CN109141723A - A kind of special operation multi-dimensional robot force snesor - Google Patents
A kind of special operation multi-dimensional robot force snesor Download PDFInfo
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- CN109141723A CN109141723A CN201811198707.2A CN201811198707A CN109141723A CN 109141723 A CN109141723 A CN 109141723A CN 201811198707 A CN201811198707 A CN 201811198707A CN 109141723 A CN109141723 A CN 109141723A
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- circumferential
- elastomer
- special operation
- force snesor
- disk
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/166—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using photoelectric means
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- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The present disclosure discloses a kind of special operation multi-dimensional robot force snesors, including sequentially connected pedestal, elastomer, sealing cover and upper flange from bottom to up, elastomer lower end are provided with collecting circuit board, and collecting circuit board is fixedly connected with pedestal；Elastomer includes zone center, along the radial girders of zone center circle distribution, circumferential beam is provided on the outside of radial girders, the end of each circumferential direction beam is connected by circumferential support, circumferential beam and circumferential support is set to connect journey ring bodies, and it is provided with arc groove on the outside of circumferential beam, so that stress concentrates on arc-shaped slot two sides, the sensing element of power and torque size suffered by measurement elastomer is provided in the radial girders.
Description
Technical field
This disclosure relates to a kind of special operation multi-dimensional robot force snesor.
Background technique
With the rapid advances of the information technologies such as computer, microelectronics, robot technology obtains rapid development, intelligence
Energy degree is higher and higher, and application range has obtained great extension.Robot at this stage can be roughly divided into according to its application environment
Three categories are industrial robot, service robot and special operation robot respectively.Special operation robot refers in certain spies
Under the conditions of different, such as in deep space exploration, underwater operation, high voltage, polar region scientific investigation and specific use, such as remote operating assembly, rob
Robot used in the dangerous disaster relief, lightning protection are explosive etc..The job task complexity of special operation robot is special, and vulnerable to various evils
Bad environmental disturbances, when work break down when, often can not human intervention, have to its capacity of will and intelligence degree very high
It is expected that.Therefore, special operation robot is often to robot perception (sensor, information fusion), decision (intelligent control), execution
(mechanism and driving) and interaction (man-machine, multimachine, networking) four big technology are put forward higher requirements.Special operation robot should
Have the characteristics that the abilities such as high reliability, high-adaptability, real-time and Context aware modeling, autonomous control.Special operation machine
Many technical problems are covered in the development of device people, as novel sensor technology, autonomous control technology, Sensing model technology, failure are examined
Disconnected and reliability analysis technology etc..
Special operation robot is usually operated in the unstructured and uncertain situation of environment, environment information acquisition difficulty
Increase.At this point, robot obtains the ability of effective information in external environment by externally perception, be guarantee to smoothly complete it is subsequent
The basis of operation.In numerous appreciable external environment information, such as vision, the sense of hearing, smell, power feel, the perception that power is felt are
Robot one of basis and crucial environment information acquisition method the most.Power feels the accurate acquisition of information, is robot to environment
The cognition of state and basis and the premise for smoothly completing subsequent force feedback and power control.
Power feels that information includes power and two kinds of moment information.Power and moment information in three-dimensional space is asked can decompose respectively again
For three components under cartesian coordinate system.Multi-dimension force sensor be one kind can measure simultaneously two or more directions with
On power or moment components force snesor.Multi-dimensional robot force snesor is usually loaded in end effector of robot and machine
Between tool arm, for detecting multidimensional reciprocal force and torque between the machine human and environment in operation, and reciprocal force/torque is anti-
It feeds study of robotic force control system, is the information acquisition device that mechanical arm realizes power control.As teleoperation robot needs pass through
Simultaneously feedback effect makes operator generate power feel and faces the contact force of multi-dimension force sensor inspecting manipuator and environment in robot hand
Field sense effect, to guarantee smoothly to manipulate far from operations such as robot completion crawl, measurement, mobile and placements.Special operation machine
The working environment of device people, such as high vacuum, microgravity, intense radiation, the high/low temperature of robot for space frequently replace particular surroundings, and
Auxiliary docking mission and sky between space cabins and airship ask that maintenance and the fittage in cabin etc. include big contact force/torque
Specific use makes the design of multi-dimension force sensor have bigger difficulty.In addition, it is contemplated that space mechanism is at high cost and maintenance is tired
Difficulty, the high precision position control of space tasks operation, power control and the requirement of high success rate, and multi-dimension force sensor should be as much as possible
Improve precision, reliability and service life etc..Therefore, the design studies of special operation multi-dimensional robot force snesor have important meaning
Justice.
Summary of the invention
The disclosure to solve the above-mentioned problems, proposes a kind of special operation multi-dimensional robot force snesor, disclosure tool
There are higher reliability and measurement accuracy.
To achieve the goals above, the disclosure adopts the following technical scheme that
A kind of special operation multi-dimensional robot force snesor, including sequentially connected pedestal, elastomer, sealing from bottom to up
Lid and upper flange, elastomer lower end are provided with collecting circuit board, and collecting circuit board is fixedly connected with pedestal；
The elastomer includes zone center, along the radial girders of zone center circle distribution, is provided with circumferential direction on the outside of radial girders
The end of beam, each circumferential direction beam is connected by circumferential support, and circumferential beam and circumferential support is made to connect journey ring bodies, and circumferential beam
Outside be provided with arc groove so that stress concentrates on arc-shaped slot two sides, measurement elastomer is provided in the radial girders
The sensing element of suffered power and torque size.
Further, the upper flange and pedestal are arranged in parallel, and are fixed on the upper and lower end of elastomer by nut respectively.
Further, the radial girders are evenly distributed on zone center periphery, and one end is fixedly connected with zone center, the other end with
The circumferential T-shaped connection of beam, circumferential beam are the top cross-arm of T-type, and radial girders are the vertical bar section of T-type.
Further, the circumferential beam and circumferential support are evenly distributed on the periphery of zone center, the circumferential direction beam and circumferential direction
Support interval setting one by one, the both ends of circumferential beam are fixedly connected with the adjacent end circumferentially supported respectively.
Further, the zone center is in a horizontal state with the ring bodies connected by circumferential support and circumferential beam.
Further, the radial girders, circumferential beam and the quantity that circumferentially supports are identical.
Further, the upper flange includes disk and the boss that is arranged on disk, outside the disk circumferentially
There are multiple threaded holes, to be fixedly connected with extraneous force application object, the zone center of the boss and elastomer is coaxial.
Further, the sealing cover includes disk and multiple boss, and middle of the disc is provided with a through-hole, to accommodate bullet
The zone center of property body, disk border are uniformly distributed multiple boss；A threaded hole, the threaded hole and base are made a call among each boss
The threaded hole being arranged on seat is corresponding, is threadedly coupled.
Further, the pedestal includes disk, hollow cylinder and multiple trapezoid boss, and disk and hollow cylinder, which are fixed, to be connected
It connects；A circular hole is opened in hollow cylinder side at disk, for drawing the internal circuit line of collecting circuit board；On hollow cylinder
It is provided with multiple threaded holes, the threaded hole one-to-one correspondence of the threaded hole and sealing cover；It is uniformly distributed on the inside of hollow cylinder multiple
Trapezoid boss；The trapezoid boss is fixedly connected with hollow cylinder, and each trapezoid boss connects elastomer and pedestal.
Further, the disk periphery uniformly beats multiple threaded holes, connects for fixing with extraneous force application object；It is described
The threaded hole of threaded hole and upper flange corresponds.
The course of work of the disclosure is as follows:
The disclosure is to be realized by measuring the drift of bragg wavelength to measured detection.When outer bound pair multi-dimensional force senses
When device applied force and torque, good extensibility of the sensor of stress due to aluminum alloy materials, meeting stretching, extension when receiving applied force,
The fiber grating being pasted on elastomer can be stretched with the stretching, extension of matrix, and the screen periods of fiber grating will change, from
And the central wavelength of Bragg grating will change accordingly, can get fiber bragg grating by Photoelectric Detection module
Photoelectric Detection module is connected to the pcolor software of computer by center wavelength variation, will be shown accordingly on the software
Power and torque size are shown.
Compared with prior art, the disclosure has the beneficial effect that
For the structure type of disclosure elastomer, optical fiber light can be arranged on the different location of radial girders and circumferential beam
Grid.Optical fiber touch sensor is the Wavelength demodulation principle based on optical fiber, and elastomeric material extensibility is good, can applied
It is flexibly stretched when power, to drive the stretching of Bragg grating；With optical fiber fabrication touch sensor not by electromagnetic interference, moreover it is possible to
It is enough to realize multiplexing, solve wiring challenge；Circumferential beam opens up four arc grooves, and lotus root is closed between can reducing dimension, thus simple
Change and understand lotus root algorithm, improves measurement accuracy；Disclosure elastomer can overall processing, reduce repeatability error, structure is simple, easily
In processing.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the disclosure.
Fig. 1 faces partial sectional view for the present embodiment；
Fig. 2 is the overhead, partial cut-away view of the present embodiment；
Fig. 3 is the perspective view that the present embodiment elastomer pastes fiber grating；
Fig. 4 is the perspective view of the present embodiment upper flange；
Fig. 5 is the perspective view of the present embodiment sealing cover；
Fig. 6 is the perspective view of the present embodiment sensor base；
Specific embodiment:
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms used herein has usual with disclosure 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 disclosure.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.
In the disclosure, term for example "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", " side ",
The orientation or positional relationship of the instructions such as "bottom" is to be based on the orientation or positional relationship shown in the drawings, only to facilitate describing this public affairs
The relative for opening each component or component structure relationship and determination, not refers in particular to either component or element in the disclosure, cannot understand
For the limitation to the disclosure.
In the disclosure, term such as " affixed ", " connected ", " connection " be shall be understood in a broad sense, and indicate may be a fixed connection,
It is also possible to be integrally connected or is detachably connected；It can be directly connected, it can also be indirectly connected through an intermediary.For
The related scientific research of this field or technical staff can determine the concrete meaning of above-mentioned term in the disclosure as the case may be,
It should not be understood as the limitation to the disclosure.
As depicted in figs. 1 and 2, special operation multi-dimensional robot force snesor has good sensitivity, by titanium alloy with
Aluminum alloy materials are made.It include upper flange 1, sealing cover 2, sensor base 3, hexagonal socket nut 4, elastomer 5, fiber grating
6, cross recess fillister head screw 7, collecting circuit board 8.Wherein, elastomer 4 is made of aluminum alloy materials, has good extensibility,
Meeting stretching, extension when receiving applied force, drives the stretching of Bragg grating.Fiber bragg grating can get by Photoelectric Detection module
Center wavelength variation, Photoelectric Detection module is connected to the pcolor software of computer, so as to measure in space coordinates
Three component Fx, Fy, Fz and three torques Mx, My, Mz size and Orientation.Sealing cover 2 and elastomer 5 pass through screw respectively
7 are fixedly connected in sensor base 3, and upper flange 1 and sensor base 3 are parallel to each other, and are fixed on bullet by hexagonal socket nut 4
On property body 5.Collecting circuit board 8 is located at 5 lower section of elastomer, is fixedly connected by bolt with sensor base 3.Fiber grating 6 is logical
Glue is crossed to be fixedly connected with elastomer 5.
Fig. 3 is 5 perspective view of elastomer.The structure type of multi-dimension force sensor elastomer is: including zone center 9, radial girders
10, circumferential support 11, circumferential beam 12, arc-shaped slot 13, fixing screwed hole 14, fiber grating 15.
Radial girders 10 are evenly distributed on 9 periphery of zone center, and 10 one end of radial girders and the periphery of zone center 9 connect firmly, the other end
It is connect with circumferential beam 12 in T-shape, circumferential beam 12 is the top cross-arm of T-type, and radial girders 10 are the vertical bar section of T-shape；Radial girders
On be pasted with sensing element, for measuring power suffered by elastomer and torque size.
Circumferential beam 12 and circumferential support 11 are evenly distributed on the periphery of zone center 9；And circumferential beam 12 and circumferential support 11
Interval setting one by one, the both ends of circumferential beam 12 are fixedly connected with the end of adjacent circumferential support 11 respectively, make circumferential 12 He of beam
Circumferential 11 connection journey ring bodies of support.
In Fig. 3, zone center 9 and the ring bodies by circumferentially supporting 11 circumferential beams 12 to connect into are in a horizontal state.Radial girders
10, circumferential beam 12 and the quantity of circumferential support 11 are identical, be four and they structure feature it is identical.
It is provided with arc-shaped slot 13 on circumferential beam in Fig. 3, stress is made to concentrate on 13 two sides of arc-shaped slot.In circumferential support 11
It is provided with threaded hole, for the fixation to elastomer.
Fig. 4 is 1 perspective view of multi-dimension force sensor upper flange, is formed by connecting by a disk and boss, disk periphery is uniform
6 threaded holes are made a call to, for being fixedly connected with extraneous force application object.Four threaded holes, the threaded hole and elastomer 5 are made a call on boss
Threaded hole size is identical and concentric.
Fig. 5 is 2 perspective view of multi-dimension force sensor sealing cover, is formed by connecting by a disk and four boss, middle of the disc
Get through the through-hole of a class square.Disk border is uniformly distributed four boss.A threaded hole is made a call among each boss, it is described
Threaded hole and 3 threaded hole of sensor base are corresponding.For being threadedly coupled with sensor base 3.
Fig. 6 is the perspective view of multi-dimension force sensor pedestal 3, is made of disk, hollow cylinder and four trapezoid boss.Disk
6 threaded holes 17 are uniformly made a call in periphery, connect for fixing with extraneous force application object.The threaded hole 17 and upper flange threaded hole one are a pair of
It answers.Disk is fixedly connected with hollow cylinder.Cylindrical side opens a circular hole 16 at disk, for drawing internal circuit line
Come.It is opened on the upside of hollow cylinder and uniformly opens four threaded holes 20, the threaded hole and 2 threaded hole of sealing cover correspond.Open circles
Four trapezoid boss 18 are uniformly distributed on the inside of column.The boss is fixedly connected with hollow cylinder.It is opened on the upside of each trapezoid boss
One threaded hole 19.Threaded hole 14 on threaded hole 19 and elastomer 5 corresponds.For elastomer 5 and sensor base 3
It is threadedly coupled.
Certainly, the number in above-described embodiment is only example, can be modified in other embodiments.
The foregoing is merely preferred embodiment of the present disclosure, are not limited to the disclosure, for the skill of this field
For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principle of the disclosure, it is made any to repair
Change, equivalent replacement, improvement etc., should be included within the protection scope of the disclosure.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of special operation multi-dimensional robot force snesor, it is characterized in that: including sequentially connected pedestal, elasticity from bottom to up
Body, sealing cover and upper flange, elastomer lower end are provided with collecting circuit board, and collecting circuit board is fixedly connected with pedestal；
The elastomer includes zone center, along the radial girders of zone center circle distribution, circumferential beam is provided on the outside of radial girders, respectively
The end of a circumferential direction beam is connected by circumferential support, so that circumferential beam and circumferential support is connected journey ring bodies, and circumferential beam is outer
Side is provided with arc groove, so that stress concentrates on arc-shaped slot two sides, is provided with suffered by measurement elastomer in the radial girders
The sensing element of the power and torque size that arrive.
2. a kind of special operation multi-dimensional robot force snesor as described in claim 1, it is characterized in that: the upper flange and base
Seat is arranged in parallel, and is fixed on the upper and lower end of elastomer by nut respectively.
3. a kind of special operation multi-dimensional robot force snesor as described in claim 1, it is characterized in that: the radial girders are uniform
It is centrally located platform periphery, one end is fixedly connected with zone center, and the other end and the T-shaped connection of circumferential beam, circumferential beam is the top of T-type
Portion's cross-arm, radial girders are the vertical bar section of T-type.
4. a kind of special operation multi-dimensional robot force snesor as described in claim 1, it is characterized in that: the circumferential direction beam and week
The periphery of zone center, the circumferential direction beam and circumferential support interval setting one by one, the both ends point of circumferential beam are evenly distributed on to support
It is not fixedly connected with the adjacent end circumferentially supported.
5. a kind of special operation multi-dimensional robot force snesor as described in claim 1, it is characterized in that: the zone center with by
The ring bodies that circumferential support and circumferential beam connect into is in a horizontal state.
6. a kind of special operation multi-dimensional robot force snesor as described in claim 1, it is characterized in that: the radial girders, week
It is identical with the quantity circumferentially supported to beam.
7. a kind of special operation multi-dimensional robot force snesor as described in claim 1, it is characterized in that: the upper flange includes
Disk and the boss being arranged on disk, the disk circumferentially have multiple threaded holes outside, with solid with extraneous force application object
Fixed connection, the zone center of the boss and elastomer are coaxial.
8. a kind of special operation multi-dimensional robot force snesor as described in claim 1, it is characterized in that: the sealing cover includes
Disk and multiple boss, middle of the disc are provided with a through-hole, and to accommodate the zone center of elastomer, disk border is uniformly distributed more
A boss；A threaded hole is made a call among each boss, the threaded hole being arranged on the threaded hole and pedestal is corresponding, carries out screw thread company
It connects.
9. a kind of special operation multi-dimensional robot force snesor as described in claim 1, it is characterized in that: the pedestal includes circle
Disk, hollow cylinder and multiple trapezoid boss, disk are fixedly connected with hollow cylinder；One is opened at disk in hollow cylinder side
Circular hole, for drawing the internal circuit line of collecting circuit board；Be provided with multiple threaded holes on hollow cylinder, the threaded hole with it is close
The threaded hole of capping corresponds；Multiple trapezoid boss are uniformly distributed on the inside of hollow cylinder；The trapezoid boss and hollow cylinder
Body is fixedly connected, and each trapezoid boss connects elastomer and pedestal.
10. a kind of special operation multi-dimensional robot force snesor as claimed in claim 9, it is characterized in that: the disk periphery
Multiple threaded holes are uniformly beaten, are connected for being fixed with extraneous force application object；The threaded hole of the threaded hole and upper flange corresponds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811198707.2A CN109141723A (en) | 2018-10-15 | 2018-10-15 | A kind of special operation multi-dimensional robot force snesor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811198707.2A CN109141723A (en) | 2018-10-15 | 2018-10-15 | A kind of special operation multi-dimensional robot force snesor |
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| CN201811198707.2A Pending CN109141723A (en) | 2018-10-15 | 2018-10-15 | A kind of special operation multi-dimensional robot force snesor |
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Cited By (8)
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| CN112743527A (en) * | 2019-10-31 | 2021-05-04 | 精工爱普生株式会社 | Robot |
| CN113188703A (en) * | 2021-04-24 | 2021-07-30 | 首都医科大学宣武医院 | Three-dimensional force sensor and measuring method |
| CN113607313A (en) * | 2021-07-09 | 2021-11-05 | 武汉理工大学 | Laminated fiber grating six-dimensional force-torque sensor based on C-shaped beam |
| CN113884228A (en) * | 2021-09-29 | 2022-01-04 | 燕山大学 | Metallized fiber grating stress sensor suitable for cold-rolled plate shape detection |
| CN114858336A (en) * | 2022-05-17 | 2022-08-05 | 重庆交通大学 | Low-coupling fiber grating three-dimensional force sensor |
| CN115014760A (en) * | 2022-05-06 | 2022-09-06 | 武汉理工大学 | Conversion elastomer of flat strain type axial pressure sensor |
| CN115435951A (en) * | 2022-08-19 | 2022-12-06 | 山东大学 | Fiber grating six-dimensional force sensor and working method thereof |
| CN116007820A (en) * | 2023-02-21 | 2023-04-25 | 广东智能无人系统研究院(南沙) | Deep sea six-dimensional force sensor |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112743527B (en) * | 2019-10-31 | 2023-07-04 | 精工爱普生株式会社 | Robot |
| CN112743527A (en) * | 2019-10-31 | 2021-05-04 | 精工爱普生株式会社 | Robot |
| CN113188703A (en) * | 2021-04-24 | 2021-07-30 | 首都医科大学宣武医院 | Three-dimensional force sensor and measuring method |
| CN113607313A (en) * | 2021-07-09 | 2021-11-05 | 武汉理工大学 | Laminated fiber grating six-dimensional force-torque sensor based on C-shaped beam |
| CN113884228A (en) * | 2021-09-29 | 2022-01-04 | 燕山大学 | Metallized fiber grating stress sensor suitable for cold-rolled plate shape detection |
| CN113884228B (en) * | 2021-09-29 | 2024-03-26 | 燕山大学 | Metallized fiber bragg grating stress sensor suitable for cold-rolled sheet shape detection |
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| CN115014760A (en) * | 2022-05-06 | 2022-09-06 | 武汉理工大学 | Conversion elastomer of flat strain type axial pressure sensor |
| CN114858336B (en) * | 2022-05-17 | 2023-12-01 | 重庆交通大学 | Low-coupling fiber grating three-dimensional force sensor |
| CN114858336A (en) * | 2022-05-17 | 2022-08-05 | 重庆交通大学 | Low-coupling fiber grating three-dimensional force sensor |
| CN115435951A (en) * | 2022-08-19 | 2022-12-06 | 山东大学 | Fiber grating six-dimensional force sensor and working method thereof |
| CN115435951B (en) * | 2022-08-19 | 2024-06-07 | 山东大学 | Fiber bragg grating six-dimensional force sensor and working method thereof |
| CN116007820A (en) * | 2023-02-21 | 2023-04-25 | 广东智能无人系统研究院(南沙) | Deep sea six-dimensional force sensor |
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Application publication date: 20190104 |