CN109079826A - A kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume and joint of robot - Google Patents
A kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume and joint of robot Download PDFInfo
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- CN109079826A CN109079826A CN201811189861.3A CN201811189861A CN109079826A CN 109079826 A CN109079826 A CN 109079826A CN 201811189861 A CN201811189861 A CN 201811189861A CN 109079826 A CN109079826 A CN 109079826A
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- 239000011888 foil Substances 0.000 claims abstract description 46
- 230000003750 conditioning effect Effects 0.000 claims abstract description 17
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- 238000002834 transmittance Methods 0.000 claims description 3
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- 230000008878 coupling Effects 0.000 abstract description 12
- 238000010168 coupling process Methods 0.000 abstract description 12
- 238000005859 coupling reaction Methods 0.000 abstract description 12
- 230000035945 sensitivity Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 2
- 229920001971 elastomer Polymers 0.000 description 9
- 239000000806 elastomer Substances 0.000 description 9
- 238000005259 measurement Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses a kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume and joint of robot, it solves the problems, such as that prior art medium sensitivity is low, has that coupling, volume are larger, nonlinearity is big between dimension, has without coupling, compact-sized, small in size, stability is good, effect with high accuracy；Its technical solution are as follows: including orthogonal space beam, output connector, the orthogonal space beam is placed in inside the support housing that upper spherical shell and lower spherical shell are formed by sliding sleeve；The output connector passes through upper spherical shell and is connected with orthogonal space beam；Wherein, orthogonal space beam includes beam supporter and six beam arms being connected with the beam supporter, and the center line of any two beam arm is orthogonal or conllinear；The beam arm side is pasted with the foil gauge group for measuring force and torque, and foil gauge group is changed resistance value and is delivered to conditioning circuit；Beam arm end and sliding sleeve clearance fit, when the deformation of orthogonal space beam, beam arm can be translated along sliding sleeve axial direction thin tail sheep.
Description
Technical field
The present invention relates to field in intelligent robotics more particularly to a kind of orthogonal beam type six-dimension force sensors of diameter of Spherical Volume and machine
Device person joint.
Background technique
With the fast development of industrial intelligent robot technology, people propose the compliance and intelligence of robot
Higher requirement.Wherein joint of robot six-dimension force sensor can be improved the force-sensing ability of joint of robot, to realize
Compliance control and autokinetic movement control of robot etc. provides data supporting, has in Higher-end machines people's technical field wide
Development prospect.
Since 1970s, robot six-dimension force sensor just becomes research hotspot both domestic and external.It is sextuple at present
Force snesor mainly has resistance-strain type, inductance type, condenser type, piezoelectric type and photo-electric etc., wherein most widely used is to answer
Variant six-dimension force sensor has many advantages, such as that small in size, light-weight, high sensitivity, intensity are high, the service life is long.Strain chip six
Under external force, elastomer deforms dimensional force sensor, and the foil gauge being pasted on elastomer generates strain so that resistance
Value changes, and the variation of resistance value is converted into voltage by electric bridge or electric current exports.
In strain-type six-dimension force sensor, the structure of elastomer has very big shadow for the output of entire sensor signal
It rings.Reasonable elastomer structure is very helpful for decoupling and dynamometry.The elastomer of six-dimension force sensor is generally divided into directly
Connect output type (no coupled mode) and indirect output type (coupled mode).Without the direction that coupling output type six-dimension force sensor is according to power
Six elastomers without coupling are set with size, are respectively used to measure the power or torque in single direction, by strain bridge or root
Pass through six components of simple computation power output according to structural constant, measuring speed is fast, but since its volume is larger, is difficult to apply to
In joint of robot, and influenced by machining accuracy and assembly precision, low measurement accuracy；Couple output type six-dimensional force sensing
Device strain bridge per output signal all the way with it is related with each force component, typical structure has beam type, spoke wheel type, illiciumverum ring type
Deng, measurement accuracy is higher, but can just obtain desired signal since sensors with auxiliary electrode has to be decoupled, therefore it is required that sensing
Device has faster conversion speed, and signal output accuracy is also influenced by sensor structure.
Six-dimension force sensor technology still has very big development space at present, wherein how to design a kind of without coupling, structure
It is compact, small in size, stability is good, six-dimension force sensor with high accuracy is sensor field urgent problem to be solved.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of orthogonal beam type six-dimension force sensors of diameter of Spherical Volume
And have without coupling, compact-sized, small in size, stability is good, effect with high accuracy.
A kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume, comprising:
Orthogonal space beam, the orthogonal space beam are placed in the support housing that upper spherical shell and lower spherical shell are formed by sliding sleeve
Portion；
Connector is exported, the output connector passes through upper spherical shell and is connected with orthogonal space beam；
Wherein, orthogonal space beam includes beam supporter and six beam arms being connected with the beam supporter, any two beam
The center line of arm is orthogonal or conllinear；The beam arm side is pasted with the foil gauge group for measuring force and torque, and foil gauge group will
It changes resistance value and is delivered to conditioning circuit；Beam arm end and sliding sleeve clearance fit, when the deformation of orthogonal space beam, beam arm being capable of edge
The translation of sliding sleeve axial direction thin tail sheep.
Further, the beam arm includes the strain beam, flexible joint and guide shaft being connected as one, and the strain beam has four
A foil gauge mounting surface, the guide shaft and sliding sleeve clearance fit.
Further, the upper spherical shell center offers the upper sliding sleeve mounting hole with sliding sleeve interference fit, the upper sliding sleeve
Mounting hole is circumferentially evenly arranged with multiple for exporting the merging hole that connector penetrates.
Further, the upper spherical shell is circumferentially uniformly provided with four upper semi-circle post holes, and each upper semi-circle post holes side is equipped with
Screw mounting hole.
Further, the lower spherical shell center offers the low sleeve mounting hole with sliding sleeve interference fit, the low sleeve
Mounting hole is circumferentially with several electrical connector mounting holes.
Further, the lower spherical shell is circumferentially uniformly provided with four lower half cylindrical holes, and each lower half cylindrical hole side is equipped with
Threaded connection hole.
Further, electrical connector, the output line and electrical connector of conditioning circuit are installed in the electrical connector mounting hole
It is connected.
Further, there is conditioning circuit mounting surface on the inside of the lower spherical shell.
Further, the output connector includes external boss and the multiple dowels for being installed on external boss side,
The dowel end is equipped with the connecting hole for connecting with orthogonal space beam.
The present invention also provides a kind of joint of robot, including the six-dimension force sensor, the output connector with
End effector is connected, and lower spherical shell and robot arm are connected, and when use, six-dimensional force to be measured acted on external boss, through even
The beam supporter that muscle is transferred in orthogonal space beam is connect, the beam arm then through orthogonal space beam is transferred in support housing；In power
In transmittance process, beam arm deforms, and foil gauge group resistance value is made to change, and then variation resistance value is delivered to conditioning circuit,
It is exported after conditioned processing of circuit by electrical connector.
Compared with prior art, the beneficial effects of the present invention are:
(1) elastomer of the present invention is orthogonal space beam, and symmetrical configuration, measurement error are small, the precision base in each freedom degree
This is identical；
(2) structure of the invention is compact, small in size, light-weight, convenient for realizing the measurement of six-dimensional force in insertion joint of robot；
(3) use the elastomer of the present invention is orthogonal space girder construction, is powerlessly coupled in three coordinate spaces, only in power and
There are simple linear coupling relationships between torque, are conducive to the high speed precise measurement of six-dimensional force, are also convenient for the calibration of sensor；
(4) guide shaft of the invention and sliding sleeve clearance fit, when the deformation of orthogonal space beam, guide shaft can be axially small along sliding sleeve
Displacement translation, makes on the capable beam arm for being loaded onto other several directions, can more accurately realize survey of the sensor to power, torque
Amount, and the coupling of power can be reduced.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the schematic diagram of elastomer of the invention；
Fig. 3 is lower spherical shell schematic diagram of the invention；
Fig. 4 is upper spherical shell schematic diagram of the invention；
Fig. 5 is output connector schematic diagram of the invention；
Fig. 6 is working method schematic diagram of the present invention；
Fig. 7 is strain gauge adhesion schematic diagram in the present invention；
Wherein: 1- orthogonal space beam, spherical shell under 2-, the upper spherical shell of 3-, 4- export connector, 5- sliding sleeve, 6- attachment screw, 7-
Fastening screw, 8- foil gauge group, 9- conditioning circuit, 10- electrical connector, 11- beam arm, 12- beam supporter, 13- screw hole, 14-
Guide shaft, 15- flexible joint, 16- strain beam, 17- foil gauge mounting surface, 20- electrical connector mounting hole, 21- fastening connection hole, 22-
Low sleeve mounting hole, 23- lower half cylindrical hole, 24- threaded connection hole, 25- conditioning circuit mounting surface, 30- upper semi-circle post holes, 31-
Be placed in hole, 32- upper sliding sleeve mounting hole, 33- screw mounting hole, 40- dowel, 41- connecting hole, the external boss of 42-, 50,52,
53,54,55- foil gauge group.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, exist in the prior art that sensitivity is low, has coupling, volume larger, non-thread between dimension
Property the big deficiency of degree, in order to solve technical problem as above, present applicant proposes a kind of orthogonal beam type six-dimensional forces of diameter of Spherical Volume to pass
Sensor and joint of robot.
In a kind of typical embodiment of the application, as shown in Fig. 1-Fig. 7, a kind of orthogonal beam type of diameter of Spherical Volume is provided
Six-dimension force sensor, including orthogonal space beam 1, upper spherical shell 3, lower spherical shell 2, output connector 4 and conditioning circuit 9, upper 3 He of spherical shell
Lower spherical shell 2 forms support housing by the installation of fastening screw 7, and orthogonal space beam 1, conditioning circuit 9 are placed in inside support housing；Institute
Output connector 4 is stated to be connected across upper spherical shell 3 with orthogonal space beam 1.
As shown in Fig. 2, the orthogonal space beam 1 includes beam supporter 12 and six beam arms 11, the beam supporter 12 is
Stereoeffect, beam supporter 12 are respectively mounted two beam arms 11 along x-axis, y-axis, z-axis direction, in any two beam arm 11
Heart line is orthogonal or conllinear.
Preferably, the beam supporter 12 is sphere structure.
The beam arm 11 includes strain beam 16, flexible joint 15 and the guide shaft 14 being connected as one, 16 one end of strain beam and beam
Supporter 12 is connected, and 16 other end of strain beam is connected by flexible joint 15 with guide shaft 14, and the flexible joint 15 can make beam arm
11 bending is easier.
The guide shaft 14 and 5 clearance fit of sliding sleeve, when orthogonal space beam 1 deforms, guide shaft 14 can be axial small along sliding sleeve 5
Displacement translation, makes on the capable beam arm 11 for being loaded onto other several directions, can more accurately realize sensor to power, torque
Measurement, and the coupling of power can be reduced.
It is equipped between the adjacent beam arm 11 that x-axis, y-axis direction are installed for installing output connector 4 on beam supporter 12
Screw hole 13.
16 side of strain beam is equipped with the foil gauge mounting surface 17 for attaching foil gauge group 8, each strain beam 16
All have four foil gauge mounting surfaces 17.
As shown in figure 5, the output connector 4 includes external boss 42 and multiple dowels 40, the dowel 40 is solid
Due to external 42 inside of boss (being inside between the above spherical shell 3 and lower spherical shell 2).
40 end of dowel is equipped with the connecting hole 41 matched with 12 upper bolt aperture 13 of beam supporter, exports connector
4, beam supporter 12 is connected by being inserted into attachment screw 6 in screw hole 13, connecting hole 41.
The dowel 42 can be two, three or four.
As shown in figure 4,3 center of upper spherical shell offers upper sliding sleeve mounting hole 32, the upper sliding sleeve mounting hole 32 is circumferential
It is evenly arranged with multiple for exporting the merging hole 31 that the dowel 42 of connector 4 penetrates.
The shape for being placed in hole 31 is identical as dowel 42 as number.
The upper spherical shell 3 is circumferential to be uniformly provided with four upper semi-circle post holes 30, and each 30 side of upper semi-circle post holes is equipped with screw
Mounting hole 33.
As shown in figure 3,2 center of lower spherical shell offers low sleeve mounting hole 22, the low sleeve mounting hole 22 is circumferential
Equipped with several electrical connector mounting holes 20.
The lower spherical shell 2 is circumferential to be uniformly provided with four lower half cylindrical holes 23 matched with upper semi-circle post holes 30, upper semi-circle
Post holes 30 and lower half cylindrical hole 23 form sliding sleeving hole；The upper sliding sleeve mounting hole 32, low sleeve mounting hole 22, sliding sleeving hole with cunning
5 interference fit of set.
Each 22 side of lower half cylindrical hole is equipped with threaded connection hole 24.
There is conditioning circuit mounting surface 25 on the inside of the lower spherical shell 2.
Electrical connector 10, output line and 10 phase of electrical connector of conditioning circuit 9 are installed in the electrical connector mounting hole 20
Even.
The conditioning circuit 9 uses existing circuit structure, and details are not described herein again.
As shown in fig. 6, foil gauge group 51 and foil gauge group 50 are used to measure power Fx along the x-axis direction and rotate along z-axis
Torque Mz, foil gauge group 52 and foil gauge group 53 are used to measure the power Fy along the y-axis direction and torque Mx along x-axis rotation, strain
Piece group 54 and foil gauge group 55 are used to measure the power Fy along the z-axis direction and torque My along y-axis rotation.
It is following respectively by the power Fx in the direction x and along z-axis rotation torque Mz for illustrate beam arm deformation and dynamometry mistake
Journey.
When loading Fx power, two beam arms 11 along the x-axis direction slide along sliding sleeve 5 is axial, at this time the two beam arms
11 deformation extents are minimum, and paste the beam arm 11 of foil gauge group 51 and foil gauge group 50 deformation occurs, and foil gauge is generated or stretched simultaneously
Variation that is long or shortening simultaneously, change in resistance are able to reflect the power Fx in the direction x.
When loading Mz torque, and deformation occurs for patch foil gauge group 51 and the beam arm 11 of foil gauge group 50, two side strains
Piece on one side extend and while shorten；And when loading Fx power and Mz torque, to foil gauge group 52, foil gauge group 53, foil gauge group
54 and foil gauge group 55 resistance value influence very little.
Assuming that the power size that foil gauge group 50 and foil gauge group 51 characterize is respectively F50, F51, as F50=F51, indicate
Only by power Fx in the x-direction；Work as F50=-F51, indicates only by torque Mz in the z-direction；As F50 ≠ F51 and F50 ≠-
F51 is indicated i.e. by power Fx in the x-direction, also by torque Mz in the z-direction.
Therefore, Fx and Mz calculation method can indicate are as follows:
Fx=F50+F51 (1)
Mx=F51*r51-F50*r50 (2)
In formula, r51, r52 are the equivalent action power radius at foil gauge group 51 and foil gauge group 50.
Similarly, the power and torque of available y and the direction z, six-dimensional force can indicate are as follows:
There is simple linear coupling it can be seen from formula (3) between each axial power without coupling, between power and torque
It closes, calculates relatively simple.
The six-dimension force sensor of the application can realize six-dimensional force measurement using six foil gauges, can also be in foil gauge
Increase by six foil gauges on the foil gauge mounting surface 17 on pasted beam arm opposite and is used for redundant measurement six-dimensional force (i.e. each foil gauge
Group includes two foil gauges), as shown in Figure 6.
Foil gauge can also be respectively mounted for redundant measurement six-dimensional force by each foil gauge mounting surface 17 in orthogonal space beam,
Four foil gauges are mounted on i.e. each beam arm, as shown in Figure 7.
In the another embodiment of the application, a kind of joint of robot is provided, including six in above embodiment
Dimensional force sensor, the output connector and end effector are connected, and lower spherical shell and robot arm are connected, and when use is to be measured
Six-dimensional force acts on external boss, the beam supporter in orthogonal space beam is transferred to through dowel, then through orthogonal space beam
Beam arm be transferred in support housing.
In power transmittance process, beam arm deforms, and foil gauge group resistance value is made to change, and then will variation resistance value conveying
To conditioning circuit, conditioned circuit is exported after receiving acquisition by electrical connector.It is answered because the resistance value of foil gauge group variation is able to reflect
Become larger small, and then the six-dimensional force size on acted on beam supporter can be characterized.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. a kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume characterized by comprising
Orthogonal space beam, the orthogonal space beam are placed in inside the support housing that upper spherical shell and lower spherical shell are formed by sliding sleeve；
Connector is exported, the output connector passes through upper spherical shell and is connected with orthogonal space beam；
Wherein, orthogonal space beam includes beam supporter and six beam arms being connected with the beam supporter, any two beam arm
Center line is orthogonal or conllinear；The beam arm side is pasted with the foil gauge group for measuring force and torque, and foil gauge group is become
Change resistance value and is delivered to conditioning circuit；Beam arm end and sliding sleeve clearance fit, when the deformation of orthogonal space beam, beam arm can be along sliding sleeve
Axial thin tail sheep translation.
2. a kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume according to claim 1, which is characterized in that the beam arm
Including the strain beam, flexible joint and guide shaft being connected as one, strain beam tool there are four foil gauge mounting surface, the guide shaft with
Sliding sleeve clearance fit.
3. a kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume according to claim 1, which is characterized in that the upper ball
Shell center offers the upper sliding sleeve mounting hole with sliding sleeve interference fit, and the upper sliding sleeve mounting hole is circumferentially evenly arranged with multiple use
In the merging hole that output connector penetrates.
4. a kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume according to claim 3, which is characterized in that the upper ball
Shell is circumferentially uniformly provided with four upper semi-circle post holes, and each upper semi-circle post holes side is equipped with screw mounting hole.
5. a kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume according to claim 1, which is characterized in that the lower ball
Shell center offers the low sleeve mounting hole with sliding sleeve interference fit, and the low sleeve mounting hole is circumferentially with several electrical connectors
Mounting hole.
6. a kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume according to claim 5, which is characterized in that the lower ball
Shell is circumferentially uniformly provided with four lower half cylindrical holes, and each lower half cylindrical hole side is equipped with threaded connection hole.
7. a kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume according to claim 5, which is characterized in that described to be electrically connected
Electrical connector is installed, the output line of conditioning circuit is connected with electrical connector in fitting mounting hole.
8. a kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume according to claim 5, which is characterized in that the lower ball
There is conditioning circuit mounting surface on the inside of shell.
9. a kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume according to claim 1, which is characterized in that the output
Connector includes external boss and the multiple dowels for being installed on external boss side, the dowel end be equipped with for sky
Between orthogonal beams members connect connecting hole.
10. a kind of joint of robot, which is characterized in that described including the six-dimension force sensor as described in claim 1-9 is any
Connector and end effector is exported to be connected, lower spherical shell and robot arm are connected, when use six-dimensional force to be measured act on it is outer
It connects on boss, is transferred to the beam supporter in orthogonal space beam through dowel, the beam arm then through orthogonal space beam is transferred to branch
It supports on shell；In power transmittance process, beam arm deforms, and so that foil gauge group resistance value is changed, and then it is defeated to change resistance value
It send to conditioning circuit, is exported after conditioned processing of circuit by electrical connector.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811189861.3A CN109079826A (en) | 2018-10-12 | 2018-10-12 | A kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume and joint of robot |
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| CN201811189861.3A CN109079826A (en) | 2018-10-12 | 2018-10-12 | A kind of orthogonal beam type six-dimension force sensor of diameter of Spherical Volume and joint of robot |
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| CN111728744A (en) * | 2020-05-15 | 2020-10-02 | 吉林大学 | Spherical bionic six-dimensional force sensor |
| CN113848011A (en) * | 2021-09-23 | 2021-12-28 | 哈尔滨工程大学 | Structural decoupling type six-dimensional force sensor and measuring method thereof |
| CN116698259A (en) * | 2023-08-04 | 2023-09-05 | 锐马（福建）电气制造有限公司 | Three-dimensional four-axis multidimensional force sensor |
| CN116698260A (en) * | 2023-07-07 | 2023-09-05 | 锐马（福建）电气制造有限公司 | Three-dimensional six-dimensional force sensor |
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| CN113848011A (en) * | 2021-09-23 | 2021-12-28 | 哈尔滨工程大学 | Structural decoupling type six-dimensional force sensor and measuring method thereof |
| CN116698260A (en) * | 2023-07-07 | 2023-09-05 | 锐马（福建）电气制造有限公司 | Three-dimensional six-dimensional force sensor |
| CN116698260B (en) * | 2023-07-07 | 2023-11-14 | 锐马（福建）电气制造有限公司 | Three-dimensional six-dimensional force sensor |
| CN116698259A (en) * | 2023-08-04 | 2023-09-05 | 锐马（福建）电气制造有限公司 | Three-dimensional four-axis multidimensional force sensor |
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