CN105424255B - A kind of combined type four dimensional force and torque sensor based on structure decoupling - Google Patents
A kind of combined type four dimensional force and torque sensor based on structure decoupling Download PDFInfo
- Publication number
- CN105424255B CN105424255B CN201510763733.5A CN201510763733A CN105424255B CN 105424255 B CN105424255 B CN 105424255B CN 201510763733 A CN201510763733 A CN 201510763733A CN 105424255 B CN105424255 B CN 105424255B
- Authority
- CN
- China
- Prior art keywords
- sensor assembly
- gaskets
- force sensor
- dimension
- force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of combined type four dimensional force and torque sensor based on structure decoupling, including float and lead 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；First one dimension force sensor assembly and the 3rd one dimension force sensor assembly are combined as one group of front side for being installed on base module, and another group of the first one dimension force sensor assembly and the combination of the 3rd one dimension force sensor assembly are installed in the left side of base module；Second one dimension force sensor assembly and the 3rd one dimension force sensor assembly are combined as one group of rear side for being installed on base module, and another group of the second one dimension force sensor assembly and the combination of the 3rd one dimension force sensor assembly are installed in the right side of base module；Float and lead the middle part that power module is fixed on base module by four groups of one dimension force sensor assemblies suspensions.The present invention is easy for installation, simple in structure, small, and measurement is more accurate, and can realize and be exported without coupling, also low to calibration request.
Description
Technical field
The present invention relates to a kind of four-dimensional force snesor, particularly a kind of combined type four dimensional force and torque based on structure decoupling
Sensor, belongs to sensor technical field.
Background technology
Multi-dimensional force is with torque sensor in the highly important role of robot field performer.With industrial robot and distant
The extensive use of operation robot, it would be desirable to substantial amounts of robot sensor, and Robot Force and torque sensor are then machines
People completes the guarantee of contact job task, and teleoperation robot completes the guarantee of remote job task.Remote operating machine
People needs by power and the contact force of torque sensor inspecting manipuator and environment and feedback effect is in the hand of operator, makes behaviour
Author produces the force teleprence effect of " on the spot in person ", so as to fulfill the control felt robot band.
Existing Robot Force and torque sensor are mainly six-dimensional force and torque sensor, they are complicated, patch
Quantity and group bridge circuit are more, and volume is larger, and price is high, and there are more serious retinoic acid syndrome, it is necessary to which complicated decoupling is calculated
Method, and the required precision to calibration experiment is also very high.
In practical applications, it has been found that for industrial robot assembling work and teleoperation robot operation, four
Dimension power and torque sensor are Robot Force most with practical value and torque sensor, it mainly provide three-dimensional force information and
The moment information of one axial-rotation.And dedicated four dimensional force and torque sensor are then rarely found at present, typically using existing
Some six-dimensional force and torque sensor, select the four-dimension therein to realize the measurement of four dimensional force and torque, so not only cause
The waste of hardware resource, and the influence of six-dimensional force and the intrinsic retinoic acid syndrome of torque sensor can not be overcome.Certainly also have
The four dimensional force and torque sensor of a small amount of directly output type, but equally exist patch quantity and group bridge circuit is more, volume is larger
The deficiencies of part.The method that this sensor uses multiple one-dimensional force snesor reasonable combinations, reaches the effect of structure decoupling, has
It is simple in structure, no the advantages that coupling.
The content of the invention
It is an object of the invention to provide a kind of combined type four dimensional force and torque sensor based on structure decoupling, this biography
Sensor reaches the effect of measurement four dimensional force and torque, has by carrying out reasonable combination assembling to multiple one-dimensional sensor finished products
Design is simple, small, without voluntarily pasting foil gauge, exports the advantages of signal need not decouple.
To reach above-mentioned purpose, the present invention adopts the following technical scheme that：
A kind of combined type four dimensional force and torque sensor based on structure decoupling, including float and lead power module, first is one-dimensional
Force snesor module, the second one dimension force sensor assembly, the 3rd one dimension force sensor assembly and base module；Described first is one-dimensional
Force snesor module and the 3rd one dimension force sensor assembly be combined as one group be installed on base module front side, another group the 1st
Dimensional force sensor module and the combination of the 3rd one dimension force sensor assembly are installed in the left side of base module；Second one dimension force passes
Sensor module and the 3rd one dimension force sensor assembly are combined as one group of rear side for being installed on base module, another group of the second one dimension force
Sensor assembly and the combination of the 3rd one dimension force sensor assembly are installed in the right side of base module；The floating is led power module and is passed through
Four groups of one dimension force sensor assemblies, which suspend, is fixed on the middle part of base module.
The first one dimension force sensor assembly includes one-dimensional force snesor, horizontal support block, A gaskets, B gaskets and level
Contact block, the horizontal support block are fastened in base module by bottom thread, and one end and the A of one-dimensional force snesor are padded
Piece is connected through a screw thread the top for being fixed on horizontal support block, and flat contact block is fastened on one dimension force by B gaskets and senses
The bottom surface of the device other end.
The second one dimension force sensor assembly includes one-dimensional force snesor, A gaskets, B gaskets, C gaskets and flat contact
Block, the A gaskets, B gaskets are fixed in base module, and one end of one-dimensional force snesor is fixed by C gaskets and A gaskets, water
Flush the top surface that contact block is fastened on the one-dimensional force snesor other end by B gaskets.
The 3rd one dimension force sensor assembly includes one-dimensional force snesor, vertical support block, A gaskets, B gaskets and vertical
Contact block, the vertical support block are fixed by screw and base module, and one end and the A gaskets of one-dimensional force snesor pass through screw thread
The side of vertical support block is fastened on, perpendicular contact block and B gaskets, which are connected through a screw thread, is fixed on one-dimensional force snesor
The other end.
Power module is led in the floating includes holding rod, zone center and four force-guided stems, and the holding rod is connected through a screw thread solid
The center of zone center is scheduled on, four force-guided stems are connected through a screw thread the centre bit for being fixed on four sides of zone center respectively
Put, ball is all processed into the end of every force-guided stem, and every force-guided stem end is vertical with a flat contact block and one
Contact block contacts.
Compared with prior art, the present invention has following remarkable advantage：
（1）Sensor without coupling output, it is not necessary to which complicated algorithm, the requirement to calibration are also low.The present invention proposes not
The thinking of Complete Bind, by the way of sphere and plane contact, eliminates structure Coupling from structure.（2）It is small, structure
Simply, it is easy for installation.The present invention is avoided using the structure of multiple one-dimensional sensor combinations and is voluntarily pasted the complicated work such as foil gauge
Sequence, using ripe one-dimensional sensor, makes structure simpler, exports signal accuracy rate higher, and error is small.（3）It is each one-dimensional
Force snesor makes deformation reasonable using particular kit, and output is more accurate.The one-dimensional sensor assembly of each in the present invention is mounted with
Specific gasket and contact are fast, and when ensureing stress deformation, deformation maximum makes one-dimensional dynamometry more accurate at foil gauge.
Brief description of the drawings
Fig. 1 is the overall structure diagram of inventive sensor.
Fig. 2 is that power module diagram is led in the floating of inventive sensor.
Fig. 3 is the first one dimension force sensor assembly schematic diagram of inventive sensor.
Fig. 4 is the second one dimension force sensor assembly schematic diagram of inventive sensor.
Fig. 5 is the 3rd one dimension force sensor assembly schematic diagram of inventive sensor.
Fig. 6 is the force-guided stem of inventive sensor and the scheme of installation of the first one dimension force sensor assembly.
Fig. 7 is the force-guided stem of inventive sensor and the scheme of installation of the second one dimension force sensor assembly.
Fig. 8 is the force-guided stem of inventive sensor and the scheme of installation of the 3rd one dimension force sensor assembly.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of combined type four dimensional force and torque sensor based on structure decoupling, including float and lead power module
1, the 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；The first one dimension force sensor assembly 2 and the 3rd one dimension force sensor assembly 4 are combined as one group and are installed on base module 5
Front side, another group of the first one dimension force sensor assembly 2 and the combination of the 3rd one dimension force sensor assembly 4 are installed in base module 5
Left side；The second one dimension force sensor assembly 3 and the 3rd one dimension force sensor assembly 4 are combined as one group and are installed on base module
5 rear side, another group of the second one dimension force sensor assembly 3 and the combination of the 3rd one dimension force sensor assembly 4 are installed on base module 5
Right side；The middle part that power module 1 is fixed on base module 5 by four groups of one dimension force sensor assemblies suspensions is led in the floating.
As shown in figure 3, the first one dimension force sensor assembly 2 includes one-dimensional force snesor 9, horizontal support block 11, A pads
Piece 12, B gaskets 13 and flat contact block 15, the horizontal support block 11 are fastened in base module 5 by bottom thread,
One end of one-dimensional force snesor 9 is connected through a screw thread the top for being fixed on horizontal support block 11, flat contact block 15 with A gaskets 12
The bottom surface of one-dimensional 9 other end of force snesor is fastened on by B gaskets 13.
As shown in figure 4, the second one dimension force sensor assembly 3 includes one-dimensional force snesor 9, A gaskets 12, B gaskets 13,
C gaskets 14 and flat contact block 15, the A gaskets 12, B gaskets 13 are fixed in base module 5, and the one of one-dimensional force snesor 9
End is fixed by C gaskets 14 and A gaskets 12, and it is another that flat contact block 15 by B gaskets 13 is fastened on one-dimensional force snesor 9
The top surface at end.
As shown in figure 5, the 3rd one dimension force sensor assembly 4 includes one-dimensional force snesor 9, vertical support block 10, A pads
Piece 12, B gaskets 13 and perpendicular contact block 16, the vertical support block 10 are fixed by screw and base module 5, one dimension force sensing
One end of device 9 is connected through a screw thread the side for being fixed on vertical support block 10, perpendicular contact block 16 and B gaskets 13 with A gaskets 12
It is connected through a screw thread the other end for being fixed on one-dimensional force snesor 9.
As shown in Fig. 2, the floating leads power module 1 and includes holding rod 6, zone center 7 and four force-guided stems 8, the holding rod 6
The center for being fixed on zone center 7 is connected through a screw thread, four force-guided stems 8 are connected through a screw thread respectively is fixed on zone center 7
Ball, every 8 end of force-guided stem and a water are all processed into the center of four sides, the end of every force-guided stem 8
Flush contact block 15 and a perpendicular contact block 16 contacts.
As shown in Figure 6 to 8, operation principle of the present invention is as follows：
For measurement space four dimensional force and torque, it is necessary to define a rectangular coordinate system in space based on sensor construction.Should
The origin of rectangular coordinate system is located at the solid geometry center of zone center 7, and x-axis and y-axis are overlapped along 8 central axis of force-guided stem respectively, z
Axis is overlapped with 6 center line of holding rod.When holding rod 6 is subject to the power of direction x positive directions, whole float leads power module 1 along the shifting of x directions
Dynamic, the 3rd one dimension force sensor assembly 4 at only positive direction of the x-axis end is squeezed deformation at this time, produces electric signal, reaches measurement x
The power of axis positive direction, similarly the power of negative direction of the x-axis measured by the 3rd one dimension force sensor assembly 4 of x-axis negative terminal.Y-axis direction is just
The principle in negative power similarly x-axis direction.The power of z-axis positive direction is measured by the first one dimension force sensor assembly 2 in x-axis, and z-axis is born
The power in direction is measured by the second one dimension force sensor assembly 3 in x-axis, and remaining two sensor assemblies only rise without dynamometry
The effect of power module 1 is led to support floating.
Claims (4)
1. a kind of combined type four dimensional force and torque sensor based on structure decoupling, it is characterised in that：Power module is led including floating
(1), the 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)；The first one dimension force sensor assembly (2) and the 3rd one dimension force sensor assembly (4) are combined as one group of peace
Mounted in the front side of base module (5), another group of the first one dimension force sensor assembly (2) and the 3rd one dimension force sensor assembly (4)
Combination is installed in the left side of base module (5)；The second one dimension force sensor assembly (3) and the 3rd one dimension force sensor assembly
(4) it is combined as one group of rear side for being installed on base module (5), another group of the second one dimension force sensor assembly (3) and the 3rd one-dimensional
Force snesor module (4) combination is installed in the right side of base module (5)；The floating leads power module (1) and passes through four groups of one dimension forces
Sensor assembly, which suspends, is fixed on the middle part of base module (5)；It is characterized in that：The first one dimension force sensor assembly (2)
Including one-dimensional force snesor (9), horizontal support block (11), A gaskets (12), B gaskets (13) and flat contact block (15), the water
Flat supporting block (11) is fastened in base module (5) by bottom thread, one end and the A gaskets of one-dimensional force snesor (9)
(12) top for being fixed on horizontal support block (11) is connected through a screw thread, flat contact block (15) connects solid by B gaskets (13)
It is scheduled on the bottom surface of one-dimensional force snesor (9) other end.
2. combined type four dimensional force and torque sensor according to claim 1 based on structure decoupling, it is characterised in that：Institute
Stating the second one dimension force sensor assembly (3) includes one-dimensional force snesor (9), A gaskets (12), B gaskets (13), C gaskets (14) and
Flat contact block (15), the A gaskets (12), B gaskets (13) are fixed in base module (5), and the one of one-dimensional force snesor (9)
End is fixed with A gaskets (12) by C gaskets (14), and flat contact block (15) is fastened on one dimension force by B gaskets (13) and passes
The top surface of sensor (9) other end.
3. combined type four dimensional force and torque sensor according to claim 1 based on structure decoupling, it is characterised in that：Institute
Stating the 3rd one dimension force sensor assembly (4) includes one-dimensional force snesor (9), vertical support block (10), A gaskets (12), B gaskets
(13) fixed with perpendicular contact block (16), the vertical support block (10) by screw and base module (5), one-dimensional force snesor
(9) one end is connected through a screw thread the side for being fixed on vertical support block (10), perpendicular contact block (16) and B with A gaskets (12)
Gasket (13) is connected through a screw thread the other end for being fixed on one-dimensional force snesor (9).
4. combined type four dimensional force and torque sensor according to claim 1 based on structure decoupling, it is characterised in that：Institute
Stating floating and leading power module (1) includes holding rod (6), zone center (7) and four force-guided stems (8), and the holding rod (6) is connected by screw thread
The center for being fixed on zone center (7) is connect, four force-guided stems (8) are connected through a screw thread respectively is fixed on zone center (7) four
Ball, every force-guided stem (8) end and a water are all processed into the center of side, the end of every force-guided stem (8)
Flush contact block (15) and perpendicular contact block (16) contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105424255A CN105424255A (en) | 2016-03-23 |
| CN105424255B true CN105424255B (en) | 2018-05-01 |
Family
ID=55502613
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510763733.5A Expired - Fee Related CN105424255B (en) | 2015-11-11 | 2015-11-11 | A kind of combined type four dimensional force and torque sensor based on structure decoupling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105424255B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109407019B (en) * | 2018-12-13 | 2024-03-22 | 吉林大学 | Magnetic force and magnetic moment six-dimensional intensity full-field distribution automatic detection device |
| 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 |
| CN113739975B (en) * | 2021-08-27 | 2022-11-25 | 南京航空航天大学 | Structure decoupling six-dimensional force sensor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2165435Y (en) * | 1993-09-08 | 1994-05-18 | 中国科学院合肥智能机械研究所 | Six-freedom force and moment transducer |
| CN1425903A (en) * | 2003-01-15 | 2003-06-25 | 东南大学 | Four dimensional force and moment sensor of direct output type robot |
| CN101178306A (en) * | 2007-11-22 | 2008-05-14 | 山东理工大学 | Six dimensions position attitude detecting device |
| CN103278277A (en) * | 2013-05-22 | 2013-09-04 | 北京航空航天大学 | One-dimensional force sensor-based test platform for four-degree-of-freedom aircraft |
| CN103292957A (en) * | 2013-05-22 | 2013-09-11 | 北京航空航天大学 | Comprehensive mass parameter measuring table of small-size aircraft |
| CN104048791A (en) * | 2014-06-24 | 2014-09-17 | 东南大学 | Double cross beam type six-dimensional force and torque sensor based on low-dimensional coupling |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4929256B2 (en) * | 2008-09-11 | 2012-05-09 | 本田技研工業株式会社 | Force sensor |
-
2015
- 2015-11-11 CN CN201510763733.5A patent/CN105424255B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2165435Y (en) * | 1993-09-08 | 1994-05-18 | 中国科学院合肥智能机械研究所 | Six-freedom force and moment transducer |
| CN1425903A (en) * | 2003-01-15 | 2003-06-25 | 东南大学 | Four dimensional force and moment sensor of direct output type robot |
| CN101178306A (en) * | 2007-11-22 | 2008-05-14 | 山东理工大学 | Six dimensions position attitude detecting device |
| CN103278277A (en) * | 2013-05-22 | 2013-09-04 | 北京航空航天大学 | One-dimensional force sensor-based test platform for four-degree-of-freedom aircraft |
| CN103292957A (en) * | 2013-05-22 | 2013-09-11 | 北京航空航天大学 | Comprehensive mass parameter measuring table of small-size aircraft |
| CN104048791A (en) * | 2014-06-24 | 2014-09-17 | 东南大学 | Double cross beam type six-dimensional force and torque sensor based on low-dimensional coupling |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105424255A (en) | 2016-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105424255B (en) | A kind of combined type four dimensional force and torque sensor based on structure decoupling | |
| CN103940544B (en) | Diesis beam combined type articulations digitorum manus six-dimension force sensor | |
| CN204495501U (en) | A kind of assembled parallel-connection structure sensor | |
| CN103076131A (en) | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm | |
| CN107884100B (en) | Integrated miniature six-dimensional force sensor based on capacitance sensing | |
| CN109781244B (en) | System and method for detecting vibration signal of numerical control machine tool cutter | |
| CN104677543A (en) | Piezoelectric type six-dimensional force/torque sensor adopting six groups of force-measuring sensitive units | |
| CN101598613A (en) | The micro five-dimensional force sensor and the method for acquiring force vector information thereof of band overload protection | |
| CN202383148U (en) | High voltage circuit breaker speed detector | |
| CN202614327U (en) | Mining water level sensor | |
| CN109781329B (en) | Six-dimensional force sensor with six-beam structure | |
| CN203133110U (en) | Resistance strain type acceleration sensor | |
| CN206598077U (en) | A kind of press-loading device of automatic press mounting welding equipment | |
| CN112304483A (en) | Combined self-decoupling piezoelectric film three-dimensional force sensor and measuring method thereof | |
| CN109470436B (en) | Small-size sealed electromagnetic relay contact system reed rigidity testing arrangement | |
| CN203259109U (en) | Flexible automotive glass testing tool | |
| CN203519223U (en) | Bicycle power detecting device | |
| CN104924155A (en) | Two-point type 3D edge finder | |
| CN115575661A (en) | Two-dimensional capacitance differential MEMS wind speed and direction sensor | |
| CN205209876U (en) | Tool of modified test circuit board bearing capacity | |
| CN205139902U (en) | Computer hardware detecting system | |
| CN209279948U (en) | A kind of sensor detecting Bending Deformation | |
| CN104697480B (en) | A kind of automatic test approach of multiple sensors of different null positions | |
| CN206459774U (en) | One kind embeds anti-coupling Stewart six-dimension force sensor branch structures | |
| CN104502061A (en) | On-line detecting system for inrush current |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180501 Termination date: 20201111 |