CN109580988B - Acceleration sensor - Google Patents
Acceleration sensor Download PDFInfo
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- CN109580988B CN109580988B CN201910044641.XA CN201910044641A CN109580988B CN 109580988 B CN109580988 B CN 109580988B CN 201910044641 A CN201910044641 A CN 201910044641A CN 109580988 B CN109580988 B CN 109580988B
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- rod
- connecting rod
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- protection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/12—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by alteration of electrical resistance
- G01P15/122—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by alteration of electrical resistance by metal resistance strain gauges, e.g. wire resistance strain gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Pressure Sensors (AREA)
Abstract
The utility model provides an acceleration sensor, includes between upper platform and the lower platform, is provided with the elastomer between upper platform and the lower platform, is provided with spherical quality piece on the upper platform, the elastomer is vertical beam structure, including the elastic connection pole, the elastic connection pole includes connecting rod, lower connecting rod and the elastic component who connects connecting rod and lower connecting rod, and the upper end of going up the connecting rod is connected on the upper platform, and the lower extreme of lower connecting rod is connected on the lower platform, the elastic component is V type spare, and the upper end and the upper connecting rod of V type spare are connected, and the lower extreme is connected with the lower connecting rod, pastes the foil gage at stress concentration point. When the sensor is used, the spherical mass block is arranged on the upper platform, and when acceleration is applied, stress is concentrated on the elastic component by using a stress concentration method, the peak stress of the elastic component is increased within the elastic limit range, and a resistance strain gauge is posted at the stress concentration position, so that a measuring circuit and an input signal source are greatly improved, and the measuring precision of the sensor is improved. The sensor can effectively protect the stress concentration position during the exceeding amount.
Description
Technical Field
The invention belongs to the sensor technology, and particularly relates to a multi-dimensional inertial acceleration sensor for a wrist of a robot-like body.
Background
The multi-dimensional sensor for the wrist of the humanoid robot is a sensor with small measuring range, small size and high sensitivity. Its role on humanoid robot wrist: the inertial force generated by the acceleration of the hand and the held object can affect the movement of the wrist of the robot, an acceleration sensor is needed to measure the acceleration, the acceleration is provided for a control system through a feedback device, and the inertial force affecting the wrist of the robot is counteracted through the control system.
The sensors studied at home and abroad at present can be generally divided into parallel sensors and non-parallel sensors. When the platform to be measured receives a force, the elastic connecting rod between the platform to be measured and the fixed platform generates a shape trace, the strain gauge on the rod deforms along with the connecting rod, the circuit is measured, an electric signal is output, and the electric signal is reversely pushed out according to the conversion of the sensor. The parallel acceleration sensor is used for measuring the acceleration of the platform, the platform to be measured is replaced by a mass block, when the platform mounted by the acceleration sensor is subjected to acceleration, the mass block generates an inertial force, and the essence of the acceleration sensor is to measure the inertial force on the mass block. And finally deducing the acceleration of the platform to be measured according to the inertia matrix.
According to the actual use condition of the acceleration sensor for the wrist of the humanoid robot, the measuring range is +/-1 g, and the sensor is a small-measuring range and high-sensitivity sensor, so that the strain of the elastic element when the elastic element is subjected to the calibrated acceleration is over 10 e-3. The acceleration sensor is arranged on the wrist of the robot, and the volume of the acceleration sensor is controlled in the smallest range on the basis of ensuring the precision.
At present, both the parallel type sensor and the non-parallel type sensor have hinge connection and a sliding pair design in a sensor elastomer, so that the connection structure is fragile and easy to damage, and the stress concentration position of an elastic connecting rod of the sensor structure is easy to damage when the sensor is loaded with high acceleration in the use process. Meanwhile, the stress is not concentrated, and the invention can concentrate the stress at the folded angle position of the V-shaped rod and simultaneously generate positive and negative strains on the rod. Under the action of the protection rod, the sensor can be normally used in certain environments which can be out of range.
Disclosure of Invention
The invention provides an acceleration sensor, which can concentrate stress at an elastic body line measuring position, and a strain gauge is arranged at the stress concentration position, so that an input signal source of a measuring circuit can be well improved, and the measuring precision of the sensor is improved. The stress concentration position can be effectively protected from being damaged.
The object of the invention is achieved in the following way:
the utility model provides an acceleration sensor, includes between upper platform and the lower platform, is provided with the elastomer between upper platform and the lower platform, is provided with spherical quality piece on the upper platform, the elastomer is vertical beam structure, including the elastic connection pole, the elastic connection pole includes connecting rod, lower connecting rod and the elastic component who connects connecting rod and lower connecting rod, and the upper end of going up the connecting rod is connected on the upper platform, and the lower extreme of lower connecting rod is connected on the lower platform, the elastic component is V type spare, and the upper end and the upper connecting rod of V type spare are connected, and the lower extreme is connected with the lower connecting rod, pastes the foil gage at stress concentration point.
Further, the elastic component still includes V type spare protection pole, and V type spare protection pole is including setting up the protection pole on V type spare upper portion and setting up the lower protection pole in V type spare lower part, goes up protection pole and lower protection pole joint, goes up connecting rod, goes up protection pole, lower protection pole and lower connecting rod setting on same vertical straight line.
Further, the lower end of the upper connecting rod, the upper end of the V-shaped piece and the upper protection rod are fixedly connected; the upper end of the lower connecting rod, the lower end of the V-shaped piece and the lower end of the lower protection rod are fixedly connected.
Further, the upper end of the V-shaped piece is inserted between the lower end of the upper connecting rod and the upper end of the upper protection rod and is connected through a bolt; the lower end of the V-shaped piece is inserted between the upper end of the lower connecting rod and the lower end of the lower protection rod and is connected through a bolt.
Further, the elastic bodies are at least four, and are evenly arranged between the upper platform and the lower platform.
Further, the number of the elastic bodies is six, and the elastic bodies are evenly arranged between the upper platform and the lower platform.
Further, a safety gap is arranged between the upper protection rod and the lower protection rod.
Further, lower protection pole upper portion sets up to the L type, is provided with the draw-in groove in lower protection pole upper end, and it is provided with the protrusion that can block into the draw-in groove to go up the protection pole lower extreme, and the L type part on V type spare and lower protection pole upper portion sets up respectively in last connecting rod, goes up protection pole, lower protection pole and lower connecting rod the both sides of the same vertical straight line that locates.
Further, the side surface of the upper end part of the V-shaped piece corresponding to the upper protection rod, the side surface of the upper end part of the V-shaped piece corresponding to the upper connecting rod, the inner side surfaces and the outer side surfaces of the corners of the V-shaped piece are respectively stuck with a film strain gauge, the vertical surface and the horizontal surface of the L-shaped part of the upper part of the lower protection rod corresponding to the upper protection rod are respectively stuck with a film strain gauge, or the vertical surface and the horizontal surface of the upper protection rod corresponding to the L-shaped part of the lower rod are respectively stuck with a film strain gauge.
Preferably, the V-shaped piece is formed by combining a V-shaped rod, an upper L-shaped rod connected to the upper end of the V-shaped rod and a lower L-shaped rod connected to the lower end of the V-shaped rod into a whole, wherein the upper connecting rod, the upper L-shaped rod and the upper protection rod are connected through bolts or rivets, the lower protection rod, the upper L-shaped rod and the lower connecting rod are connected through bolts or rivets, and an arc-shaped groove is formed in the outer side of a corner of the V-shaped rod.
Compared with the prior art, the invention has the following technical effects: the elastic body of the acceleration sensor has no hinge connection and no moving pair design, and is of a vertical beam structure. The stress concentration method is utilized to concentrate the stress on the elastic component, the peak stress of the elastic component is increased within the elastic limit range, and the resistance strain gauge is posted at the stress concentration position, so that the measuring circuit and the input signal source are greatly improved, and the measuring precision of the sensor is improved. The sensor can effectively protect the stress concentration position during the exceeding amount.
Drawings
Fig. 1 is a schematic diagram of the structure of the present invention.
FIG. 2 is a schematic view of the structure of the elastomer of the present invention.
Fig. 3 is a right side view of fig. 2.
Detailed Description
As shown in fig. 1-3, an acceleration sensor comprises an upper platform 1 and a lower platform 2, wherein a spherical mass block 3 is arranged on the upper platform, an elastic body is arranged between the upper platform and the lower platform, the elastic body is of a vertical beam structure and comprises an elastic connecting rod, the elastic connecting rod comprises an upper connecting rod 16, a lower connecting rod 11 and an elastic component for connecting the upper connecting rod and the lower connecting rod, the upper end of the upper connecting rod is connected to the upper platform, and the lower end of the lower connecting rod is connected to the lower platform. The elastic component comprises an upper protection rod 17, a V-shaped piece 15 and a lower protection rod 18, wherein the upper protection rod and the lower protection rod are protection rods of the V-shaped piece, the protection rods can prevent the stress concentration positions of the upper connecting rod and the lower connecting rod of the elastic body in the sensor structure and the V-shaped piece from being damaged when the sensor structure is loaded with high acceleration in the use process, and the upper end of the V-shaped piece is inserted between the lower end of the upper connecting rod and the upper end of the upper protection rod and is connected through a bolt 12; the upper protection rod 17 is clamped with the lower protection rod 18, the lower end of the V-shaped piece is inserted between the upper end of the lower connecting rod and the lower end of the lower protection rod and is connected through the bolt 12, the upper connecting rod, the upper protection rod, the lower protection rod and the lower connecting rod are arranged on the same vertical straight line, a strain gauge is stuck at a stress concentration point, and the strain gauge is connected with the control system.
The upper end of the upper connecting rod 16 is fixed on the upper platform through a screw 4, and the lower end of the lower connecting rod 11 is fixed on the lower platform through a screw.
The lower end of the upper connecting rod, the upper end of the V-shaped piece and the upper protection rod of the elastic body are fixedly connected through bolts, and the upper end of the lower connecting rod, the lower end of the V-shaped piece and the lower end of the lower protection rod are fixedly connected through bolts. The technical effect of the invention can be achieved by rivet connection.
Specifically, the V-shaped piece is formed by compounding a V-shaped rod, an upper L-shaped rod 6 connected to the upper end of the V-shaped rod and a lower L-shaped rod 8 connected to the lower end of the V-shaped rod into a whole, wherein the upper connecting rod, the upper L-shaped rod and the upper protection rod are connected through bolts or rivets, the lower protection rod, the upper L-shaped rod and the lower connecting rod are connected through bolts or rivets, and arc-shaped grooves 7 are formed in the outer sides of corners of the V-shaped rod.
The elastic bodies are at least four, are evenly arranged between the upper platform and the lower platform, and the corners of the V-shaped piece of the elastic body are directed to the central connecting line of the upper platform and the lower platform. If four are provided, four-dimensional acceleration sensors are suitable. The number of the elastic bodies is six, and the six-dimensional acceleration sensor is suitable for six-dimensional acceleration sensors. The present embodiment is designed by taking six as an example, that is, taking a six-dimensional acceleration sensor as an example.
The upper protection rod and the lower protection rod are provided with safety gaps in the vertical direction and the horizontal direction, and the safety gaps between the upper protection rod and the lower protection rod are specifically calculated according to the size of the V-shaped rod. The arrangement of the safety gap can play a role in that when the acceleration applied to the sensor exceeds the measuring range, the upper and lower positions or the surrounding positions of the protection rod can be contacted, and redundant stress is born.
The safety gap, i.e. the distance between the upper and lower protection bars, is calculated from the cross-sectional angle of the V-shaped piece when bent.
The method comprises the following steps: dividing the V-shaped piece into two parts by taking the corner as the center, respectively calculating the cross-section corners of the V-shaped piece, and according to a corner equationM is bending moment, E is elastic modulus, I is length, and the section angles of the upper protection rod and the lower protection rod when rated acceleration is applied are calculated respectively, and thenAnd according to the distance between the corner of the V-shaped piece and the protection rod, calculating a safety gap of 0.1mm between the upper protection rod and the lower protection rod.
The upper part of the lower protection rod is L-shaped, the upper end of the lower protection rod is provided with a clamping groove, the lower end of the upper protection rod is provided with a protrusion which can be clamped in the clamping groove, and the V-shaped piece and the L-shaped part of the upper part of the lower protection rod are respectively arranged on two sides of the same vertical straight line where the upper connecting rod, the upper protection rod, the lower protection rod and the lower connecting rod are positioned.
According to the invention, the inner side surface and the outer side surface of the middle corner of the V-shaped piece are respectively stuck with a film type strain gauge, namely, the inner side surface and the outer side surface of the corner of the V-shaped rod in the V-shaped piece are respectively stuck with a film type strain gauge.
More preferably, the invention is structured such that the film strain gauge is adhered to both the vertical surface and the horizontal surface of the upper protection rod corresponding to the L-shaped portion of the upper part of the lower protection rod or to both the vertical surface and the horizontal surface of the upper protection rod corresponding to the L-shaped portion of the lower protection rod.
When the linear acceleration of the sensor in the Z-axis upward direction exceeds the measuring range, the bump position of the upper protection rod is contacted with the upper end of the hanging ring of the lower protection rod. When the linear speed of the sensor in the lower direction of the Z axis exceeds the measuring range, the strut position of the upper protection rod is contacted with the strut position of the lower protection rod. When the linear acceleration of the sensor in the X, Y axial direction exceeds the measuring range, the flat plate position of the upper protection rod is contacted with the inner surface of the hanging ring of the lower protection rod. When the angular acceleration of the sensor in the axial direction around X, Y exceeds the measuring range, the convex block position of the upper protecting rod of one section is contacted with the upper end of the hanging ring of the lower protecting rod, and the strut position of the upper protecting rod of the symmetrical end is contacted with the strut position of the lower protecting rod. When the angular acceleration of the sensor around the Z axis exceeds the measuring range, the bump position of the upper protection rod is contacted with the side surface of the hanging ring of the lower protection rod. When the acceleration applied to the sensor exceeds the measuring range, the upper and lower positions or the surrounding positions of the protection rod are contacted, and redundant stress is born.
While only the preferred embodiments of the present invention have been described above, it should be noted that it will be apparent to those skilled in the art that various changes and modifications can be made herein without departing from the general inventive concept, and these should also be regarded as the scope of the invention, which is not to be limited to the effects of the invention in its practice or the application of the patent.
Claims (8)
1. The utility model provides an acceleration sensor, includes upper platform and lower platform, its characterized in that: an elastic body is arranged between the upper platform and the lower platform and is of a vertical beam structure and comprises an elastic connecting rod, the elastic connecting rod comprises an upper connecting rod, a lower connecting rod and an elastic part for connecting the upper connecting rod and the lower connecting rod, the upper end of the upper connecting rod is connected to the upper platform, the lower end of the lower connecting rod is connected to the lower platform, the elastic part is a V-shaped piece, the upper end of the V-shaped piece is connected with the upper connecting rod, the lower end of the V-shaped piece is connected with the lower connecting rod, a strain gauge is stuck at a stress concentration point and is connected with a control system, the elastic body further comprises a V-shaped piece protecting rod, the V-shaped piece protecting rod comprises an upper protecting rod arranged at the upper part of the V-shaped piece and a lower protecting rod arranged at the lower part of the V-shaped piece, the upper protecting rod is connected with the lower protecting rod in a clamping mode, and the upper connecting rod, the upper protecting rod, the lower protecting rod and the lower connecting rod are arranged on the same vertical line, and the lower end of the upper connecting rod and the upper protecting rod are fixedly connected; the upper end of the lower connecting rod, the lower end of the V-shaped piece and the lower end of the lower protection rod are fixedly connected.
2. Acceleration sensor according to claim 1, characterized in, that: the upper end of the V-shaped piece is inserted between the lower end of the upper connecting rod and the upper end of the upper protection rod and is connected through a bolt; the lower end of the V-shaped piece is inserted between the upper end of the lower connecting rod and the lower end of the lower protection rod and is connected through a bolt.
3. Acceleration sensor according to claim 1, characterized in, that: the elastic bodies are at least four and are evenly arranged between the upper platform and the lower platform.
4. Acceleration sensor according to claim 1, characterized in, that: the number of the elastic bodies is six, and the elastic bodies are evenly arranged between the upper platform and the lower platform.
5. Acceleration sensor according to claim 1, characterized in, that: and a safety gap is arranged between the upper protection rod and the lower protection rod.
6. Acceleration sensor according to claim 1, characterized in, that: the upper part of the lower protection rod is L-shaped, the upper end of the lower protection rod is provided with a clamping groove, the lower end of the upper protection rod is provided with a protrusion which can be clamped into the clamping groove, and the V-shaped piece and the L-shaped part of the upper part of the lower protection rod are respectively arranged on two sides of the same vertical straight line where the upper connecting rod, the upper protection rod, the lower protection rod and the lower connecting rod are located.
7. Acceleration sensor according to claim 1, characterized in, that: the inner side surface and the outer side surface of each corner of the V-shaped piece are adhered with film type strain gauges.
8. Acceleration sensor according to claim 1, characterized in, that: the V-shaped piece is composed of a V-shaped rod, an upper L-shaped rod connected to the upper end of the V-shaped rod and a lower L-shaped rod connected to the lower end of the V-shaped rod, wherein the upper connecting rod, the upper L-shaped rod and the upper protection rod are connected through bolts or rivets, the lower protection rod, the upper L-shaped rod and the lower connecting rod are connected through bolts or rivets, and arc-shaped grooves are formed in the outer sides of corners of the V-shaped rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044641.XA CN109580988B (en) | 2019-01-17 | 2019-01-17 | Acceleration sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910044641.XA CN109580988B (en) | 2019-01-17 | 2019-01-17 | Acceleration sensor |
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| Publication Number | Publication Date |
|---|---|
| CN109580988A CN109580988A (en) | 2019-04-05 |
| CN109580988B true CN109580988B (en) | 2023-07-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910044641.XA Active CN109580988B (en) | 2019-01-17 | 2019-01-17 | Acceleration sensor |
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| JP2000304632A (en) * | 1999-04-20 | 2000-11-02 | Ohbayashi Corp | Main body for load cell, and load cell using it |
| CN1385677A (en) * | 2002-06-06 | 2002-12-18 | 燕山大学 | Twelve-dimension force/acceleration robot wrist sensor |
| CN101246064A (en) * | 2008-03-17 | 2008-08-20 | 燕山大学 | Elastic hinge parallel 6-UPS six-dimension force-measuring platform |
| CN101858932A (en) * | 2010-05-17 | 2010-10-13 | 山东理工大学 | Six-dimensional acceleration transducer |
| CN101937008A (en) * | 2010-07-23 | 2011-01-05 | 燕山大学 | Bar-beam structure six-axis accelerometer |
| CN102052984A (en) * | 2010-11-04 | 2011-05-11 | 燕山大学 | Redundancy fault-tolerant type parallel-structured six-dimensional force sensor |
| CN104932381A (en) * | 2015-06-24 | 2015-09-23 | 哈尔滨工业大学 | Six-dimensional miniature force and torque sensor used for force feedback of minimally invasive surgical robot |
| CN108693382A (en) * | 2018-04-28 | 2018-10-23 | 北京林业大学 | A kind of parallel-connection type six-dimension acceleration transducer |
| CN209400564U (en) * | 2019-01-17 | 2019-09-17 | 北京林业大学 | Acceleration transducer |
-
2019
- 2019-01-17 CN CN201910044641.XA patent/CN109580988B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000304632A (en) * | 1999-04-20 | 2000-11-02 | Ohbayashi Corp | Main body for load cell, and load cell using it |
| CN1385677A (en) * | 2002-06-06 | 2002-12-18 | 燕山大学 | Twelve-dimension force/acceleration robot wrist sensor |
| CN101246064A (en) * | 2008-03-17 | 2008-08-20 | 燕山大学 | Elastic hinge parallel 6-UPS six-dimension force-measuring platform |
| CN101858932A (en) * | 2010-05-17 | 2010-10-13 | 山东理工大学 | Six-dimensional acceleration transducer |
| CN101937008A (en) * | 2010-07-23 | 2011-01-05 | 燕山大学 | Bar-beam structure six-axis accelerometer |
| CN102052984A (en) * | 2010-11-04 | 2011-05-11 | 燕山大学 | Redundancy fault-tolerant type parallel-structured six-dimensional force sensor |
| CN104932381A (en) * | 2015-06-24 | 2015-09-23 | 哈尔滨工业大学 | Six-dimensional miniature force and torque sensor used for force feedback of minimally invasive surgical robot |
| CN108693382A (en) * | 2018-04-28 | 2018-10-23 | 北京林业大学 | A kind of parallel-connection type six-dimension acceleration transducer |
| CN209400564U (en) * | 2019-01-17 | 2019-09-17 | 北京林业大学 | Acceleration transducer |
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