction force, distortion can be ignored.
When a B is subject to the external force along Z-direction, rood beam 1 and rood beam 2 all will produce distortion in Z-direction, but on rood beam 1, foil gauge strain is less, and " rood beam 2 " strain is larger, at this moment can measure Z-direction by the foil gauge on rood beam 2 stressed.
When a B is subject to the moment around X-axis, stressed size and the direction of two diplopore parallel girders of rood beam 2Y direction will be with a B central point.Therefore, the strain of measurement rood beam 2Y direction diplopore parallel girder can calculate a B and be subject to the moment around X-axis.
In like manner, when a B is subject to the moment around Y-axis, the strain of measuring rood beam 2X direction diplopore parallel girder can calculate a B and be subject to the moment around Y-axis.
When a B is subject to the moment around Z axis, 1 four beams of rood beam are all subject to identical moment of flexure, produce identical distortion.Measure the wherein strain of any one beam and can measure the moment around Z axis.
By finite element, sextuple torque sensor of the present invention is carried out to force analysis, if do not consider friction force, can completely eliminate and crosstalk.In actual measurement, the crosstalking generally in 5% left and right of existing multi-dimension force sensor floating beam, and coordinating by slippage due between rood beam in the present invention and outer shroud, crosstalks and can drop to below 2% while measuring the power of all directions; If add suitable lubricating oil at rood beam and outer shroud cooperation place, eliminate crosstalk effect more obvious, can drop to below 1%.
Claims (1)
1. a double rood beam high-sensitivity six-dimensional moment sensor, comprise: the first rood beam, the second rood beam, two dead rings, an outer shroud and some resistance strain gages, it is characterized in that: the first rood beam and the second rood beam are arranged at respectively the both sides of outer shroud stressed for sensitivity as sensor elastomer, two dead rings are arranged at respectively the outside of the first rood beam and the second rood beam, and resistance strain gage is pasted on rood beam; Described rood beam is comprised of four parallel sub-beams of identical diplopore, and the parallel sub-beam of each diplopore is provided with I font through hole, and the geometric center of rood beam is provided with center pit; The through hole direction of I font through hole and the through hole direction of center pit on the first described rood beam parallel, and the through hole direction of I font through hole and the through hole direction of center pit on the second described rood beam are perpendicular;
Described outer shroud is a cylindrical hull structural, along the inside circumference of outer shroud, near upper and lower two ends, is respectively having four equally distributed rectangular channels, and the height of rectangular channel and width match with thickness and the width of two rood beams respectively;
Radial distance between two rectangular channels that are oppositely arranged is greater than two end face distances that each rood beam is relative, between the end face of each rood beam and described outer shroud, have gap, the outside surface of each rood beam directly contacts and does not have gap and extruding force with the both sides of the coincidence of the end face of outer shroud and the side of each rood beam and the rectangular channel of outer shroud;
Two end faces of described outer shroud are distributed with eight equally distributed threaded holes;
Described dead ring is ladder-type structure and is socketed on outer shroud and the outside of two rood beams;
Described dead ring is provided with eight equally distributed through holes;
Described resistance strain gage is arranged at the outside surface of the I font through hole of each rood beam; On the parallel sub-beam of each diplopore, be respectively equipped with four resistance strain gages and form whist full-bridge circuit;
Between described the first rood beam and described outer shroud for slippage coordinates; Between described the second rood beam and described outer shroud for slippage coordinates;
Described the first rood beam and described the second rood beam are comprised of four sub-beams respectively; By described center pit, apply after the external force of a certain sub-beam direction, sub-beam slippage in rectangular channel of this direction, and produce flexural deformation perpendicular to the beam of this sub-beam.
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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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| CN102095534B true CN102095534B (en) | 2014-02-19 |
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