CN105841856B - A kind of Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force - Google Patents
A kind of Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force Download PDFInfo
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- CN105841856B CN105841856B CN201610304479.7A CN201610304479A CN105841856B CN 105841856 B CN105841856 B CN 105841856B CN 201610304479 A CN201610304479 A CN 201610304479A CN 105841856 B CN105841856 B CN 105841856B
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- spring
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2287—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges constructional details of the strain gauges
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the Whisker Sensors of a kind of perception contact point three-dimensional force displacement and three-dimensional force, the Whisker Sensor is mounted on robot body, which includes cross spring beam (1), strain gauge (8), flexible antenna (3), contact ball (4), spring (7) and casing (5)；The cross spring beam (1) is in hollow structure, including being built in internal four spring beams (2), wheel rim and four wheel rim screw holes (6), wherein, four spring beams (2) interact in 90 ° two-by-two, strain gauge (8) are pasted in group across, upper and lower surface and left and right side；Four wheel rim screw holes (6) are symmetrically distributed in cross spring beam (1) upper surface, for fixing sensor position；The flexible antenna (3) is mounted on cross spring beam (1) center.The present invention can be realized the accurate positionin to target object.
Description
Technical field
The present invention relates to a kind of Whisker Sensor, specifically a kind of flexible Whisker Sensor can perceive three-dimensional force
Displacement and three-dimensional force are simultaneously realized to the precise positioning of target.
Background technique
Robot perception technology is basis and the support of intelligent robot decision and control, how to be perceived under circumstances not known
Environmental information is navigated, path planning and automatic obstacle avoiding are becoming new research hotspot.Perceive the primary hand of external information
Section have vision, the sense of hearing, power feel and tactile, at present the main method of robot perception external information be imitate human vision principle into
Capable, but under low visibility or dark situations, it can no longer meet requirement by visual sensor merely.In the case,
Touch sensor comes into being.
Artificial antenna is current more common sensing device, and existing sensor installs small electrical in antenna end mostly
Machine or other driving devices, for scanning the shape and profile information of object perception object, the disadvantage is that scanning needs the plenty of time,
Enough information can not be provided the robot of high speed walking to be used to avoidance or position target.
To solve the quick avoidance of robot and target orientation problem, the present invention proposes that a kind of pass through in antenna end installs bullet
Displacement is converted to force information by spring structure, passes to the strain gauge pasted on cross spring beam, passes through the resistance of strain gauge
Value changes quickly to position indirectly.
Summary of the invention
Technical problem: the purpose of the present invention is to solve above-mentioned technical problems, propose a kind of perception contact point three-dimensional force
The Whisker Sensor of displacement and three-dimensional force.When robot is close to target object, which perceives antenna using spring structure
Then spring force information is passed to the cross spring beam for being mounted on antenna root by the offset of end by flexibility antenna,
To realize the accurate positionin to target object.
Technical solution: in order to solve the above technical problems, the present invention provides a kind of perception contact point three-dimensional force displacements and three
Tie up the Whisker Sensor of power, which is mounted on robot body, the Whisker Sensor include cross spring beam,
Flexible antenna, contact ball, spring and casing；
The cross spring beam is in hollow structure, including being built in four internal spring beams, wheel rim and four
Wheel rim screw hole, wherein four spring beams interact in 90 ° two-by-two, organize across, upper and lower surface and left and right side
Paste strain gauge；Four wheel rim screw holes are symmetrically distributed in cross spring beam upper surface, for fixing sensor position；
The strain gauge is pasted onto upper and lower surface and the left and right side of four spring beams close to flexible antenna root.
The flexible antenna is mounted on cross spring beam center, extends outwardly from the cross intersection point of four spring beams
And go out；Spring upper and lower ends are connected with flexible antenna end and contact ball respectively by spring leaf；Casing and spring are concentric simultaneously
It is surrounded on spring outer surface, upper surface is overlapped with contact ball.
Preferably, the flexible antenna uses flexible metal wire material, for transmitting spring force information to cross elasticity
Beam.
Preferably, described four elastic beam sections are rectangle respectively, and the cross section of flexible antenna is circle.
Preferably, flexible antenna end connects contact ball by spring.
Preferably, diameter 0.6mm~1mm of flexible antenna, length 100mm~150mm.
The utility model has the advantages that
1, the structure design of cross elastic beam structure combination spring can perceive three-dimensional force displacement and three-dimensional force simultaneously, real
Show and converted the measurement measured one's own ability physics for displacement, so that it is determined that target object location.
2, it deforms when the contact ball contact target object of flexible antenna end, the presence of spring structure guarantees non-contact
When antenna offset be zero.
3, the design of micro two-dimensional strain gauge and application realize the micromation of Whisker Sensor.It is strained using micro two-dimensional
All strain gauge adhesions on cross spring beam, can be greatly reduced patch area, to realize Whisker Sensor by meter
Miniaturization.
4, simple and compact for structure, easy to process and process.The present invention retains the advantages of cross elastic beam structure, structure
Simply, easy to process, retinoic acid syndrome is small.
5, linear, reproducible, measurement accuracy is high.
Detailed description of the invention
Fig. 1 is sensor of the invention overall structure diagram.
Fig. 2 is sensor of the invention strain gauge paste position schematic top plan view.
Fig. 3 is Whisker Sensor top diagrammatic cross-section of the invention.
Fig. 4 is Whisker Sensor force analysis schematic diagram of the present invention.
Figure label: cross spring beam 1, four spring beams 2, flexible antenna 3, contact ball 4, casing 5, wheel rim screw hole 6,
Spring 7, strain gauge 8.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
Referring to FIG. 1 to FIG. 4, a kind of perception contact point three-dimensional force displacement provided by the invention and the antenna of three-dimensional force pass
Sensor, the Whisker Sensor are mounted on robot body, which includes cross spring beam 1, strain gauge 8, soft
Property antenna 3, contact ball 4, spring 7 and casing 5.
The cross spring beam 1 is in hollow structure, including being built in four internal spring beams 2, wheel rim and four
A wheel rim screw hole 6, wherein four spring beams 2 interact two-by-two it is in 90 °, organize across, upper and lower surface and left and right
Paste strain gauge 8 in side；Four wheel rim screw holes 6 are symmetrically distributed in 1 upper surface of cross spring beam, for fixed sensing
Device position.
The flexible antenna 3 is mounted on cross 1 center of spring beam, outside from the cross intersection point of four spring beams 2
Extend；7 upper and lower ends of spring are connected with flexible 3 end of antenna and contact ball 4 respectively by spring leaf；Casing 5 and spring 7
Concentric and be surrounded on 7 outer surface of spring, upper surface is overlapped with contact ball 4.
The flexibility antenna 3 uses flexible metal wire material, and flexible antenna 3 can regard the transfer beams of Whisker Sensor as, use
Cross spring beam 1 is given in transmitting spring force information.
The section of four spring beams 2 is rectangle respectively, and the cross section of flexible antenna 3 is circle.
Flexible 3 end of antenna passes through the connection contact ball 4 of spring 7.Contact ball 4 contact or scanning object when, spring 7 can make X,
Flexible deformation can occur for Y-direction, and 3 offset of antenna is zero when guaranteeing non-contact.
Diameter 0.6mm~1mm of flexible antenna 3, length 100mm~150mm.
The strain gauge 8 is pasted onto the upper and lower surface and left and right sides of four spring beams 2 close to 3 root of flexible antenna
Face.
Whisker Sensor realizes turn that displacement is measured one's own ability to physics using the structure of cross spring beam 1 combination spring 7
It changes.
The strain gauge is sensing element, is pasted onto upper and lower surface and the left and right of four spring beams close to flexible antenna
Two sides, with the deformation of flexible antenna, strain gauge length changes, and the resistance wire resistance value in strain gauge also changes, i.e.,
The deformation that external force generates is converted into resistance sizes variation, to realize the transformation to electric signal；
Whisker Sensor of the invention realizes displacement using the drawing compression property of cross elastic beam structure combination spring
Measure the conversion measured one's own ability to physics.
(1) cross spring beam
Referring to figure 1, figure 2 and figure 3 shown in, cross spring beam 1 include four spring beams 2 and four wheel rim screw holes 6, four
Root spring beam 2 intersects two-by-two is mutually 90 degree, organizes across；Antenna is realized by the cooperation of four wheel rim screw holes 6 and screw
The fixation of sensor；Strain gauge 8 is posted in the upper and lower surface of four spring beams on cross spring beam 1 and the left and right sides, works as touching
When the contact ball of palpus transducer tip touches target object, the effect of 7 stress of spring will occur to compress or stretch, and pass through flexible touch
Palpus 3 passes to cross spring beam 1, and the resistance value for causing the strain gauge pasted on elastomer changes.
(2) strain gauge
It is shown in Figure 2, strain gauge 8 be pasted onto close to four spring beams 2 of flexible 3 root of antenna upper and lower surface and
Left and right side, with distortional elastomer, the resistance value of strain gauge 8 can change.
(3) flexible antenna
Referring to shown in Fig. 1 and Fig. 3, the root of flexible antenna 3 is mounted on cross 1 center of spring beam, from four spring beams 2
Intersection point extend；Cross elasticity is given by spring leaf connecting spring 7, transmitting spring force information in the end of flexible antenna 3
Beam 1；The flexibility antenna uses flexible metal wire material, has good toughness and elasticity；
(4) ball is contacted
Referring to shown in Fig. 1 and Fig. 3, is scanning object to improve flexible antenna 3 and is contacting the sliding ability on body surface,
Minor diameter is installed by spring leaf in one end of spring 7 and contacts ball 4, contact ball 4 is the sensitive body of Whisker Sensor, for perceiving
Contact force information；
(5) spring
Referring to shown in Fig. 1 and Fig. 3, spring 7 is fixed between contact ball 4 and flexible antenna 3, when the contact of contact ball 4 or is swept
When retouching object, in other words by under external force, spring 7 will deform simultaneously with flexible antenna 3, and spring 7 can make flexible touching
Offset guarantee of the palpus 3 when non-contact is zero, i.e. generation flexible deformation.
(6) casing
Referring to shown in Fig. 1 and Fig. 3, casing 5 is mounted on flexible 3 end of antenna, with flexible antenna 3, spring 7 and contact ball 4
It is concentric；The upper surface of casing 5 is overlapped with the lower surface of contact ball 4, when contacting the upper surface of ball 4 by external force, bullet
While the compression of spring 7 or stretching, casing 5 also moves downward or upward therewith.The Whisker Sensor that the present invention designs be how root
Just become the work of the invention next to be completed according to the displacement that the offset of spring 7 obtains 3 end of antenna.
Referring to as shown in figure 4, passive perceptive mode is taken to analyze flexible antenna, under external force, flexibility is touched
The axis of palpus is become the curve of continuous and derivable from straight line.Antenna axis before deformation establishes x-axis, and the longitudinal direction along antenna section is built
Vertical y-axis, using the fixing end of flexible antenna as origin o, l is the length of flexible antenna.Assuming that object to be detected is a cuboid, object
Body is along negative direction of the y-axis uniform motion.Because the deformation of antenna belongs to thin tail sheep offset, it is believed that the amount of tension approximately equivalent of spring
Displacement △ X in antenna end.According to spring force formula: F=kx, k indicate spring force coefficient, it is known that antenna was subject to
The displacement of external force F and antenna is proportional, then the value that need to only obtain spring force F can obtain displacement △ X.
Directed force F is transmitted on cross spring beam by flexible antenna, and the strain gauge being pasted on spring beam is caused to hinder
Value changes, and changes to make to act on ohmically voltage signal, realizes the measurement of power.
It can be seen that realizing the high-precision of displacement by the drawing compression property of cross elastic beam structure combination spring
Measurement.
The Whisker Sensor of a kind of perception contact point three-dimensional force displacement and three-dimensional force disclosed by the invention, contact ball is sensitive
Part, for perceiving axial force, flexible antenna transmits force information as transfer beams.Whisker Sensor of the invention belongs to robot
Detection device part, and Whisker Sensor is mounted on robot body, before optimum position is mounted in robot body
End.When robot body is close to target object, which passes through the contact of contact ball or scanning target object, spring meeting
It bends and compresses, the strain gauge resistance value of the stickup on cross spring beam is then caused to change, and then realize to displacement
Detection be converted into the measurement measured one's own ability physics, the final accurate positionin realized to target.
Claims (4)
1. a kind of Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force, the Whisker Sensor are mounted on robot sheet
On body, it is characterised in that: the Whisker Sensor includes cross spring beam (1), strain gauge (8), flexible antenna (3), contact ball
(4), spring (7) and casing (5)；
The cross spring beam (1) is in hollow structure, including being built in internal four spring beams (2), wheel rims and four
A wheel rim screw hole (6), wherein four spring beams (2) interact two-by-two it is in 90 °, organize across, upper and lower surface with
Paste strain gauge (8) in left and right side；The endpoint of four intersections is fixedly connected at four spring beam (2) centers, forms one
Body cross structure, four endpoints at telecentricity are fixedly connected with wheel rim；Four wheel rim screw holes (6) are symmetrically distributed in ten
Font spring beam (1) upper surface, for fixing sensor position；Strain gauge (8) is pasted onto four close to flexible antenna (3) root
The upper and lower surface of root spring beam (2) and left and right side；
The flexible antenna (3) is mounted on cross spring beam (1) center, from the cross intersection points of four spring beams (2) to
Extend outside；Spring (7) upper and lower ends are connected with flexible antenna (3) end and contact ball (4) respectively by spring leaf；Casing
(5) concentric and be surrounded on spring (7) outer surface with spring (7), upper surface is overlapped with ball (4) are contacted；Pass through cross elasticity
Beam (1) and spring (7) can be measured accurately three suffered by flexible antenna (3) end three-D displacement power and flexible antenna (3)
Tie up power.
2. the Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force according to claim 1, it is characterised in that:
The flexibility antenna (3) uses flexible metal wire material, for transmitting spring force information to cross spring beam (1), can pass through
Deformation obtains the corresponding relationship of its end three-dimensional force displacement and bottom three-dimensional force after analyzing its stress, to realize to displacement
Measurement.
3. the Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force according to claim 1 or 2, feature exist
In: flexible antenna (3) end passes through spring (7) connection contact ball (4).
4. the Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force according to claim 1 or 2, feature exist
In: the diameter 0.6mm~1mm, length 100mm~150mm of flexible antenna (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610304479.7A CN105841856B (en) | 2016-05-10 | 2016-05-10 | A kind of Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610304479.7A CN105841856B (en) | 2016-05-10 | 2016-05-10 | A kind of Whisker Sensor of perception contact point three-dimensional force displacement and three-dimensional force |
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| Publication Number | Publication Date |
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| CN105841856A CN105841856A (en) | 2016-08-10 |
| CN105841856B true CN105841856B (en) | 2019-01-29 |
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