CN105424255A - Combined four-dimensional force and torque sensor based on structure decoupling - Google Patents
Combined four-dimensional force and torque sensor based on structure decoupling Download PDFInfo
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- CN105424255A CN105424255A CN201510763733.5A CN201510763733A CN105424255A CN 105424255 A CN105424255 A CN 105424255A CN 201510763733 A CN201510763733 A CN 201510763733A CN 105424255 A CN105424255 A CN 105424255A
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- force sensor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
Abstract
The present invention discloses a combined four-dimensional force and torque sensor based on structural decoupling. The combined four-dimensional force and torque sensor comprises a floating force guide module, first one-dimensional force sensor modules, second one-dimensional force sensor modules, third one-dimensional force sensor modules and a base module. A first one-dimensional force sensor module and a third one-dimensional force sensor module are combined to be one group and are installed at the front side of the base module, another group of the first one-dimensional force sensor module and the third one-dimensional force sensor module is combined and installed at the left side of the base module. A second one-dimensional force sensor module and a third one-dimensional force sensor module are combined to be one group and are installed at the back side of the base module, another group of the second one-dimensional force sensor module and the third one-dimensional force sensor module is combined and installed at the right side of the base module. The floating force guide module is suspended and fixed at the middle part of the base module through four groups of one-dimensional force sensor modules. The combined four-dimensional force and torque sensor has the advantages of convenient installation, a simple structure, a small volume, a more accurate measurement, the realization of no-coupling output, and a low calibration requirement.
Description
Technical field
The present invention relates to a kind of four dimensional force sensor, the combined type four dimensional force of particularly a kind of structure based decoupling zero and torque sensor, belong to sensor technical field.
Background technology
Multi-dimensional force and torque sensor are the very important role of robot field performer.Along with the widespread use of industrial robot and teleoperation robot, a large amount of robot sensors will be needed, and Robot Force and torque sensor Ze Shi robot complete the guarantee of contact job task, it is also the guarantee that teleoperation robot completes remote job task.Teleoperation robot need contact force by wind tunnel sensor inspecting manipuator and environment and retroactive effect in the hand of operator, make operator produce the force teleprence effect of " on the spot in person ", thus realize the control to robot band sensation.
Existing Robot Force and torque sensor are mainly six-dimensional force and torque sensor, their complex structures, and paster quantity is many with group bridge circuit, volume is comparatively large, and price is high, and there is comparatively serious retinoic acid syndrome, need complicated decoupling algorithm, and also very high to the accuracy requirement of calibration experiment.
In actual applications, we find for industrial robot assembling work and teleoperation robot operation, four dimensional force and torque sensor are Robot Force the most with practical value and torque sensor, and it mainly provides three-dimensional force information and the moment information of an axial-rotation.Four dimensional force special at present and torque sensor are then rarely found, general is all utilize existing six-dimensional force and torque sensor, select the four-dimension wherein to realize the measurement of four-dimensional wind tunnel, so not only cause the waste of hardware resource, and the impact of six-dimensional force and the intrinsic retinoic acid syndrome of torque sensor cannot be overcome.Certainly also there are four dimensional force and the torque sensor of a small amount of directly output type, but there is paster quantity equally and organize bridge circuit many, the weak points such as volume is larger.This sensor adopts the method for multiple one dimension force sensor reasonable combination, reaches the effect of structure decoupling, has structure simple, without advantages such as couplings.
Summary of the invention
The object of the present invention is to provide a kind of combined type four dimensional force and torque sensor of structure based decoupling zero, this sensor is by carrying out reasonable combination assembling to multiple one dimension sensor finished product, reach the effect measuring four-dimensional wind tunnel, there is simplicity of design, volume is little, without the need to pasting foil gauge voluntarily, output signal the advantage without the need to decoupling zero.
For achieving the above object, the present invention adopts following technical scheme:
The combined type four dimensional force of structure based decoupling zero and a torque sensor, comprising floats leads power module, the first one dimension force sensor assembly, the second one dimension force sensor assembly, the 3rd one dimension force sensor assembly and base module; Described first one dimension force sensor assembly and the 3rd one dimension force sensor assembly are combined as the front side that a group is arranged on base module, and another organizes the first one dimension force sensor assembly and the 3rd one dimension force sensor assembly combines the left side being arranged on base module; Described second one dimension force sensor assembly and the 3rd one dimension force sensor assembly are combined as the rear side that a group is arranged on base module, and another organizes the second one dimension force sensor assembly and the 3rd one dimension force sensor assembly combines the right side being arranged on base module; Described floating leads power module is fixed on base module middle part by four groups of one dimension force sensor assemblies suspensions.
Described first one dimension force sensor assembly comprises one dimension force sensor, horizontal support block, A pad, B pad and flat contact block, described horizontal support block is fastened in base module by bottom thread, one end and the A pad of one dimension force sensor are threaded connection the top being fixed on horizontal support block, and flat contact block is fastened on the bottom surface of the one dimension force sensor other end by B pad.
Described second one dimension force sensor assembly comprises one dimension force sensor, A pad, B pad, C pad and flat contact block, described A pad, B pad is fixed in base module, one end of one dimension force sensor is fixed by C pad and A pad, and flat contact block is fastened on the end face of the one dimension force sensor other end by B pad.
Described 3rd one dimension force sensor assembly comprises one dimension force sensor, vertical support block, A pad, B pad and perpendicular contact block, described vertical support block is fixed by screw and base module, one end and the A pad of one dimension force sensor are threaded connection the side being fixed on vertical support block, and perpendicular contact block and B pad are threaded connection the other end being fixed on one dimension force sensor.
Described floating is led power module and is comprised holding rod, zone center and four force-guided stems, described holding rod is threaded connection the center being fixed on zone center, four force-guided stems are fixed on the center of zone center four sides respectively by being threaded, the end of every root force-guided stem is all processed into ball, and every root force-guided stem end contacts with a perpendicular contact block with a flat contact block.
Compared with prior art, the present invention has following remarkable advantage:
(1) without the sensor of coupling output, complicated algorithm is not needed, also low to the requirement of demarcating.The present invention proposes the thinking of nonholonomic constraints, adopt the mode of sphere and plane contact, eliminate structure Coupling from structure.(2) volume is little, and structure is simple, easy for installation.The present invention adopts the structure of multiple one dimension sensor combinations, avoids and pastes the complicated procedures of forming such as foil gauge voluntarily, uses ripe one dimension sensor, and make structure more simple, output signal accuracy rate is higher, and error is little.(3) each one dimension force sensor adopts particular kit to make distortion reasonable, and it is more accurate to export.In the present invention, each one dimension sensor assembly has been installed specific pad and has been contacted soon, and when ensureing stress deformation, distortion maximum, at foil gauge place, makes one dimension dynamometry more accurate.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of sensor of the present invention.
Fig. 2 is the floating power of the leading module diagram of sensor of the present invention.
Fig. 3 is the first one dimension force sensor assembly schematic diagram of sensor of the present invention.
Fig. 4 is the second one dimension force sensor assembly schematic diagram of sensor of the present invention.
Fig. 5 is the 3rd one dimension force sensor assembly schematic diagram of sensor of the present invention.
Fig. 6 is the force-guided stem of sensor of the present invention and the scheme of installation of the first one dimension force sensor assembly.
Fig. 7 is the force-guided stem of sensor of the present invention and the scheme of installation of the second one dimension force sensor assembly.
Fig. 8 is the force-guided stem of sensor of the present invention and the scheme of installation of the 3rd one dimension force sensor assembly.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
As shown in Figure 1, a kind of combined type four dimensional force of structure based decoupling zero and torque sensor, comprising floats leads power module 1, first one dimension force sensor assembly 2, second one dimension force sensor assembly the 3, three one dimension force sensor assembly 4 and base module 5; Described first one dimension force sensor assembly 2 and the 3rd one dimension force sensor assembly 4 are combined as the front side that a group is arranged on base module 5, and another organizes the first one dimension force sensor assembly 2 and the 3rd one dimension force sensor assembly 4 combines the left side being arranged on base module 5; Described second one dimension force sensor assembly 3 and the 3rd one dimension force sensor assembly 4 are combined as the rear side that a group is arranged on base module 5, and another organizes the second one dimension force sensor assembly 3 and the 3rd one dimension force sensor assembly 4 combines the right side being arranged on base module 5; Described floating leads power module 1 is fixed on base module 5 middle part by four groups of one dimension force sensor assemblies suspensions.
As shown in Figure 3, described first one dimension force sensor assembly 2 comprises one dimension force sensor 9, horizontal support block 11, A pad 12, B pad 13 and flat contact block 15, described horizontal support block 11 is fastened in base module 5 by bottom thread, and one end and the A pad 12 of one dimension force sensor 9 are threaded connection the top being fixed on horizontal support block 11, and flat contact block 15 is fastened on the bottom surface of one dimension force sensor 9 other end by B pad 13.
As shown in Figure 4, described second one dimension force sensor assembly 3 comprises one dimension force sensor 9, A pad 12, B pad 13, C pad 14 and flat contact block 15, described A pad 12, B pad 13 is fixed in base module 5, and one end of one dimension force sensor 9 is fixed by C pad 14 and A pad 12, and flat contact block 15 is fastened on the end face of one dimension force sensor 9 other end by B pad 13.
As shown in Figure 5, described 3rd one dimension force sensor assembly 4 comprises one dimension force sensor 9, vertical support block 10, A pad 12, B pad 13 and perpendicular contact block 16, described vertical support block 10 is fixed by screw and base module 5, and one end and the A pad 12 of one dimension force sensor 9 are threaded connection the side being fixed on vertical support block 10, and perpendicular contact block 16 and B pad 13 are threaded connection the other end being fixed on one dimension force sensor 9.
As shown in Figure 2, described floating is led power module 1 and is comprised holding rod 6, zone center 7 and four force-guided stems 8, described holding rod 6 is threaded connection the center being fixed on zone center 7, four force-guided stems 8 are fixed on the center of zone center 7 four sides respectively by being threaded, the end of every root force-guided stem 8 is all processed into ball, and every root force-guided stem 8 end contacts with a perpendicular contact block 16 with a flat contact block 15.
As shown in Figure 6 to 8, principle of work of the present invention is as follows:
In order to the four-dimensional force and moment of measurement space, need to define a rectangular coordinate system in space based on sensor construction.The initial point of this rectangular coordinate system is positioned at the solid geometry center of zone center 7, and x-axis and y-axis are respectively along force-guided stem 8 central axes, and z-axis overlaps with holding rod 6 center line.When holding rod 6 is subject to the power pointing to x positive dirction, whole floating is led power module 1 and is moved along x direction, now only the 3rd one dimension force sensor assembly 4 of x-axis positive dirction end is squeezed distortion, produce electric signal, reach the power measuring x-axis positive dirction, in like manner the power of x-axis negative direction is measured by the 3rd one dimension force sensor assembly 4 of x-axis negative terminal.The principle in the positive and negative power in y-axis direction in like manner x-axis direction.The power of z-axis positive dirction is measured by the first one dimension force sensor assembly 2 in x-axis, and the power of z-axis negative direction is measured by the second one dimension force sensor assembly 3 in x-axis, remains two sensor assemblies and does not carry out dynamometry, only play the effect that support floating leads power module 1.
Claims (5)
1. the combined type four dimensional force of a structure based decoupling zero and torque sensor, it is characterized in that: comprising floats leads power module (1), first one dimension force sensor assembly (2), the second one dimension force sensor assembly (3), the 3rd one dimension force sensor assembly (4) and base module (5); Described first one dimension force sensor assembly (2) and the 3rd one dimension force sensor assembly (4) are combined as the front side that a group is arranged on base module (5), and another organizes the first one dimension force sensor assembly (2) and the 3rd one dimension force sensor assembly (4) combines the left side being arranged on base module (5); Described second one dimension force sensor assembly (3) and the 3rd one dimension force sensor assembly (4) are combined as the rear side that a group is arranged on base module (5), and another organizes the second one dimension force sensor assembly (3) and the 3rd one dimension force sensor assembly (4) combines the right side being arranged on base module (5); Described floating leads power module (1) is fixed on base module (5) middle part by four groups of one dimension force sensor assemblies suspensions.
2. the combined type four dimensional force of structure based decoupling zero according to claim 1 and torque sensor, it is characterized in that: described first one dimension force sensor assembly (2) comprises one dimension force sensor (9), horizontal support block (11), A pad (12), B pad (13) and flat contact block (15), described horizontal support block (11) is fastened in base module (5) by bottom thread, one end and the A pad (12) of one dimension force sensor (9) are threaded connection the top being fixed on horizontal support block (11), flat contact block (15) is fastened on the bottom surface of one dimension force sensor (9) other end by B pad (13).
3. the combined type four dimensional force of structure based decoupling zero according to claim 1 and torque sensor, it is characterized in that: described second one dimension force sensor assembly (3) comprises one dimension force sensor (9), A pad (12), B pad (13), C pad (14) and flat contact block (15), described A pad (12), B pad (13) is fixed in base module (5), one end of one dimension force sensor (9) is fixed by C pad (14) and A pad (12), flat contact block (15) is fastened on the end face of one dimension force sensor (9) other end by B pad (13).
4. the combined type four dimensional force of structure based decoupling zero according to claim 1 and torque sensor, it is characterized in that: described 3rd one dimension force sensor assembly (4) comprises one dimension force sensor (9), vertical support block (10), A pad (12), B pad (13) and perpendicular contact block (16), described vertical support block (10) is fixed by screw and base module (5), one end and the A pad (12) of one dimension force sensor (9) are threaded connection the side being fixed on vertical support block (10), perpendicular contact block (16) and B pad (13) are threaded connection the other end being fixed on one dimension force sensor (9).
5. the combined type four dimensional force of structure based decoupling zero according to claim 1 and torque sensor, it is characterized in that: described floating is led power module (1) and comprised holding rod (6), zone center (7) and four force-guided stems (8), described holding rod (6) is threaded connection the center being fixed on zone center (7), four force-guided stems (8) are fixed on the center of zone center (7) four sides respectively by being threaded, the end of every root force-guided stem (8) is all processed into ball, every root force-guided stem (8) end contacts with a perpendicular contact block (16) with a flat contact block (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510763733.5A CN105424255B (en) | 2015-11-11 | 2015-11-11 | A kind of combined type four dimensional force and torque sensor based on structure decoupling |
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| CN201510763733.5A CN105424255B (en) | 2015-11-11 | 2015-11-11 | A kind of combined type four dimensional force and torque sensor based on structure decoupling |
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| CN105424255A true CN105424255A (en) | 2016-03-23 |
| CN105424255B CN105424255B (en) | 2018-05-01 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109407019A (en) * | 2018-12-13 | 2019-03-01 | 吉林大学 | A kind of magnetic force and magnetic torque 6 DOF intensity full-field distribution automatic detection device |
| CN111780836A (en) * | 2020-07-08 | 2020-10-16 | 浙江佳鹏电脑科技股份有限公司 | Strain bridge, elastic variable measuring unit comprising strain bridge and mounting method of elastic variable measuring unit |
| CN112362217A (en) * | 2020-10-09 | 2021-02-12 | 珠海格力电器股份有限公司 | Load cell and motion control device having the same |
| CN113739975A (en) * | 2021-08-27 | 2021-12-03 | 南京航空航天大学 | Structure decoupling six-dimensional force sensor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109407019A (en) * | 2018-12-13 | 2019-03-01 | 吉林大学 | A kind of magnetic force and magnetic torque 6 DOF intensity full-field distribution automatic detection device |
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| CN111780836A (en) * | 2020-07-08 | 2020-10-16 | 浙江佳鹏电脑科技股份有限公司 | Strain bridge, elastic variable measuring unit comprising strain bridge and mounting method of elastic variable measuring unit |
| CN111780836B (en) * | 2020-07-08 | 2021-09-14 | 浙江佳鹏电脑科技股份有限公司 | Strain bridge, elastic variable measuring unit comprising strain bridge and mounting method of elastic variable measuring unit |
| CN112362217A (en) * | 2020-10-09 | 2021-02-12 | 珠海格力电器股份有限公司 | Load cell and motion control device having the same |
| CN113739975A (en) * | 2021-08-27 | 2021-12-03 | 南京航空航天大学 | Structure decoupling six-dimensional force sensor |
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