CN105424256B - A kind of decoupling type 6 DOF force checking device - Google Patents
A kind of decoupling type 6 DOF force checking device Download PDFInfo
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- CN105424256B CN105424256B CN201610052508.5A CN201610052508A CN105424256B CN 105424256 B CN105424256 B CN 105424256B CN 201610052508 A CN201610052508 A CN 201610052508A CN 105424256 B CN105424256 B CN 105424256B
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- cantilever beam
- cantilever
- elastic plate
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- dimensional force
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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
A kind of decoupling type 6 DOF force checking device, it is related to a kind of detection means, complicated to solve existing six-dimensional force structure of the detecting device, and technical process is numerous and diverse and the problem of bad adaptability, it includes objective table, six-dimensional force pinboard, pedestal and six-dimensional force Sensitive Detector；Six-dimensional force Sensitive Detector includes elastomer and 20 foil gauges；Elastomer includes quadra, elastic connection frame, two elastic components, two the first cantilever beams, two the second cantilever beams, two the 3rd cantilever beams, two the 4th cantilever beams, two the 5th cantilever beams and two the 6th cantilever beams；Elastic connection frame is arranged on the middle part in quadra, and elastic connection frame includes elasticity of flexure plate, two long straight elastic plate and two short straight elastic plate；Six-dimensional force Sensitive Detector is detachably connected with pedestal, and objective table is detachably connected with six-dimensional force change-over panel, and objective table is detachably connected with six-dimensional force Sensitive Detector.The present invention is used for walking robot.
Description
Technical field
The present invention relates to a kind of detection means, belong to sensor technical field.
Background technology
Robot industry flourishes in recent years, and the control of various robot can all be related to sensor technology, and six
It is a sophisticated technology to tie up power detection technique, while is also the important composition link of robotic sensor technology.Foreign countries are to 6 DOF
The research starting of power detection technique is more early, and development is preferable, and foreign countries have produced many machines that can complete compound movement now
Device people, this all relies on their advanced sextuple force checking devices.The existing sextuple force checking device in China is mostly complicated,
Manufacturability difference is, it is necessary to which numerous and diverse technical process, is broadly divided into resistance-strain type, condenser type, inductance type, piezoelectric type, photo-electric etc..
The content of the invention
The present invention is that existing six-dimensional force structure of the detecting device is complicated to solve, and technical process is numerous and diverse and bad adaptability is asked
Topic, and then a kind of decoupling type 6 DOF force checking device is provided.
The present invention adopts the technical scheme that to solve the above problems：A kind of decoupling type 6 DOF force checking device, it includes
Objective table, six-dimensional force pinboard, pedestal and six-dimensional force Sensitive Detector；
Six-dimensional force Sensitive Detector includes elastomer and 20 foil gauges；Elastomer includes quadra, elastic connection
Frame, two elastic components, two the first cantilever beams, two the second cantilever beams, two the 3rd cantilever beams, two the 4th cantilever beams, two
Individual 5th cantilever beam and two the 6th cantilever beams；
Elastic connection frame is arranged on the middle part in quadra, and elastic connection frame includes elasticity of flexure plate, two long straight bullet
Property plate and two short straight elastic plate；Two long straight elastic plate and two short straight elastic plate difference mirror image are set, long straight elastic plate
One end and one end of short straight elastic plate is vertically arranged and the two is made into integration, the other end of two short straight elastic plate is connected with bending
Elastic plate；
Parallel arrangement has the 6th cantilever beam and the 5th cantilever beam from inside to outside between elasticity of flexure plate and long straight elastic plate, the
One end of six cantilever beams is connected with one end of short straight elastic plate, and the other end of two the 6th cantilever beams is connected with resilient attachment arms,
One end of 5th cantilever beam is connected with one end of long straight elastic plate, and the other end of the 5th cantilever beam is connected with short straight elastic plate；
Two outsides of elastic connection frame are respectively disposed with the first cantilever beam, the second cantilever beam, the 3rd cantilever beam, the 4th cantilever
Beam and elastic component；Two the first cantilever beams, two the second cantilever beams, two the 3rd cantilever beams, two the 4th cantilever beams and two
Elastic component difference mirror image is set；First cantilever beam, the second cantilever beam and long straight elastic plate be arranged in parallel, same positioned at elastic connection frame
First cantilever beam and the second cantilever beam spacing side by side in one outside are set, one end of the first cantilever beam and the second cantilever beam with it is square
The other end of the inwall connection of framework, the first cantilever beam and the second cantilever beam is connected with the elastic component on quadra,
The 3rd cantilever beam and the 4th cantilever beam be arrangeding in parallel, the 3rd cantilever beam and first are connected between elastic component and long straight elastic plate
Cantilever beam is vertically arranged；
The front and back of each first cantilever beam is respectively pasted with a foil gauge, the front of each second cantilever beam and the back of the body
Face is respectively pasted with a foil gauge, above each 5th cantilever beam and it is following be respectively pasted with a foil gauge, each 4th is outstanding
Above arm beam and it is following be respectively pasted with a foil gauge, sixth cantilever beam relative with elasticity of flexure plate and the 5th cantilever beam
A foil gauge is respectively pasted with medial surface；Six-dimensional force Sensitive Detector is sequentially arranged on pedestal from the bottom to top, six-dimensional force turns
Fishplate bar and objective table；Six-dimensional force Sensitive Detector is detachably connected with pedestal, and objective table is detachably connected with six-dimensional force pinboard,
Objective table is detachably connected with six-dimensional force Sensitive Detector.
The beneficial effects of the invention are as follows：A kind of decoupling type 6 DOF force checking device of the present invention can be measured by decoupling
Go out a steric forces along three power for being mutually perpendicular to change in coordinate axis direction and the size of the torque around these axles, further
Component size that can be in the hope of the application point of non-coplanar force and its in all directions of space.The device can apply to six-dimensional force sensing
It is used to be monitored foot of detection bionic walking robot strength in device, can also be widely applied to other various needs
Measure the field of six-dimensional force.Apparatus of the present invention are made up of objective table, six-dimensional force pinboard, six-dimensional force Sensitive Detector and pedestal,
It is simple in construction, it is easy to use and reliable, it is calculated by the deformation of 12 cantilever beams inside measurement apparatus and acts on dress
The power in three vertical direction put and along the level of torque in three rotary shafts.
The present apparatus belongs to strain-type 6 DOF force checking device, it is only necessary to which foil gauge can measure, and come compared with other types
Say that measuring principle is simple, it is not necessary to the mechanical structure of complex designing and numerous and diverse technical process.In addition the present apparatus also has structure
Compact, floor space is small, the advantage such as easy to install.This sextuple force checking device for the research of walking robot and its
The field that he needs to detect space force information is all significant.
The technical solution adopted in the present invention is applied to various walking robots, can also widely be applied to
The various occasions for needing to detect non-coplanar force, there is very high application value, there is extensive adaptability, it is simple in construction tight
Gather, assembled by screw, easy to use, sensitivity is adjustable, can carry out the measurement of interior six-dimensional force in a big way.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention,
Fig. 2 is the structural representation of objective table,
Fig. 3 is the structural representation of six-dimensional force pinboard,
Fig. 4 is the structural representation of pedestal,
Fig. 5 is the structural representation of six-dimension force sensor,
Fig. 6 is the structural representation that foil gauge is pasted with the lower surface of the 3rd crossbeam and the 4th crossbeam,
Fig. 7 is to be pasted with to answer on first crossbeam, second cross beam, the 3rd crossbeam, the 4th crossbeam, the 5th crossbeam and the 6th crossbeam
Become the structural representation of piece,
Fig. 8 is the structural representation that first crossbeam, second cross beam, the 5th crossbeam and the 6th crossbeam are pasted with foil gauge,
Fig. 9 is the stressing conditions schematic diagram of each cantilever beam obtained by detecting foil gauge resistance variations,
Figure 10 is the schematic diagram for respectively making a concerted effort and its corresponding to the arm of force when calculating each moment.
Embodiment
Embodiment one：Illustrate with reference to Fig. 1-Fig. 8, a kind of decoupling type 6 DOF force checking device of present embodiment,
It includes objective table 2, six-dimensional force pinboard 4, pedestal 6 and six-dimensional force Sensitive Detector；
Six-dimensional force Sensitive Detector includes elastomer and 20 foil gauges 10；Elastomer includes quadra 12, elasticity
Link, two 3, two the 3rd cantilever beams 5, two the 4th of the second cantilever beam of the first cantilever beam 1, two of elastic component 14, two
7, two the 5th cantilever beams 9 of cantilever beam and two the 6th cantilever beams 11；
Elastic connection frame be arranged on quadra 12 in middle part, elastic connection frame include elasticity of flexure plate 13-1, two
Long straight elastic plate 13-2 and straight elastic plate 13-3 two short；Straight elastic plate 13-2 two long and two short straight elastic plate 13-3 difference
Mirror image is set, and long straight elastic plate 13-2 one end and short straight elastic plate 13-3 one end are vertically arranged and the two is made into integration, and two
The individual short straight elastic plate 13-3 other end is connected with elasticity of flexure plate 13-1；
Parallel arrangement has the 6th cantilever beam 11 and the from inside to outside between elasticity of flexure plate 13-1 and long straight elastic plate 13-2
Five cantilever beams 9, one end of the 6th cantilever beam 11 are connected with short straight elastic plate 13-3 one end, two the 6th cantilever beams 11 it is another
End is connected with resilient attachment arms 15, and one end of the 5th cantilever beam 9 is connected with long straight elastic plate 13-2 one end, the 5th cantilever beam 9
The other end be connected with short straight elastic plate 13-3；
Two outsides of elastic connection frame are respectively disposed with the first cantilever beam 1, the second cantilever beam 3, the 3rd cantilever beam the 5, the 4th
Cantilever beam 7 and elastic component 14；Two the first cantilever beams, 1, two the 3rd cantilever beam 5, two the 4th of the second cantilever beam 3, two is outstanding
Arm beam 7 and two elastic components 14 are distinguished mirror image and set；First cantilever beam 1, the second cantilever beam 3 are parallel with long straight elastic plate 13-2 to be set
Put, the first cantilever beam 1 and the spacing side by side of the second cantilever beam 3 positioned at the same outside of elastic connection frame are set, the He of the first cantilever beam 1
One end of second cantilever beam 3 is connected with the inwall of quadra 12, the other end and peace of the first cantilever beam 1 and the second cantilever beam 3
Elastic component 14 on quadra 12 is connected, and the to be arranged in parallel is connected between elastic component 14 and long straight elastic plate 13-2
Three cantilever beams 5 and the 4th cantilever beam 7, the 3rd cantilever beam 5 are vertically arranged with the first cantilever beam 1；
The front and back of each first cantilever beam 1 is respectively pasted with a foil gauge 10, the front of each second cantilever beam 3
Respectively be pasted with a foil gauge 10 with the back side, above each 5th cantilever beam 5 and it is following be respectively pasted with a foil gauge 10, often
A foil gauge 10 is respectively pasted with following above individual 4th cantilever beam 7, sixth cantilever relative with elasticity of flexure plate 13-1
A foil gauge 10 is respectively pasted with the medial surface of the cantilever beam 9 of beam 11 and the 5th；
Six-dimensional force Sensitive Detector, six-dimensional force pinboard 4 and objective table 2 have been sequentially arranged on pedestal 6 from the bottom to top；It is sextuple
Power Sensitive Detector is detachably connected with pedestal 6, and objective table 2 is detachably connected with six-dimensional force pinboard 4, objective table 2 and 6 DOF
Power Sensitive Detector is detachably connected.
Embodiment two：Illustrate that each foil gauge 10 of present embodiment is foil resistance with reference to Fig. 6-Fig. 8
Foil gauge.It is arranged such, measurement range is wide, and product stability is good, high sensitivity, measurable a variety of mechanical signals.Other and tool
Body embodiment one is identical.
Embodiment three：Illustrate with reference to Fig. 6-Fig. 8, each foil gauge 10 of present embodiment passes for foil gauge
Sensor.It is arranged such, measurement range is wide, and product stability is good, high sensitivity, measurable a variety of mechanical signals.It is other with it is specific
Embodiment one or two is identical.
Embodiment four：Illustrate with reference to Fig. 5, the elasticity of flexure plate 13-1 of present embodiment bending section is circular arc
Section.It is arranged such, circular arc elasticity of flexure plate has larger elastic deformation, is advantageous to the detection of active force.It is other with it is specific
Embodiment one or two is identical.
Embodiment four：Illustrate with reference to Fig. 5, the quadra 12 of present embodiment is rectangular frame, two first
Cantilever beam 1 and two the second cantilever beams 3 are set close to the wide frame of quadra 12.It is arranged such, meets walking robot 6 DOF
The needs of power detection.It is other identical with embodiment two.
Operation principle：Objective table 2 and six-dimensional force pinboard 4 are connected with six-dimensional force Sensitive Detector, six-dimensional force sensing detection
Device is connected with six-dimensional force pinboard 4 again and then fixes whole device on the ground, and during loading force, a power part, which passes through to connect, to be carried
9 screws of thing platform and six-dimensional force pinboard pass on sextuple force checking device indirectly, a part by connect objective table with
4 screws of sextuple force checking device are directly delivered on sextuple force checking device, in the presence of non-coplanar force, 12 cantilever beams
Stress deformation, the numberings of 12 cantilever beams in beam root as shown in figure 5, paste 20 foil gauges, as Figure 6-Figure 8, can be with
Converted to obtain the force-bearing situation of each cantilever beam according to foil gauge change in resistance, as shown in figure 9, wherein power F1, F2, F3, F4,
F5, F6, F7 and F8 are by being pasted on two cantilever beams 5 of the second cantilever beam 3, two of the first cantilever beam 1, two the 3rd and two
The foil gauges of the root both sides of four cantilever beams 7 forms half-bridge circuit and measured, and power F9, F10, F11 and F12 are by being pasted on two the
The unilateral foil gauge in the root of five cantilever beams 9 and two the 6th cantilever beams 11 forms single bridge circuit and measured.It is each by what is detected
The stressing conditions of individual cantilever beam, it is possible to component and level of torque of the non-coplanar force on each axle is calculated.
The coordinate system shown in Fig. 9 is established, then：
Fx:Can be in the hope of acting on the power of X-axis by power F5, F6, F7, F8 vector addition.
Fy:Can be in the hope of acting on the power of Y-axis by power F9, F10, F11, F12 vector addition.
Fz:Can be in the hope of acting on the power of Z axis by power F1, F2, F3, F4 vector addition.
As shown in Figure 10：
Power F1, F4 vector addition is obtained into F1-4, power F2, F3 vector addition is obtained into F2-3, two power are multiplied by arrival respectively
The arm of force L in X-direction at device center1-4、L2-3, afterwards vector addition can be obtained by the torque M around X-axisx。
Power F1, F2 vector addition is obtained into F1-2, power F3, F4 vector addition is obtained into F3-4, two power are multiplied by arrival respectively
The arm of force L in Y-direction at device center1-2、L3-4, afterwards vector addition can be obtained by the torque M around Y-axisy。
Power F5, F6, F7, F8 vector addition is obtained into F5-6-7-8, this makes a concerted effort to be multiplied by their identical torque arm length L5-6-7-8
It can be obtained by torque M about the z axisz。
The power being loaded on beam is further calculated by said process and can be obtained by point of the non-coplanar force in each reference axis
Power and moment of torsion, that is, complete the measurement of six-dimensional force.
Claims (5)
1. a kind of decoupling type 6 DOF force checking device, it includes objective table (2), six-dimensional force pinboard (4), pedestal (6) and 6 DOF
Power Sensitive Detector；Six-dimensional force Sensitive Detector includes elastomer and 20 foil gauges (10)；Elastomer includes quadra
(12), elastic connection frame, two elastic components (14), two the first cantilever beams (1), two the second cantilever beams (3), two the 3rd it is outstanding
Arm beam (5), two the 4th cantilever beams (7), two the 5th cantilever beams (9) and two the 6th cantilever beams (11)；
Elastic connection frame be arranged on quadra (12) in middle part, elastic connection frame include elasticity of flexure plate (13-1), two
Long straight elastic plate (13-2) and two short straight elastic plate (13-3)；Two long straight elastic plate (13-2) and two short straight elastic plate
(13-3) mirror image is set respectively, and one end of one end of long straight elastic plate (13-2) and short straight elastic plate (13-3) is vertically arranged and two
Person is made into integration, and the other end of two short straight elastic plate (13-3) is connected with elasticity of flexure plate (13-1)；
Between elasticity of flexure plate (13-1) and long straight elastic plate (13-2) from inside to outside parallel arrangement have the 6th cantilever beam (11) and
5th cantilever beam (9), one end of the 6th cantilever beam (11) are connected with one end of short straight elastic plate (13-3), two the 6th cantilever beams
(11) the other end is connected with resilient attachment arms (15), one end of the 5th cantilever beam (9) and one end of long straight elastic plate (13-2)
Connection, the other end of the 5th cantilever beam (9) are connected with short straight elastic plate (13-3)；
Two outsides of elastic connection frame are respectively disposed with the first cantilever beam (1), the second cantilever beam (3), the 3rd cantilever beam (5), the
Four cantilever beams (7) and elastic component (14)；Two the first cantilever beams (1), two the second cantilever beams (3), two the 3rd cantilever beams
(5), mirror image is set respectively for two the 4th cantilever beams (7) and two elastic components (14)；First cantilever beam (1), the second cantilever beam (3)
It is be arranged in parallel with the straight elastic plate of length (13-2), positioned at first cantilever beam (1) in the same outside of elastic connection frame and the second cantilever beam
(3) spacing side by side is set, and one end of the first cantilever beam (1) and the second cantilever beam (3) is connected with the inwall of quadra (12), the
The other end of one cantilever beam (1) and the second cantilever beam (3) is connected with the elastic component (14) on quadra (12), elasticity
It is connected with the 3rd cantilever beam (5) and the 4th cantilever beam (7) be arrangeding in parallel between part (14) and long straight elastic plate (13-2), the 3rd
Cantilever beam (5) is vertically arranged with the first cantilever beam (1)；
The front and back of each first cantilever beam (1) is respectively pasted with a foil gauge (10), and each second cantilever beam (3) is just
Face and the back side are respectively pasted with a foil gauge (10), following are pasted with above each 5th cantilever beam (5) and respectively a strain
Piece (10), above each 4th cantilever beam (7) and it is following be respectively pasted with a foil gauge (10), with elasticity of flexure plate (13-1)
A foil gauge (10) is respectively pasted with the 6th relative cantilever beam (11) and the medial surface of the 5th cantilever beam (9)；
Six-dimensional force Sensitive Detector, six-dimensional force pinboard (4) and objective table (2) have been sequentially arranged on pedestal (6) from the bottom to top；Six
Dimension power Sensitive Detector is detachably connected with pedestal (6), and objective table (2) is detachably connected with six-dimensional force pinboard (4), objective table
(2) it is detachably connected with six-dimensional force Sensitive Detector.
A kind of 2. decoupling type 6 DOF force checking device according to claim 1, it is characterised in that：Each foil gauge
(10) it is foil resistance foil gauge.
A kind of 3. decoupling type 6 DOF force checking device according to claim 1 or 2, it is characterised in that：Each strain
Piece (10) is strain-ga(u)ge transducer.
A kind of 4. decoupling type 6 DOF force checking device according to claim 1 or 2, it is characterised in that：Elasticity of flexure plate
The bending section of (13-1) is circular arc section.
A kind of 5. decoupling type 6 DOF force checking device according to claim 2, it is characterised in that：Quadra (12) is square
Shape framework, two the first cantilever beams (1) and two the second cantilever beams (3) are set close to the wide frame of quadra (12).
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| CN201610052508.5A CN105424256B (en) | 2016-01-26 | 2016-01-26 | A kind of decoupling type 6 DOF force checking device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610052508.5A CN105424256B (en) | 2016-01-26 | 2016-01-26 | A kind of decoupling type 6 DOF force checking device |
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| CN105424256B true CN105424256B (en) | 2018-03-30 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108267254B (en) * | 2018-04-21 | 2024-03-19 | 蚌埠日月仪器研究所有限公司 | Sensor for testing stress of track fixing bolt |
| CN109781329B (en) * | 2019-01-23 | 2020-05-05 | 重庆大学 | Six-dimensional force sensor with six-beam structure |
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| JPS62217131A (en) * | 1986-03-19 | 1987-09-24 | Fujitsu Ltd | Force detector |
| CN102183331A (en) * | 2010-11-18 | 2011-09-14 | 东南大学 | Six-dimensional force sensor |
| CN102323000A (en) * | 2011-05-30 | 2012-01-18 | 哈尔滨工业大学 | Safe force-coupling-free six-dimensional force sensor |
| CN202720078U (en) * | 2012-05-29 | 2013-02-06 | 宁波柯力传感科技股份有限公司 | Strain type six-dimensional force sensor |
| CN104048790A (en) * | 2014-06-06 | 2014-09-17 | 南京航空航天大学 | Dual orthogonal six-axis force sensor and measuring method |
| CN204495502U (en) * | 2015-03-10 | 2015-07-22 | 河北联合大学 | The orthogonal six-dimension force sensor with parallel structure of a kind of wide range |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62217131A (en) * | 1986-03-19 | 1987-09-24 | Fujitsu Ltd | Force detector |
| CN102183331A (en) * | 2010-11-18 | 2011-09-14 | 东南大学 | Six-dimensional force sensor |
| CN102323000A (en) * | 2011-05-30 | 2012-01-18 | 哈尔滨工业大学 | Safe force-coupling-free six-dimensional force sensor |
| CN202720078U (en) * | 2012-05-29 | 2013-02-06 | 宁波柯力传感科技股份有限公司 | Strain type six-dimensional force sensor |
| CN104048790A (en) * | 2014-06-06 | 2014-09-17 | 南京航空航天大学 | Dual orthogonal six-axis force sensor and measuring method |
| CN204495502U (en) * | 2015-03-10 | 2015-07-22 | 河北联合大学 | The orthogonal six-dimension force sensor with parallel structure of a kind of wide range |
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