CN104048790A - Dual orthogonal six-axis force sensor and measuring method - Google Patents
Dual orthogonal six-axis force sensor and measuring method Download PDFInfo
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- CN104048790A CN104048790A CN201410248504.5A CN201410248504A CN104048790A CN 104048790 A CN104048790 A CN 104048790A CN 201410248504 A CN201410248504 A CN 201410248504A CN 104048790 A CN104048790 A CN 104048790A
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Abstract
The invention relates to a dual orthogonal six-axis force sensor and a measuring method. The dual orthogonal six-axis force sensor is a novel force decoupling and isotropic robot six-axis force sensor. The dual orthogonal six-axis force sensor comprises an upper platform, a lower platform, elastic connecting rods and an elastic beam. The six elastic connecting rods are equally divided into three groups, each group is mutually orthogonal, double-shaft elastic hinges are adopted respectively at two ends of each elastic connecting rod, one end of each elastic connecting rod is connected with the upper platform, the other end of each elastic connecting rod is connected with the lower platform through the elastic beam, and a T-shaped structure is formed. Compared with a traditional structure, the dual orthogonal six-axis force sensor is large in strain, simple in structure and good in decoupling effect and effectively solves the problem of contradiction between sensor rigidity and sensitivity.
Description
Technical field
the invention belongs to industrial robot field, particularly a kind of six-dimension force sensor and measuring method.
Background technology
six-dimension force sensor is arranged on the wrist position of mechanical hand conventionally, for detection of the force information that is subject to of mechanical hand, and this information is fed back to control system, thereby realizes the control to the various motion states of mechanical hand.Elastic body, as sensing element, has determined the quality of sensor performance to a certain extent, is one of key problem of six-dimension force sensor research.Along with the development in industrial robot field, developed the six-dimension force sensor of various ways both at home and abroad, but all had some problems.For example: the Waston six-dimension force sensor that U.S. DRAPER grinds in laboratory, although it is strong to have load-bearing capacity, shock resistance is good, advantages of simple structure and simple, also exists sensitivity low, between all directions power, disturbs the shortcomings such as large; The capable six-dimension force sensor of dicyclo of Germany Schott, has solved the large difficult problem of phase mutual interference between all directions power, but because of the restriction of structure, the contradiction of its rigidity and sensitivity is larger, is difficult to coordination; A kind of four vertical tendon structure six-dimensional force sensor constructions that the Kroll of Belgian Brussel and Israel develops are simultaneously simple, are coupled little between dimension, and theoretical analysis is convenient, but vertical direction sensitivity is lower; 1987, the people such as Yoshikawa, the Uchiyama of Japan and Bayo have analyzed the sextuple wrist force sensor of Maltese cross structure, this structure is more a kind of of at present application, this sensor design is convenient, theory relation is simple and be easy to analysis, is coupled little between dimension, has higher rigidity, but because structure is too complicated, difficulty of processing is larger.Domestic aspect, the people such as the gold zone Chinese have designed a kind of non-radially sextuple wrist force sensor of three beam centrosymmetric structures, and Zeng Qingzhao etc. have studied a kind of wheel six-dimension force sensor; Yuan Zhejun has designed a kind of eight vertical tendon structure six-dimensional force sensors, Chinese Academy of Sciences Hefei intelligence Suo He China Textile University has successively developed cross structure six-dimension force sensor etc., but the above sensor exists some problems aspect coupling and rigidity between structure, sensitivity, dimension.
Summary of the invention
for the deficiencies in the prior art, the invention provides a kind of antithesis quadrature six-dimension force sensor and measuring method.
In order to realize above-mentioned target, the present invention adopts following technical scheme:
An antithesis quadrature six-dimension force sensor, is characterized in that, comprises upper mounting plate, lower platform, six roots of sensation elastic link.Wherein, two elastic beams are respectively established on three surfaces of lower platform.One end of six roots of sensation elastic link is connected with corresponding respectively elastic beam, and the other end all connects upper mounting plate, forms T shape structure.
According to aforesaid a kind of antithesis quadrature six-dimension force sensor, it is characterized in that, upper mounting plate arranges circular hole, for link model; It is mutually vertical that OXYZ coordinate system is pressed on three surfaces of lower platform.
According to aforesaid a kind of antithesis quadrature six-dimension force sensor, it is characterized in that, one group between two of six roots of sensation elastic link, arranges along X, Y, Z axis direction respectively.
According to aforesaid a kind of antithesis quadrature six-dimension force sensor, it is characterized in that, the plane that every group of two elastic link axis form is mutually vertical.
According to aforesaid a kind of antithesis quadrature six-dimension force sensor, it is characterized in that, every elastic link two ends arrange twin shaft elastic hinge.
According to aforesaid a kind of antithesis quadrature six-dimension force sensor, it is characterized in that, one end of each elastic link is connected with the middle part of corresponding elastic beam.
Using method according to aforesaid a kind of antithesis quadrature six-dimension force sensor, is characterized in that:
While measuring X and Mz component, by being pasted on the foil gauge of the elastic beam root of YOZ plane, form metering circuit;
While measuring Z and My component, by being pasted on the foil gauge of the elastic beam root of XOY plane, form metering circuit;
While measuring Y and Mx component, by being pasted on the foil gauge of the elastic beam root of XOZ plane, form metering circuit.
Tool of the present invention has the following advantages:
1, simple in structure
Sensor connects into integral body by upper mounting plate, lower platform by elastic link, simple in structure, compact, is easy to paster, and symmetry is better, and convenient processing and microminiaturized, has reduced cost.
2, strain deformation is than large
Elastic link is connected with the middle part of elastic beam, under the effect of power or moment, elastic beam becomes " S " distortion, simultaneously, the elastic hinge of elastic link takes full advantage of the feature that materials in tension and compression intensity is greater than bending strength, make power on direction of measurement much larger than the power on non-direction of measurement, interference reduction, thus make the strain deformation of direction of measurement power than larger.
3, decoupling zero
Three groups of elastic links of this sensor are mutually vertical, greatly reduce and measure the interference of component to other components, and elastic link arranges twin shaft elasticity hinge in addition, makes elastic rod be similar to two power bars, and decoupling ability is better.
4, foil gauge quantity is few
The X of this sensor, Mz component, Z and My component, Y and Mx component are used respectively 4 strainometers, amount to 12.
Accompanying drawing explanation
Fig. 1 is a kind of antithesis quadrature six-dimension force sensor structural representation;
Fig. 2 is the Z-direction view of Fig. 1;
Fig. 3 is that the A of Fig. 2 is to cut-open view;
Fig. 4 is that the B of Fig. 2 is to cut-open view;
Fig. 5 is that the C of Fig. 3 is to cut-open view;
Fig. 6 is the bridge diagram of six components of sensor;
Number in the figure title: 1, normal direction work beam 1,2, normal direction connecting rod 1,3, normal direction work beam 2,4, normal direction connecting rod 2,5, the beam 1 of laterally working, 6, transverse link 1,7, laterally work beam 2,8, transverse link 2,9, axial links 1,10, axially work beam 1,11, axially work beam 2,12, axial links 2,13, upper mounting plate, 14, lower platform, 15,16,17,18 for being affixed on the foil gauge of axial work beam, and 19,20,21,22 for being affixed on the foil gauge of normal direction work beam, 23,24,25,26 are affixed on the foil gauge of horizontal work beam.
In Fig. 6, U is for supplying bridge voltage, and dVx is X component output increment, and dVy is Y component output increment, and dVz is Z component output increment, and dVmx is Mx component output increment, and dVmy is My component output increment, and dVmz is Mz component output increment.
Embodiment
Below in conjunction with accompanying drawing, the present invention is elaborated.
Figure 1 shows that a kind of antithesis quadrature six-dimensional force sensing schematic three dimensional views.Comprise upper mounting plate 13, lower platform 14, axial links 9,12, normal direction connecting rod 2,4, transverse link 6,8.Wherein, connecting rod 9,12 is connected with the elastic beam 10,11 of lower platform YOZ plane respectively, and connecting rod 2,4 is connected with the elastic beam 1,3 of lower platform XOZ plane respectively, and connecting rod 6,8 is connected with the elastic beam 5,7 of lower platform XOY plane respectively, forms respectively T shape structure.The other end of six roots of sensation elastic link all connects upper mounting plate (13).
In this working sensor, because three groups of elastic links are mutually orthogonal, while measuring a certain component force, this group elastic link is stressed much larger than all the other elastic links, and antijamming capability is strong.
Fig. 2 is sensor construction front view, and Fig. 3,4,5 is cut-open view, and Fig. 6 is the bridge diagram of six component strain sheets.Wherein Fig. 3 is Y and Mx component paster schematic diagram, and foil gauge 15,16,18,17 forms Y component measurement circuit, and foil gauge 15,16,17,18 forms Mx component measurement circuit.
Fig. 4 is X and Mz component paster schematic diagram, and foil gauge 19,20,22,21 forms X component measurement circuit, and foil gauge 19,20,21,22 forms Mz component measurement circuit.
Fig. 5 is Z and My component paster schematic diagram, and foil gauge 23,24,26,25 forms Z component metering circuit, and foil gauge 23,24,25,26 forms My component measurement circuit.
This antithesis quadrature six-dimension force sensor makes full use of machinery and decomposes and electricity decomposition, and decoupling zero effect is remarkable.It also has simple in structure, strain deformation than the advantage such as large in addition, can be widely used in the fields such as robot, mining industry, wind tunnel force measurement, automobile detection, elevator cable tonometry.
Claims (4)
1. an antithesis quadrature six-dimension force sensor, is characterized in that comprising:
A upper mounting plate (13), a lower platform (14), two transverse links (6,8), two axial links (9,12), two normal direction connecting rods (2,4);
Wherein lower platform (14) forms semiclosed cavity configuration by XOY plane, YOZ plane, ZOX plane, and upper mounting plate (13) is cube, and upper mounting plate (13) is arranged in the semiclosed cavity configuration of lower platform (14);
Wherein in the XOY plane of lower platform (14), along Y-direction, have four grooves that are parallel to each other, form three transverse beams that are parallel to each other, two transverse beams are wherein called to horizontal work beam (5,7); Above-mentioned two transverse links (6,8) are connected to two and laterally work between beam (5,7) middle part and upper mounting plate (13), and transverse link (6,8) is parallel with Z axis;
Wherein in the YOZ plane of lower platform (14), along Z direction, have four grooves that are parallel to each other, form three axial beams that are parallel to each other, two axial beams are wherein called to axial work beam (10,11); Above-mentioned two axial links (9,12) are connected to two and axially work between beam (10,11) middle part and upper mounting plate (13), and axial links (9,12) is parallel with X-axis;
Wherein in the ZOX plane of lower platform (14), along directions X, have four grooves that are parallel to each other, form three normal direction beams that are parallel to each other, two normal direction beams are wherein called to normal direction work beam (1,3); Above-mentioned two normal direction connecting rods (2,4) are connected between two normal direction work beam (1,3) middle parts and upper mounting plate (13), and normal direction connecting rod (2,4) is parallel with Y-axis.
2. antithesis quadrature six-dimension force sensor according to claim 1, is characterized in that:
Upper mounting plate (13) is provided with the pilot hole for link model.
3. antithesis quadrature six-dimension force sensor according to claim 1, is characterized in that:
Described transverse link (6,8), axial links (9,12), normal direction connecting rod (2,4) two ends are provided with twin shaft elasticity hinge.
4. the measuring method of utilizing the antithesis quadrature six-dimension force sensor described in claim 1, is characterized in that:
While measuring X and Mz component, by being pasted on two axially totally four foil gauges (15,16,17,18) composition metering circuits of the root of work beam (10,11);
While measuring Y and Mx component, by being pasted on four foil gauges (19,20,21,22) of normal direction work beam (1,3) two ends root, form metering circuit;
While measuring Z and My component, by being pasted on four foil gauges (23,24,25,26) of horizontal work beam (5,7) two ends root, form metering circuit.
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| CN107044898A (en) * | 2017-03-28 | 2017-08-15 | 东南大学 | A kind of six-dimension force sensor of flexible body structure |
| CN108267293A (en) * | 2018-04-23 | 2018-07-10 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of embedded horizontal tail aerodynamics force measurement device |
| CN108802427A (en) * | 2018-06-11 | 2018-11-13 | 南京林业大学 | Prefastening parallel connection six-dimension acceleration sensor and its measurement and Sensitivity Analysis Method |
| CN109444468A (en) * | 2018-11-27 | 2019-03-08 | 中国地质大学（武汉） | A kind of six-dimension acceleration sensor based on micro-displacement parallel institution |
| CN115683438A (en) * | 2022-11-02 | 2023-02-03 | 重庆大学 | Three-dimensional contact force measuring method of L-shaped structure |
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| CN107044898A (en) * | 2017-03-28 | 2017-08-15 | 东南大学 | A kind of six-dimension force sensor of flexible body structure |
| CN107044898B (en) * | 2017-03-28 | 2022-11-29 | 东南大学 | Six-dimensional force sensor with elastomer structure |
| CN108267293A (en) * | 2018-04-23 | 2018-07-10 | 中国空气动力研究与发展中心低速空气动力研究所 | A kind of embedded horizontal tail aerodynamics force measurement device |
| CN108267293B (en) * | 2018-04-23 | 2023-11-17 | 中国空气动力研究与发展中心低速空气动力研究所 | Embedded horizontal tail aerodynamic force measuring device |
| CN108802427A (en) * | 2018-06-11 | 2018-11-13 | 南京林业大学 | Prefastening parallel connection six-dimension acceleration sensor and its measurement and Sensitivity Analysis Method |
| CN108802427B (en) * | 2018-06-11 | 2020-06-02 | 南京林业大学 | Pre-tightening type parallel six-dimensional acceleration sensor and measuring and sensitivity analyzing method thereof |
| CN109444468A (en) * | 2018-11-27 | 2019-03-08 | 中国地质大学（武汉） | A kind of six-dimension acceleration sensor based on micro-displacement parallel institution |
| CN115683438A (en) * | 2022-11-02 | 2023-02-03 | 重庆大学 | Three-dimensional contact force measuring method of L-shaped structure |
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Application publication date: 20140917 |