CN106482877A - Five-dimensional force sensor structure based on double-layer planar spring - Google Patents
Five-dimensional force sensor structure based on double-layer planar spring Download PDFInfo
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- CN106482877A CN106482877A CN201611059163.2A CN201611059163A CN106482877A CN 106482877 A CN106482877 A CN 106482877A CN 201611059163 A CN201611059163 A CN 201611059163A CN 106482877 A CN106482877 A CN 106482877A
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- elastic beam
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- 230000002093 peripheral effect Effects 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 3
- 239000000835 fiber Substances 0.000 claims description 14
- 238000010276 construction Methods 0.000 claims description 13
- 238000013461 design Methods 0.000 claims description 11
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 claims description 3
- 239000011888 foil Substances 0.000 claims description 2
- 239000013307 optical fiber Substances 0.000 abstract description 12
- 238000012360 testing method Methods 0.000 abstract description 4
- 239000010410 layer Substances 0.000 description 36
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 239000002356 single layer Substances 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
- F16F3/02—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction
- F16F3/023—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction composed only of leaf springs
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a five-dimensional force sensor structure based on double-layer planar springs, which comprises two layers of planar spring structures distributed in parallel, wherein each layer consists of a central end, an elastic beam structure and a peripheral end and comprises three or more groups of elastic beam structures, one end of each beam structure is fixedly connected with the central end, and the other end of each beam structure is fixedly connected with the peripheral end. The two layers of plane springs are fixedly connected through the peripheral ends and are separated by a certain distance. Each double-layer structure has two central ends, wherein one of the two central ends is fixedly connected with the force input end, and the other central end is a fixed end. Five sets of optical fiber distance sensors or strain gauges correspond to five sets of elastic beam structures to form a test system in the double-layer plane spring so as to measure the deformation of the elastic beam structures, and thus, the three-dimensional force and the two-dimensional force couple of the central end fixedly connected with the input end are measured. The sensor structure realizes the measurement of force in any direction and two-dimensional couple by designing the double-layer plane spring, and can be used in the human sensors of service robots such as robot fingers, continuum and flexible robots, medical robots and the like.
Description
Technical field
The present invention relates to the five-dimensional force sensor structure based on combined beam structure, one kind is provided to be used for measuring three-dimensional force and two
The cramped construction design of dimension couple, can be used for robot finger's tactile and finger tip power, exoskeleton robot joint power, continuum or
Flexible robot itself stress and the service-delivery machine manpower sensory field such as external force, medical operating robot interactive power.
Background technology
Since the eighties in last century proposes, fiber distance sensor because possess anti-electromagnetic signal interference by force, stability
By force, the range of linearity is big, advantages of simple structure and simple is gradually widely studied and progressively move towards application.Fiber distance sensor basic
Principle be by receive reflected effect after light beam and detect its light intensity and measure reflection occur face orientation.By optical fiber
Range sensor is combined with elastic beam structure, detects elastic beam structure deformation using this fiber distance sensor, you can use
The external force being subject in detection elastic beam structure.Have benefited from compact conformation and compared with common-path interference advantage, this based on optical fiber away from
Force transducer from sensor is being applied in robot nearly ten years, especially robot and continuum and flexible machine
Device people.More ripe Commercial fibers range sensor existed on Vehicles Collected from Market, therefore the force transducer based on this principle
Function and performance depend primarily on the design of force transducer frame for movement.In robotics, fiber distance sensor is often same
Simple elastic beam structure combines, and can detect bidimensional couple or detect bidimensional couple and one-dimensional normal force simultaneously.However,
In the middle of robot practical application, it is often necessary to detect the power of any direction, i.e. three-dimensional force in addition to bidimensional couple.Traditional optical fiber
Force transducer is limited to the design of elastic beam structure it is impossible to detect the power of any direction.The present invention is directed to a kind of novel elastic beam
Structure design, using the plane spring of double-deck cascaded structure, while keeping traditional fiber force transducer structural compactness, solution
Traditional fiber of having determined force transducer can not detect the defect of any direction power.Due to compact conformation, strong interference immunity, this elasticity
Girder construction design can be used for robot to detect multidimensional finger tip power, for continuum and flexible robot to detect robot
Self-deformation and external force, for service robots such as other exoskeleton robots, medical robots to detect multidimensional external force.At this
In invention, under the little occasion of some electromagnetic interference, it would however also be possible to employ traditional foil gauge and wheatstone bridge replace optical fiber
Range sensor measures the deformation of girder construction, so that the cost of five-dimensional force sensor is greatly lowered.
Content of the invention
It is an object of the invention to overcoming existing elastic beam structure Optical Fiber Force Sensor can not detect the skill of any direction power
Art defect, provides a kind of design of the Optical Fiber Force Sensor elastic beam structure based on double layer planar spring it is ensured that such sensor
Structural compactness, realizes the detection to bidimensional couple and any direction power simultaneously.
The five-dimensional force sensor structure based on double layer planar spring of the present invention, including multigroup elastic beam structure, spring beam
Even structure is distributed in two parallel planes, constitutes two-layer plane spring, it is respectively by center-side, elastic beam structure, periphery
End is constituted, and each group of elastic beam structure is made up of independent girder construction or is made up of multigroup girder construction parallel connection, and its one end connects center
End, the other end connects outer peripheral end, and two-layer plane spring is connected firmly by outer peripheral end and forms double layer planar spring structure, one of
Center-side is external force input, and another is sensor construction fixing end, and the deformation of double layer planar spring under external force makes
Obtain external force input and axial translation micro-displacement and bidimensional deflection micro-displacement occur.
The five-dimensional force sensor structure based on double layer planar spring of the present invention, introduces double layer planar spring structure, and two
There is between layer plane spring certain offset distance, compared with prior art, the power of any direction and the power of two-dimensional direction can be measured
Even.
The five-dimensional force sensor structure based on double layer planar spring of the present invention, all elastic beam structures are distributed in two and put down
In row plane, compared with prior art, compact conformation is it is easy to miniaturization.
The five-dimensional force sensor structure based on double layer planar spring of the present invention, is desirably integrated into robot finger, continuous
In the middle of body and flexible machine human body, compared with prior art, less impact is produced to corresponding machine human body's structure design.
The five-dimensional force sensor structure based on double layer planar spring of the present invention, all elastic beam structures are uniformly distributed, with
Prior art is compared it is easier to set up accurate rigidity model, possesses isotropic, can be by designing the several of each beam element
The measurement range of distance change force transducer of what parameter, distributed constant and two-layer plane spring, sensitivity, frequency response etc.
Performance indications.
Brief description
Fig. 1 is the overall structure diagram of the five-dimensional force sensor structure based on double layer planar spring of the present invention；
Fig. 2 is the schematic diagram of five-dimensional force sensor each ingredient of structure based on double layer planar spring of the present invention；
Fig. 3 is double layer planar spring structure schematic diagram of the present invention；
Fig. 4 is double layer planar spring structure top view of the present invention；
Fig. 5 is monolayer plane spring structural representation of the present invention；
Fig. 6 is parallel connection elastic beam structure cellular construction schematic diagram of the present invention；
Wherein：Double layer planar spring structure 2- fiber distance sensor 3- sensor construction in 1- five-dimensional force sensor structure
Base 4- optical fiber 5- sensor inputs the girder construction list of platform 11- double layer planar spring input center end 12- double layer planar
Plane spring structure 15- double layer planar spring seat in the 14- double layer planar spring of first 13- double layer planar spring peripheral end
Center-side 141- plane spring center-side 142- plane spring girder construction unit 143- plane spring outer peripheral end 1421- is in parallel
Elastic beam element junction point 1422- elasticity beam element 1423- elasticity beam element fixing end
Specific embodiment
Describe the present invention with reference to instantiation and accompanying drawing.
As shown in drawings, the present invention is double layer planar spring five-dimensional force sensor structure, and it includes double layer planar spring knot
1, five fiber distance sensors 2 of structure, 3, five sets of transmittings of sensor base and the optical fiber 4 and the power input 5 that receive laser.Described
Double layer planar spring structure be made up of center-side 11 and 15, six groups of elastic beam structures 12, outer peripheral end 13, two-layer plane spring 14
Connected by outer peripheral end 13, parallel distribution is simultaneously separated by a distance, and one end of each elastic beam element connects center-side 11 and 15,
The other end connects outer peripheral end 13.Six groups of elastic beam structures are respectively uniformly distributed in two planes, constitute two monolayer plane bullets
Spring 1.The center-side 11 of double layer planar spring connects with sensor structural capacity input 5, and center-side 15 is with sensor construction pedestals
Connect.Described plane spring 14 is made up of three groups or more elastic beam structures 142 in parallel, center-side 141 and outer peripheral end 143.
Described elastic beam structure 142 comprises single or multiple elasticity beam elements 1422, and elastic beam element 1422 one end is fixing end
1423, connect plane spring center-side, other end elastic beam element junction point 1421 in parallel.
Preferred three groups of fiber distance sensors, with three groups of elastic beam structure docking of any one monolayer plane spring, are used
To measure the air line distance of elasticity beam element junction point 1421 in parallel accordingly.Preferably other two groups of fiber distance sensors are same
Other any two groups of elastic beam structures docking, measure the air line distance of its elasticity beam element junction point 1421 in parallel.
When shown double layer planar spring five-dimensional force sensor structure is in force-free state, two center-side 11 and 15 are altogether
Line, the plane being located both perpendicular to two plane springs.When power input 5 receives the pure power along two center-side line directions
During effect, double layer planar spring structure is in compression or extended state, and five fiber distance sensor tests, should to same distance
With external force size direct proportionality, correlation coefficient is double layer planar spring in this direction linearly firm to the numerical values recited of distance
Degree coefficient.When power input 5 is subject to the Moment parallel to plane spring place plane, double layer planar spring is in bending
State, power input center end 11 deflects with respect to base central end 15 and shape forms an angle, now according to above-mentioned three groups
The numerical value that can determine bidimensional moment of flexure apart from size of fiber distance sensor detection, the rotational stiffness coefficient with respective direction becomes
Proportional relationship.When power input 5 is subject to the pure masterpiece used time parallel to plane spring place plane, double layer planar spring is in
Case of bending, but above-mentioned three groups of Optical Fiber Force Sensors and two groups of Optical Fiber Force Sensors will test different distance values, according to
The difference of two groups of numerical value and the distance of two-layer plane spring outer peripheral end, can extrapolate the size and Orientation of the pure power of bidimensional.When defeated
When entering the troubled water that the situation of power that end 5 is subject to is above-mentioned situation, test result is the linear superposition of the above results.
The present invention designs double layer planar spring structure using multigroup elastic beam structure, is that Optical Fiber Force Sensor provides energy
Enough measure the mechanics mechanism of the pure power of any direction and bidimensional couple, can be used as the sensitivity of related service robot key force transducer
Element uses.
Above schematic description is the explanation to the present invention and its key embodiments, and this description does not have restricted, accompanying drawing
Shown in structure and principle be one of embodiments of the present invention, practical structures are not limited thereto.So, if ability
Field technique personnel enlightened by it, and in the case of without departing from the invention objective, the mechanical structure taking other form designs
And connected mode, without the creative design frame mode similar to this technical scheme and case study on implementation, belongs to the present invention
Protection domain.
Claims (7)
1. a kind of five-dimensional force sensor structure based on double layer planar spring it is characterised in that：It is made up of double layer planar spring,
The parallel distribution of two-layer plane spring, every layer plane spring is made up of center-side, elastic beam structure, outer peripheral end, elastic beam structure
Two ends connect center-side and outer peripheral end respectively, and two-layer plane spring is connected firmly by outer peripheral end, and two center-side respectively constitute sensing
The overall fixing end of device structure and external force input, when external force input be zero when, the same elastic beam structure of axis direction of center-side
Vertical with the plane that outer peripheral end is located, the dead in line of two center-side.
2. the five-dimensional force sensor structure based on double layer planar spring according to claim 1 it is characterised in that：Put down for every layer
Diaphragm flexures are made up of three groups or more elastic beam structure parallel connections, and every group of elastic beam structure is made up of single spring beam or by multiple bullets
Property beam is in parallel constitutes, the two ends of elastic beam structure connect center-side and peripheral members respectively, and each group girder construction is equal along center-side axis
Even run on one plane, the plane that center-side is located with elastic beam structure is vertical.
3. the five-dimensional force sensor structure based on double layer planar spring according to claim 1 and 2 it is characterised in that：Institute
The elastic beam structure of the plane spring stated, can deform under external force, lead to plane spring center-side axis no longer
The plane being located perpendicular to elastic beam structure, elastic beam structure deflects away from initial position plane.
4. the five-dimensional force sensor structure based on double layer planar spring according to claim 1,2 or 3 it is characterised in that：
The deformation that the elastic beam structure of described plane spring occurs, enables to external force input and produces two kinds of micro-displacements, respectively
Deflect for axis and translate in the axial direction.
5. the five-dimensional force sensor structure based on double layer planar spring according to claim 1 and 2 it is characterised in that：Institute
The two-layer plane spring of the parallel distribution stated has certain distance.
6. the five-dimensional force sensor structure based on double layer planar spring according to claim 1 and 2 it is characterised in that：Institute
The performance indications such as the measurement range of the sensor construction stated, sensitivity, response frequency depend on the geometry of all elastic beam structures
The initial distance of parameter, distributed constant and two-layer plane spring, by design these parameter adjustment force transducers performance and
The scope of application.
7. the five-dimensional force sensor structure based on double layer planar spring according to claim 1,2,3 or 4, its feature exists
In：Described force transducer structure adopts fiber distance sensor or foil gauge to measure any five groups of different elastic beam structures
Deformation, perceives three-dimensional force and the bidimensional couple of input by its rigidity model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611059163.2A CN106482877B (en) | 2016-11-25 | 2016-11-25 | Five-dimensional force sensor structure based on double-layer planar spring |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611059163.2A CN106482877B (en) | 2016-11-25 | 2016-11-25 | Five-dimensional force sensor structure based on double-layer planar spring |
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| Publication Number | Publication Date |
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| CN106482877A true CN106482877A (en) | 2017-03-08 |
| CN106482877B CN106482877B (en) | 2021-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611059163.2A Active CN106482877B (en) | 2016-11-25 | 2016-11-25 | Five-dimensional force sensor structure based on double-layer planar spring |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107314853A (en) * | 2017-06-09 | 2017-11-03 | 燕山大学 | A kind of hard and soft hybrid three-dimensional power sensing mechanisms |
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| CN2421630Y (en) * | 2000-06-02 | 2001-02-28 | 哈尔滨工业大学 | Multidimensional sensor |
| CN201177542Y (en) * | 2008-02-04 | 2009-01-07 | 南京信息工程大学 | Double channel optical fiber air pressure sensor |
| CN201561825U (en) * | 2009-09-29 | 2010-08-25 | 西北工业大学 | Elastomer of six-dimensional force sensor |
| CN103940544A (en) * | 2014-03-11 | 2014-07-23 | 东南大学 | Double crossed beam combination type finger joint six-dimensional force sensor |
| CN204346630U (en) * | 2015-01-20 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | A kind of six-dimension force sensor |
-
2016
- 2016-11-25 CN CN201611059163.2A patent/CN106482877B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2421630Y (en) * | 2000-06-02 | 2001-02-28 | 哈尔滨工业大学 | Multidimensional sensor |
| CN201177542Y (en) * | 2008-02-04 | 2009-01-07 | 南京信息工程大学 | Double channel optical fiber air pressure sensor |
| CN201561825U (en) * | 2009-09-29 | 2010-08-25 | 西北工业大学 | Elastomer of six-dimensional force sensor |
| CN103940544A (en) * | 2014-03-11 | 2014-07-23 | 东南大学 | Double crossed beam combination type finger joint six-dimensional force sensor |
| CN204346630U (en) * | 2015-01-20 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | A kind of six-dimension force sensor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107314853A (en) * | 2017-06-09 | 2017-11-03 | 燕山大学 | A kind of hard and soft hybrid three-dimensional power sensing mechanisms |
| CN107314853B (en) * | 2017-06-09 | 2019-06-25 | 燕山大学 | A kind of hard and soft hybrid three-dimensional power sensing mechanisms |
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| CN106482877B (en) | 2021-03-16 |
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Effective date of registration: 20170823 Address after: 518000 Guangdong city of Shenzhen province Futian District Beihuan Industrial Zone, Merlin Street Chardonnay building 302A Applicant after: Shenzhen great universe Robot Technology Co., Ltd. Address before: 300000 the Binhai New Area of Tianjin Huayuan Industrial Zone Industrial Road No. 1 to allow the public culture of science and Technology Park D block -2-2504-2 Applicant before: Tianjin atlas technology Co., Ltd. |
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