CN106918413B - A kind of embedded sextuple torque sensor based on photo-electric - Google Patents
A kind of embedded sextuple torque sensor based on photo-electric Download PDFInfo
- Publication number
- CN106918413B CN106918413B CN201510988713.8A CN201510988713A CN106918413B CN 106918413 B CN106918413 B CN 106918413B CN 201510988713 A CN201510988713 A CN 201510988713A CN 106918413 B CN106918413 B CN 106918413B
- Authority
- CN
- China
- Prior art keywords
- displacement sensor
- photoelectric displacement
- mounting base
- outer ring
- light barrier
- 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.)
- Active
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 87
- 230000004888 barrier function Effects 0.000 claims abstract description 45
- 230000005622 photoelectricity Effects 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 8
- 238000011161 development Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Transform (AREA)
Abstract
The invention belongs to intelligent robot equipment technical field, specifically a kind of embedded sextuple torque sensor based on photo-electric.Disk, photoelectric displacement sensor mounting base, light barrier and photoelectric displacement sensor are turned round including vane type, it includes inner ring, outer ring and blade that vane type, which turns round disk, the inner ring and outer ring is connected by multiple groups blade, photoelectric displacement sensor mounting base and light barrier are equipped between two adjacent groups blade, the photoelectric displacement sensor mounting base is connect with inner ring, photoelectric displacement sensor is mounted in photoelectric displacement sensor mounting base, light barrier is connected with outer ring and light barrier and photoelectric displacement sensor are corresponding, inner ring is connected to motor, and outer ring is connect with external equipment.The present invention has many advantages, such as that measurement range is big, compact-sized, whole lightly, high reliablity, low cost, is easily installed.
Description
Technical field
The invention belongs to intelligent robot equipment technical field, specifically a kind of embedded 6 DOF based on photo-electric
Torque sensor.
Background technique
With the continuous development of intellectual technology, there has been proposed controllable to the smart machines safety such as robot and high-precision
The pursuit of property.Since relative to business torque sensor, embedded torque sensor is with compact-sized, entirety is light and handy, is convenient for
Integrated, small size meets the advantages that Embedded requirement, the design and application of embedded torque sensor gradually at
For present hot research direction.And photo-electric torque sensor is due to spies such as no electromagnetic interference, rapid, the reliability height of response
Point, and with the continuous development of optical technology in recent years, with untouchable measurement side possessed by precision optics measuring principle
The torque sensor of formula and macroscopic measurement principle is obviously more able to satisfy in the needs of future robot development, is increasingly becoming embedded
The research hotspot of torque sensor.But since photoelectric sensor is based on macroscopic measurement, deformation quantity and maximum stress there are contradiction, because
The embedded sextuple torque sensor technology of the photoelectricity of this multidimensional measure improves the stage also in development.
Summary of the invention
In view of the above-mentioned problems, the embedded sextuple moment sensing that the purpose of the present invention is to provide a kind of based on photo-electric
Device.The vane type of the sensor turns round disk effective solution existing contradiction, light of separate type between deformation quantity and maximum stress
Electric displacement sensor location adjusting device uses more convenient.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of embedded sextuple torque sensor based on photo-electric, including vane type turn round disk, photoelectric displacement sensor peace
Seat, light barrier and photoelectric displacement sensor are filled, it includes inner ring, outer ring and blade, the inner ring and outer ring that the vane type, which turns round disk,
It is connected by multiple groups blade, photoelectric displacement sensor mounting base and light barrier, the photoelectricity is equipped between two adjacent groups blade
Displacement sensor mounting base is connect with the inner ring, and the photoelectric displacement sensor is mounted on photoelectric displacement sensor mounting base
On, the light barrier is connected with the outer ring and light barrier and photoelectric displacement sensor are corresponding.
The photoelectric displacement sensor mounting base is equipped with screw thread and positions adjustment hole, and the screw thread positioning adjustment hole is for adjusting
Whole photoelectric displacement sensor and the relative position of light barrier in the horizontal direction.
The one side of the photoelectric displacement sensor mounting base is equipped with the photopotential for fixing photoelectric displacement sensor
Displacement sensor fixation hole, the photoelectric displacement sensor mounting base are equipped with the ear being located above photoelectric displacement sensor fixation hole
Seat, the ear mount are equipped with the photoelectric displacement sensor seat mounting hole for connecting with inner ring.
Circumferentially arranged with multiple inner ring mounting bases on the inner ring, the photoelectric displacement sensor mounting base passes through photopotential
Displacement sensor seat mounting hole is connect with inner ring mounting base.
It is equipped with spring shim between the light barrier and the outer ring, the light barrier and photoelectricity are adjusted by spring shim
The relative position of displacement sensor along the vertical direction.
The light barrier is equipped with the light barrier mounting hole for connecting with the outer ring, and the outer ring is pacified equipped with outer ring
Seat is filled, the light barrier is connect by light barrier mounting hole with outer ring mounting base.
The blade is six groups and is evenly distributed.There are two blade in every group of blade, the blade uses cartesian
Leaf cable architecture.
The inner ring is connected to motor, and the outer ring is connect with external equipment.On the inner ring circumferentially arranged with for
The motor installing hole of motor connection, circumferentially arranged with the external equipment mounting hole being used to connect with external devices on the outer ring.
The invention has the advantages and beneficial effects that:
1. vane type of the present invention, which turns round disk, to be had the advantages that deflection is big, maximum stress is small, installs convenient for photoelectric sensor, compared with
Good solves contradiction between deformation quantity and maximum stress, effectively raises the reliability that photoelectric sensor turns round disk.
2. photoelectric displacement sensor of the present invention and its light barrier initial alignment regulating device are passed due to setting up separately in photoelectric displacement
Its positioning is completed in sensor mounting base and light barrier jointly to adjust, therefore there is all directions positioning not interfere with each other, convenient for adjusting
Advantage.
3. the present invention is suitable for the multidimensional torgue measurement of the smart machines such as robot, the whole big, structure with measurement range
Compact, whole light and handy, high reliablity, low cost, the advantages that being easily installed.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is the structural schematic diagram that disk is turned round in the present invention；
Fig. 3 is photoelectric displacement sensor location adjusting device schematic diagram of the invention.
Wherein: 1 turns round disk for vane type, and 2 be photoelectric displacement sensor mounting base, and 3 be light barrier, and 5 sense for photoelectric displacement
Device, 4 be spring shim, and 11 be external equipment mounting hole, and 12 be motor installing hole, and 13 be blade, and 14 be inner ring, and 15 be outer ring,
16 be inner ring mounting base, 17 be outer ring mounting base, 21 for screw thread position adjustment hole, 22 be photoelectric displacement sensor fixation hole, 23
It is light barrier mounting hole for photoelectric displacement sensor seat mounting hole, 31.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in Figs. 1-2, a kind of embedded sextuple torque sensor based on photo-electric provided by the invention, including blade
Formula turns round disk 1, photoelectric displacement sensor mounting base 2, light barrier 3 and photoelectric displacement sensor 5, and it includes interior that the vane type, which turns round disk 1,
Circle 14, outer ring 15 and blade 13, the inner ring 14 and outer ring 15 are connected by multiple groups blade 13, between two adjacent groups blade 13
Equipped with photoelectric displacement sensor mounting base 2 and light barrier 3, the photoelectric displacement sensor mounting base 2 is connect with the inner ring 14,
The photoelectric displacement sensor 5 is mounted in photoelectric displacement sensor mounting base 2, the light barrier 3 connect with the outer ring 15,
And light barrier 3 is corresponding with photoelectric displacement sensor 5.
Circumferentially arranged with the motor installing hole 12 for being connected to motor on the inner ring 14, on the outer ring 15 circumferentially
Equipped with the external equipment mounting hole 11 being used to connect with external devices.The inner ring 14 at motor installing hole 12 by bolt with
Motor connection, the outer ring 15 are connect by bolt with external equipment at external equipment mounting hole 11, realize embedded connection.
As shown in figure 3, the photoelectric displacement sensor mounting base 2, which is equipped with screw thread, positions adjustment hole 21, the screw thread is fixed
Position adjustment hole 21 is for adjusting photoelectric displacement sensor 5 and the relative position of light barrier 3 in the horizontal direction.
The one side of the photoelectric displacement sensor mounting base 2 is equipped with the photoelectricity for fixing photoelectric displacement sensor 5
Displacement sensor fixation hole 22, the photoelectric displacement sensor mounting base 2, which is equipped with, is located at photoelectric displacement sensor fixation hole 22
The ear mount of top, the ear mount are equipped with the photoelectric displacement sensor seat mounting hole 23 for connecting with inner ring 14.The inner ring
Circumferentially arranged with multiple inner ring mounting bases 16 on 14, the photoelectric displacement sensor mounting base 2 is pacified in photoelectric displacement sensor seat
Dress is connect by bolt with inner ring mounting base 16 at hole 23.
The light barrier 3 is equipped with the light barrier mounting hole 31 for connecting with the outer ring 15, sets on the outer ring 15
There is outer ring mounting base 17, the light barrier 3 is connect by bolt with outer ring mounting base 17 at light barrier mounting hole 31.The gear
Spring shim 4 is equipped between mating plate 3 and the outer ring 15, spring shim 4 is located at the lower section of light barrier mounting hole 31, passes through spring
Gasket 4 adjusts the light barrier 3 and the relative position of photoelectric displacement sensor 5 along the vertical direction.
The blade 13 is six groups and is evenly distributed.There are two blade in every group of blade 13, the blade 13 is used
Folium of Descartes structure.Photoelectric displacement sensor 5 there are six being set altogether between six groups of blades 13.
The positioning of the photoelectric displacement sensor 5, which is adjusted, positions the completion jointly of adjustment hole 21 and spring shim 4 by screw thread
It realizes.Screw thread positioning adjustment hole 21 is located in photoelectric displacement sensor mounting base 2, and spring shim 4 is located under light barrier 3, respectively
It is responsible for adjusting the different directions of positioning photoelectric displacement sensor 5.Screw thread positions adjustment hole 21 and spring shim 4 completes light jointly
The positioning of electric displacement sensor 5 and light barrier 3 is adjusted.
The screw thread positioning adjustment hole 21 completes photoelectric displacement sensor 5 and is turning round disk by rotating screw engaged therewith
The accurate positionin in this direction is realized in the fine tuning of in-plane；Mounting screw of the spring shim 4 by rotation thereon, is completed
Light barrier 3 realizes the accurate positionin in this direction in the fine tuning for vertically turning round disk in-plane；Screw thread positions adjustment hole 21 and spring pad
Piece 4 completes photoelectric displacement sensor 5 jointly and the positioning of light barrier 3 is adjusted.
Vane type of the invention turns round disk 1, photoelectric displacement sensor mounting base 2 and light barrier 3 and is all made of carbon spring steel
65Mn。
The operation principle of the present invention is that:
The present invention turns round the motor installing hole 12 of disk 1 by vane type and motor is fixed, external equipment mounting hole 11 and outside
Equipment is fixedly connected；Photoelectric displacement sensor 5 passes through the photoelectric displacement sensor fixation hole in photoelectric displacement sensor mounting base 2
22 are fixedly connected in a manner of pin；Photoelectric displacement sensor mounting base 2 and light barrier 3 are fixed on vane type by mounting hole and turn round disk
In 1 corresponding mounting base.When external equipment is by power/torque, inner ring 14 and outer ring 15 will be caused in the phase of both direction
To change in displacement.When due to receiving different power/torques, inner ring 14 and outer ring 15 are different in the relative displacement of both direction, into
And the output valve of each photoelectric displacement sensor 5 is also different.It can be calculated according to the voltage output value of six photoelectric sensors 5
Power/moment values on x, y, z direction (turn round disk plane as x/y plane using vane type, it is O that vane type, which turns round disk center, is establishing three-dimensional just
Hand over coordinate system).Solution formula is F=C*U+G；Wherein: F is power/torque vector, and C is coefficient matrix, and U is voltage value vector, G
For constant vector.
In the present embodiment, the model of the photoelectric displacement sensor is selected as RPI-131.The knot of the photoelectric displacement sensor
Structure outer dimension is 4.2*4.2*5.2mm, and quality 0.05g, the range of linearity in two direction is respectively 0.7mm and 0.3mm.
The photoelectric displacement sensor is small in size, light weight, the range of linearity are big, can effectively ensure that the embedded sextuple torque sensor
Measurement range and measurement accuracy.
Claims (10)
1. a kind of embedded sextuple torque sensor based on photo-electric, it is characterised in that: turn round disk (1), photoelectricity including vane type
Displacement sensor mounting base (2), light barrier (3) and photoelectric displacement sensor (5), it includes inner ring that the vane type, which turns round disk (1),
(14), outer ring (15) and blade (13), the inner ring (14) and outer ring (15) are connected by multiple groups blade (13), two adjacent groups leaf
Photoelectric displacement sensor mounting base (2) and light barrier (3), the photoelectric displacement sensor mounting base are equipped between piece (13)
(2) it is connect with the inner ring (14), the photoelectric displacement sensor (5) is mounted on photoelectric displacement sensor mounting base (2), institute
It states light barrier (3) and the outer ring (15) connection and light barrier (3) is corresponding with photoelectric displacement sensor (5).
2. the embedded sextuple torque sensor according to claim 1 based on photo-electric, it is characterised in that: the photoelectricity
Displacement sensor mounting base (2) is equipped with screw thread positioning adjustment hole (21), and screw thread positioning adjustment hole (21) is for adjusting light
Electric displacement sensor (5) and the relative position of light barrier (3) in the horizontal direction.
3. the embedded sextuple torque sensor according to claim 2 based on photo-electric, it is characterised in that: the photoelectricity
It is solid that the one side of displacement sensor mounting base (2) is equipped with the photoelectric displacement sensor for fixing photoelectric displacement sensor (5)
Determine hole (22), the photoelectric displacement sensor mounting base (2), which is equipped with, to be located above photoelectric displacement sensor fixation hole (22)
Ear mount, the ear mount are equipped with the photoelectric displacement sensor seat mounting hole (23) for connecting with inner ring (14).
4. the embedded sextuple torque sensor according to claim 3 based on photo-electric, it is characterised in that: the inner ring
(14) circumferentially arranged with multiple inner ring mounting bases (16) on, the photoelectric displacement sensor mounting base (2) is passed by photoelectric displacement
Sensor seat mounting hole (23) is connect with inner ring mounting base (16).
5. the embedded sextuple torque sensor according to claim 2 based on photo-electric, it is characterised in that: described light-blocking
Spring shim (4) are equipped between piece (3) and the outer ring (15), adjust the light barrier (3) and photoelectricity by spring shim (4)
The relative position of displacement sensor (5) along the vertical direction.
6. the embedded sextuple torque sensor according to claim 5 based on photo-electric, it is characterised in that: described light-blocking
Piece (3) is equipped with the light barrier mounting hole (31) for connecting with the outer ring (15), and the outer ring (15) is pacified equipped with outer ring
It fills seat (17), the light barrier (3) is connect by light barrier mounting hole (31) with outer ring mounting base (17).
7. the embedded sextuple torque sensor according to claim 1 based on photo-electric, it is characterised in that: the blade
(13) it is six groups and is evenly distributed.
8. the embedded sextuple torque sensor according to claim 7 based on photo-electric, it is characterised in that: every group of blade
(13) there are two blade in, the blade (13) uses folium of Descartes structure.
9. the embedded sextuple torque sensor according to claim 1-8 based on photo-electric, it is characterised in that:
The inner ring (14) is connected to motor, and the outer ring (15) connect with external equipment.
10. the embedded sextuple torque sensor according to claim 9 based on photo-electric, it is characterised in that: in described
It encloses on (14) circumferentially arranged with the motor installing hole (12) for being connected to motor, circumferentially arranged with being used on the outer ring (15)
The external equipment mounting hole (11) being connect with external equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510988713.8A CN106918413B (en) | 2015-12-24 | 2015-12-24 | A kind of embedded sextuple torque sensor based on photo-electric |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510988713.8A CN106918413B (en) | 2015-12-24 | 2015-12-24 | A kind of embedded sextuple torque sensor based on photo-electric |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106918413A CN106918413A (en) | 2017-07-04 |
| CN106918413B true CN106918413B (en) | 2019-01-04 |
Family
ID=59458077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510988713.8A Active CN106918413B (en) | 2015-12-24 | 2015-12-24 | A kind of embedded sextuple torque sensor based on photo-electric |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106918413B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108981987B (en) * | 2018-08-07 | 2020-08-11 | 东南大学 | Small-dimension space coupling elastic beam six-dimension force sensor |
| CN110154065A (en) * | 2019-05-15 | 2019-08-23 | 西安电子科技大学 | Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint |
| CN112213009B (en) * | 2020-10-30 | 2021-12-14 | 华力创科学(深圳)有限公司 | Multi-axis force sensor based on optical principle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4763531A (en) * | 1986-04-04 | 1988-08-16 | Deutsche Forschungs-Und Versuchsanstalt Fur Luft Und Raumfahrt E.V. | Force-torque sensor |
| CN103076131A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm |
| CN103698076A (en) * | 2014-01-03 | 2014-04-02 | 东南大学 | Six-dimensional force-torque sensor for realizing extension of measuring range |
| 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 |
| CN104677543A (en) * | 2015-01-29 | 2015-06-03 | 重庆大学 | Piezoelectric type six-dimensional force/torque sensor adopting six groups of force-measuring sensitive units |
-
2015
- 2015-12-24 CN CN201510988713.8A patent/CN106918413B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4763531A (en) * | 1986-04-04 | 1988-08-16 | Deutsche Forschungs-Und Versuchsanstalt Fur Luft Und Raumfahrt E.V. | Force-torque sensor |
| CN103076131A (en) * | 2012-12-31 | 2013-05-01 | 东南大学 | Six-dimensional force and torque sensor for measuring large force and small torque of large mechanical arm |
| CN103698076A (en) * | 2014-01-03 | 2014-04-02 | 东南大学 | Six-dimensional force-torque sensor for realizing extension of measuring range |
| 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 |
| CN104677543A (en) * | 2015-01-29 | 2015-06-03 | 重庆大学 | Piezoelectric type six-dimensional force/torque sensor adopting six groups of force-measuring sensitive units |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106918413A (en) | 2017-07-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106918413B (en) | A kind of embedded sextuple torque sensor based on photo-electric | |
| CN102323046B (en) | Performance test bench for electric spindle | |
| CN102519339B (en) | Measuring rod device for inner-ring raceway of pivoting support | |
| CN105277745A (en) | High-precision radome electrical performance wide-angle automatic measurement turret | |
| CN101183026A (en) | Infrared temperature measurement online self-calibrating equipment and method thereof | |
| CN110763110B (en) | Three-jaw internal diameter ruler automatic calibration device | |
| CN102749036B (en) | A kind of diameter on-line measurement device for large free forging part | |
| CN102539835A (en) | Control method for installation error angle of quartz flexible accelerometer | |
| CN103033313A (en) | Electrodeless regulative dynamometer torsion calibrating device | |
| CN104807482A (en) | Encoder for measuring steering angles of inspection robots and method for correcting errors of steering angles | |
| CN205066692U (en) | A horizontal base of self -adjusting for absolute laser tracking appearance uses | |
| CN203949666U (en) | The mechanism that a kind of obliquity sensor detects | |
| CN104020783A (en) | Dish type light condenser system employing high precision solar tracking controller | |
| CN106405669B (en) | A kind of zero-initial-length spring, zero-initial-length spring connection structure and dynamic gravity instrument | |
| CN206192492U (en) | Hopper scale calibrating device | |
| CN103487316B (en) | Armature-moment-testing device under a kind of hot vacuum environment | |
| CN103398805B (en) | Three-dimensional nanometer measurement head elastically supported by spiral leaf spring | |
| CN203037245U (en) | Sun orientation device | |
| CN103447791A (en) | Device and method for mounting code discs on basis of mechanical alignment | |
| CN202630968U (en) | Shaft rotation angular accuracy calibration auxiliary device with adjusting function | |
| CN208075811U (en) | A kind of measuring arm with self-balancing axis | |
| CN208923359U (en) | A kind of radar antenna regulating device | |
| CN202757758U (en) | Test platform for electric spindle tester | |
| CN207423133U (en) | A kind of dial framework cushion cover of adjustable height | |
| CN211121708U (en) | Small-abrasion high-precision torque sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |