CN109781330B - Nested beam pressure-volume sensing six-dimensional force sensor based on circumferential array - Google Patents
Nested beam pressure-volume sensing six-dimensional force sensor based on circumferential array Download PDFInfo
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- CN109781330B CN109781330B CN201910136787.7A CN201910136787A CN109781330B CN 109781330 B CN109781330 B CN 109781330B CN 201910136787 A CN201910136787 A CN 201910136787A CN 109781330 B CN109781330 B CN 109781330B
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Abstract
The invention provides a nested beam pressure-capacity sensing six-dimensional force sensor based on a circumferential array, which comprises an inner cylindrical table, a hollow cylindrical shell arranged on the outer side of the inner cylindrical table, a nested beam assembly, a stressed top plate and a fixed bottom plate, wherein the nested beam assembly comprises a plurality of nested beam units; a plurality of sleeved beam assemblies are uniformly arranged on the outer side wall of the inner cylindrical table in the circumferential direction; one end of the sleeved beam assembly is fixedly connected with the outer side wall of the inner cylindrical table, and the other end of the sleeved beam assembly is fixedly connected with the inner side wall of the shell; the stressed top plate is coaxially and fixedly connected to the top of the inner cylindrical table, and a movable stroke gap is reserved between the outer edge of the stressed top plate and the inner side wall of the shell; the fixed bottom plate is arranged right below the inner cylindrical table and fixedly connected to the bottom of the shell; the invention has the advantages of simple and compact structure, convenient installation, strong modularization, low dimensional coupling degree, good sensitivity, high linearity, easy decoupling, strong reliability and difficult overload failure.
Description
Technical Field
The invention relates to the technical field of sensing, in particular to a nested beam pressure-volume sensing six-dimensional force sensor based on a circumferential array.
Background
The six-dimensional force sensor can detect all information of force in space, is widely applied to the research fields of intelligent robots, automatic control, aerospace, bionic motion and the like, and plays an important role in industrial production, national defense construction and scientific and technical development.
Various six-dimensional force sensors have been developed so far at home and abroad. Based on different sensing measurement principles, six-dimensional force sensors are classified into capacitance type, piezoresistive type, strain type, piezoelectric type and the like. The early six-dimensional force sensor is a piezoresistive sensor, the coupling degree of each component force is high, and decoupling is difficult, while the traditional capacitive sensor and piezoelectric sensor have the defect of small measuring range. Although a considerable number of six-dimensional force sensors are proposed at home and abroad, for example: foreign scholars (Keer) and None (Nguyen) and Farresi (Ferraresi) and the like propose and research Stewart (Stewart) structure six-dimensional force sensors, but because the six-dimensional force and torque sensors are limited in application range by using real spherical hinges as kinematic pairs of the force sensors, the six-dimensional force and torque sensors (Chinese patent: CN2165435Y) and the six-dimensional force and torque sensors for robots (Chinese patent: CN2066134U) have the problems of complex structure, difficult calibration, large size, low rigidity, low sensitivity, reduced reliability after long-term use, small range, easy overload failure and the like.
Aiming at the defects of the prior art, a six-dimensional force sensor which can meet the requirements of industrial production, has good sensitivity, high linearity, easy decoupling, long-term reliability and difficult overload failure is urgently needed to be developed.
Disclosure of Invention
In view of the above, the invention aims to provide a nested beam pressure-capacitance sensing six-dimensional force sensor based on a circumferential array, which has the advantages of simple and compact structure, convenience in installation, strong modularization, low dimensional coupling degree, good sensitivity, high linearity, easiness in decoupling, strong reliability and difficulty in overload failure.
The invention provides a nested beam pressure-capacity sensing six-dimensional force sensor based on a circumferential array, which comprises an inner cylindrical table, a shell, a nested beam assembly, a stressed top plate and a fixed bottom plate, wherein the shell is sleeved outside the inner cylindrical table and is in a hollow cylindrical shape;
a plurality of sleeved beam assemblies are uniformly arranged on the outer side wall of the inner cylindrical table in the circumferential direction; one end of the sleeved beam assembly is fixedly connected with the outer side wall of the inner cylindrical table, and the other end of the sleeved beam assembly is fixedly connected with the inner side wall of the shell;
the stressed top plate is coaxially and fixedly connected to the top of the inner cylindrical table, and a movable stroke gap is reserved between the outer edge of the stressed top plate and the inner side wall of the shell;
the fixed bottom plate is arranged right below the inner cylindrical table and fixedly connected to the bottom of the shell.
Further, the sleeved beam assembly comprises a cantilever beam, a sensing unit for monitoring six-degree-of-freedom force and moment and a wrapping shell;
one end of the cantilever beam in the length direction is fixedly connected to the outer side wall of the inner cylindrical table, and five outer wall surfaces of the other end of the cantilever beam in the length direction are respectively provided with a sensing unit;
the cladding shell is sleeved outside the sensing unit and tightly presses and attaches the sensing unit to the outer wall surface of the cantilever beam; and one side wall surface of the coating shell facing the inner side wall of the shell is fixedly connected to the inner side wall of the shell.
Furthermore, the sensing unit comprises a sensing base body, a first flexible electrode plate and a second flexible electrode plate, wherein the first flexible electrode plate and the second flexible electrode plate are respectively fixedly arranged on two sides of the sensing base body and are aligned with the sensing base body; the first flexible electrode plate and the second flexible electrode plate are identical in structure.
Further, the first flexible electrode plate is tightly pressed and attached to the outer wall surface of the cantilever beam; and the second flexible electrode plate is tightly pressed and attached to the inner wall surface of the coating shell.
Further, the sensing substrate is a magnetorheological elastomer.
Further, the cross section of the cantilever beam in the width direction is square.
Furthermore, the top end face of the stressed top plate sinks to form a plurality of first mounting holes for fixedly connecting a target force application object.
Furthermore, the bottom end face of the fixed bottom plate sinks to form a plurality of second mounting holes for fixedly mounting the fixed bottom plate.
The invention has the beneficial effects that: the six-dimensional force sensor has the advantages that the structure of the circumferential array sleeved beam is arranged, the six-dimensional force sensor is compact in structure and strong in integrity, the cantilever sleeved beam is stable in structure, is not easy to overload and lose efficacy, and is not easy to damage, the sensing base body material is arranged into the magnetorheological elastomer, the reliability is strong, the service life is long, the sensitivity and the linearity are high, and in addition, the six-dimensional force sensor is accurate in measurement and easy to decouple.
Drawings
The invention is further described below with reference to the following figures and examples:
FIG. 1 is a schematic structural view of the present invention without a stressed top plate;
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is an assembled schematic view of the nested beam assembly;
FIG. 4 is a schematic view of a nested beam assembly;
FIG. 5 is a schematic structural diagram of a sensing unit;
fig. 6 is a schematic structural view of the fixed base plate.
Detailed Description
FIG. 1 is a schematic structural view of the present invention without a stressed top plate, provided to facilitate observation of the internal structure of the six-dimensional sensor; FIG. 2 is a schematic structural view of the present invention; FIG. 3 is an assembled schematic view of the nested beam assembly; FIG. 4 is a schematic view of a nested beam assembly; FIG. 5 is a schematic structural diagram of a sensing unit; fig. 6 is a schematic structural view of the fixed base plate. As shown in fig. 1 and 2, the nested beam pressure-volume sensing six-dimensional force sensor based on the circumferential array provided by the invention comprises an inner cylindrical table 1, a hollow cylindrical shell 2 nested outside the inner cylindrical table 1, a nested beam assembly 3, a stressed top plate 4 and a fixed bottom plate 5;
a plurality of sleeved beam assemblies 3 are uniformly arranged on the outer side wall of the inner cylindrical table 1 in the circumferential direction; the nested beam assembly 3 is at least provided with 3 groups, so that the six-dimensional force of each direction received by the whole six-dimensional force sensor can be sensed by the nested beam assembly 3, and the stability of the whole six-dimensional force sensor is also ensured. One end of the sleeved beam component 3 is fixedly connected with the outer side wall of the inner cylindrical table 1, and the other end of the sleeved beam component is fixedly connected with the inner side wall of the shell 2; in this embodiment, the top terminal surface of atress roof 4 is whole six-dimensional force sensor's atress perception face, with the target of being surveyed closely laminating, furthermore, with target fixed connection being surveyed, atress roof 4 transmits each suit roof beam subassembly through interior cylindrical table 1 with the atress condition, each suit roof beam subassembly 3 receives the extrusion and the drawing of different degrees, deformation through monitoring suit roof beam subassembly 3, then can obtain according to deformation calculation and be surveyed the target and apply six degrees of freedom force and moment for six-dimensional force sensor.
The stressed top plate 4 is coaxially and fixedly connected to the top of the inner cylindrical table 1, and a movable stroke gap 42 is reserved between the outer edge of the stressed top plate 4 and the inner side wall of the shell 2; the cross section of the stress top plate 4 is circular, the radius of the cross section of the stress top plate 4 is smaller than the inner diameter of the shell 2, and when the stress top plate is installed, the top end face of the stress top plate 4 is flush with the top end face of the shell 2. When 4 top end faces of atress roof plate atress, atress roof plate 4 may receive the effect of the ascending power in radial direction and moment, receive ascending extrusion or tensile in radial direction promptly, lead to atress roof plate 4 to take place displacement or slight deformation on radial direction, the setting of activity stroke clearance 42 makes atress roof plate 4 not influence shell 2, thereby guarantee that the external force that atress roof plate 4 received transmits suit roof beam subassembly 3 through interior cylinder platform 1, avoid transmitting the error that suit roof beam subassembly 3 caused the calculation from shell 2.
The fixed bottom plate 5 is arranged right below the inner cylindrical table 1, and the fixed bottom plate 5 is fixedly connected to the bottom of the shell 2. The section of the fixed bottom plate 5 is circular, the radius of the section of the fixed bottom plate 5 is equal to the outer diameter of the shell 2, and the bottom of the shell 2 is completely sealed by the fixed bottom plate 5. Through the structure, the circumferential array sleeved beam structure is arranged, so that the six-dimensional force sensor is compact in structure, strong in integrity, stable in cantilever sleeved beam structure, not easy to overload and lose efficacy, not easy to damage, strong in reliability, long in service life, high in sensitivity and linearity, high in measurement accuracy and easy to decouple.
As shown in fig. 3 and 4, the nested beam assembly 3 includes a cantilever beam 31, a sensing unit 32 for monitoring six-degree-of-freedom forces and moments, and an encasing shell 33; in this embodiment, 6 sets of the sleeved beam assemblies 3 are uniformly arranged on the outer side wall of the inner cylindrical table 1 in the circumferential direction. In fig. 3, the sensor unit 32 is assembled into the covering shell 33 in the direction of the arrow, as shown in fig. 4 after the assembly is completed. The dotted lines in the sheathing case 33 in fig. 3 depict a perspective structure of the sheathing case 33.
The section of the cantilever beam 31 is rectangular, one end of the cantilever beam 31 in the length direction is fixedly connected to the outer side wall of the inner cylindrical table 1, and five outer wall surfaces of the other end of the cantilever beam 31 in the length direction are respectively provided with a sensing unit 32; the five outer wall surfaces are respectively the end surface of the other end in the length direction of the cantilever beam 31 and the outer wall surfaces in 4 directions close to the end surface of the other end in the length direction of the cantilever beam 31.
The covering shell 33 is sleeved on the outer side of the sensing unit 32, and the sensing unit 32 is tightly pressed and attached to the outer wall surface of the cantilever beam 31; a side wall surface of the covering case 33 facing the inner side wall of the housing 2 is fixedly connected to the inner side wall of the housing 2. In this embodiment, the covering shell 33 is a cuboid (or square) cavity structure, and an opening is formed in a side wall surface of the covering shell 33, so that the sensing unit and the cantilever beam 31 can conveniently extend into the covering shell 33; the wrapping shell 33 is sleeved outside the five sensing units 32, and the five sensing units 32 are clamped between the wrapping shell 33 and the cantilever beam and are pressed tightly. The sensing unit 32 senses the pressing or stretching force transmitted from the force-bearing top plate 4 to the inner cylindrical table 1. In the present embodiment, a total of 30 sensing units 32 are provided.
As shown in fig. 5, the sensing unit 32 includes a sensing base 321, a first flexible electrode sheet 322 and a second flexible electrode sheet 323 fixedly disposed on two sides of the sensing base 321 respectively and aligned with the sensing base 321; the first flexible electrode sheet 322 and the second flexible electrode sheet 323 have the same structure. In this embodiment, the cross section of the sensing substrate 321 is square, and the cross sections of the first flexible electrode sheet 322 and the second flexible electrode sheet 323 are square with the same size as the cross section of the sensing substrate 321. The capacitance value of the sensing unit 32 can be obviously changed when the sensing unit is slightly squeezed or stretched, and the measurement accuracy of the six-dimensional force sensor is improved.
The first flexible electrode plate 322 is tightly pressed and attached to the outer wall surface of the cantilever beam 31; the second flexible electrode plate 323 is tightly pressed and attached to the inner wall surface of the covering shell 33, so that the first flexible electrode plate 322 and the second flexible electrode plate 323 can sensitively sense six-degree-of-freedom force and moment transmitted by the cantilever beam 31.
The sensing substrate 321 is a magnetorheological elastomer. Compared with the traditional six-dimensional sensor, the six-dimensional force sensor using the magnetorheological elastomer has long-term reliability, long service life and higher sensitivity and linearity.
The cross section of the cantilever beam 31 in the width direction is square. The sensing units 32 arranged on each wall surface are uniformly stressed due to the square-structure section, sensor calculation errors caused by nonuniform stress due to nonuniform sizes of the cantilever beam 31 in all directions are avoided, measurement accuracy is reduced, and in addition, the calculation complexity of six-degree-of-freedom force and moment conversion calculation of the six-dimensional sensor is simplified due to the fact that the section of the cantilever beam 31 in the width direction is square.
The top end surface of the stressed top plate 4 sinks to form a plurality of first mounting holes 41 for fixedly connecting a target force application object. The first mounting holes 41 are uniformly distributed around the axis of the stressed top plate 4, and as shown in fig. 2, in the present embodiment, there are 6 first mounting holes 41.
As shown in fig. 6, the bottom end surface of the fixed bottom plate 5 is sunk to form a plurality of second mounting holes 51 for fixedly mounting the fixed bottom plate 5. The second mounting holes 51 are uniformly distributed around the axis of the fixed base plate 5, and as shown in fig. 6, in the present embodiment, there are 6 second mounting holes 51.
When the six-dimensional force sensor measures a certain load (target forcer), the load is fixed to the force-bearing top plate 4 by a target forcer fastener (not shown in the drawings), for example: the target forcing object fastener is a bolt, and is screwed with the first mounting hole 41 through the bolt. Six-dimensional force transducer passes through the mounting and fixes to stable mesa on, for example on the mesa such as operation panel or other test benches, in this embodiment, can set up mounting (not drawn in the attached drawing) to bolt structure, set up second mounting hole 51 inner wall and the internal thread of mounting complex, mounting and second mounting hole 51 screw-thread fit fix six-dimensional force transducer. Of course, a structure for fixedly matching the target force application object with the first mounting hole 41 and a structure for fixedly matching the table top with the second mounting hole 51 can be additionally arranged according to actual conditions and requirements.
In this embodiment, when the force-bearing top plate 4 of the six-dimensional force sensor is stressed, the sensing units 32 on the respective cantilever beams 31 are squeezed or stretched to different degrees, that is, the sensing units 32n1 to n5 are deformed, so that capacitance variation values of 30 sensing units 32 can be obtained, where n1 to n5 respectively represent the 1 st to 5 th sensing units 32 on the nth cantilever beam 31. As shown in FIG. 2, the input force is decomposed into unit vectors Fx，Fy，Fz，Mx，My，MzThen, the following equation system can be obtained:
ΔCn1＝aFx+bFy+cFz+dMx+eMy+fMz(1)
ΔCn2＝aFx+bFy+cFz+dMx+eMy+fMz(2)
ΔCn3＝aFx+bFy+cFz+dMx+eMy+fMz(3)
ΔCn4＝aFx+bFy+cFz+dMx+eMy+fMz(4)
ΔCn5＝aFx+bFy+cFz+dMx+eMy+fMz(5)
in the present embodiment, since 6 sets of the girder assembly 3 are provided, n is 1,2,3,4,5, 6. Delta CniThe capacitance value variation of the ith sensing unit 32 on the nth cantilever beam 31 before and after the six-dimensional force sensor is stressed is shown. Fx，FyAnd FzThe forces that the six-dimensional force sensor in fig. 1 and 2 receives in the directions of the x-axis, the y-axis and the z-axis respectively; mx，My，MzThe moments experienced by the six-dimensional force sensor in fig. 1 and 2 in the x-axis, y-axis, and z-axis directions, respectively. The initial capacitance value of each sensing unit 32 is measured before the six-dimensional force sensor is stressed, and the real-time capacitance value of each sensing unit 32 is measured after the six-dimensional force sensor is stressed, so that the capacitance value variation is equal to the real-time capacitance value minus the initial capacitance value. In the present application, the capacitance value of the measurement sensing unit 32 is measured by using the existing capacitance detection device, for example: the capacitance and inductance measuring instrument, the electric meter with higher precision, the digital capacitance measuring instrument and the like can be purchased directly, and the method for measuring the capacitance value is the existing method and can be used for measuring directly according to the method described in the use instruction of the capacitance detection equipment.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (4)
1. The utility model provides a suit roof beam pressure holds perception six-dimensional force transducer based on circumference array which characterized in that: comprises an inner cylindrical table, a hollow cylindrical shell sleeved outside the inner cylindrical table, a sleeved beam assembly, a stressed top plate and a fixed bottom plate;
a plurality of sleeved beam assemblies are uniformly arranged on the outer side wall of the inner cylindrical table in the circumferential direction; one end of the sleeved beam assembly is fixedly connected with the outer side wall of the inner cylindrical table, and the other end of the sleeved beam assembly is fixedly connected with the inner side wall of the shell;
the stressed top plate is coaxially and fixedly connected to the top of the inner cylindrical table, and a movable stroke gap is reserved between the outer edge of the stressed top plate and the inner side wall of the shell;
the fixed bottom plate is arranged right below the inner cylindrical table and fixedly connected to the bottom of the shell;
the sleeved beam assembly comprises a cantilever beam with a square cross section in the width direction, a sensing unit for monitoring six-degree-of-freedom force and moment and a coating shell;
one end of the cantilever beam in the length direction is fixedly connected to the outer side wall of the inner cylindrical table, and five outer wall surfaces of the other end of the cantilever beam in the length direction are respectively provided with a sensing unit; the sensing unit comprises a sensing base body, a first flexible electrode plate and a second flexible electrode plate, wherein the first flexible electrode plate and the second flexible electrode plate are respectively fixedly arranged on two sides of the sensing base body and are aligned with the sensing base body; the first flexible electrode plate and the second flexible electrode plate have the same structure;
the coating shell is sleeved outside the sensing unit, and the first flexible electrode plate is tightly pressed and attached to the outer wall surface of the cantilever beam; the second flexible electrode plate is tightly pressed and attached to the inner wall surface of the coating shell; and one side wall surface of the coating shell facing the inner side wall of the shell is fixedly connected to the inner side wall of the shell.
2. The nested beam pressure-volume sensing six-dimensional force sensor based on the circumferential array of claim 1, wherein: the sensing substrate is a magnetorheological elastomer.
3. The nested beam pressure-volume sensing six-dimensional force sensor based on the circumferential array of claim 1, wherein: the top end face of the stressed top plate sinks to form a plurality of first mounting holes for fixedly connecting a target force application object.
4. The nested beam pressure-volume sensing six-dimensional force sensor based on the circumferential array of claim 1, wherein: the bottom end face of the fixed bottom plate is sunk to form a plurality of second mounting holes for fixedly mounting the fixed bottom plate.
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| CN201910136787.7A CN109781330B (en) | 2019-02-25 | 2019-02-25 | Nested beam pressure-volume sensing six-dimensional force sensor based on circumferential array |
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| CN201910136787.7A CN109781330B (en) | 2019-02-25 | 2019-02-25 | Nested beam pressure-volume sensing six-dimensional force sensor based on circumferential array |
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| CN109781330B true CN109781330B (en) | 2020-08-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110243528B (en) * | 2019-07-08 | 2020-11-03 | 台州学院 | Six-dimensional force detection device based on liquid pressure measurement |
| CN111879455B (en) * | 2020-07-24 | 2022-02-11 | 重庆火后草科技有限公司 | Pressure sensor for bed |
| CN111998982B (en) * | 2020-09-11 | 2022-03-18 | 上海智籍机器人有限公司 | Six-dimensional force sensor |
| CN113029418B (en) * | 2021-03-09 | 2022-05-17 | 中国科学院自动化研究所 | Multi-dimensional force sensor |
| CN114659697B (en) * | 2022-03-28 | 2023-06-23 | 浙江机电职业技术学院 | Flexible six-dimensional force sensor based on capacitive sensor |
| CN114964597B (en) * | 2022-07-27 | 2022-11-08 | 南京航空航天大学 | Six-dimensional force/torque sensor based on inverse magnetostriction effect |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104034455B (en) * | 2014-07-01 | 2016-01-06 | 重庆材料研究院有限公司 | Based on the pressure transducer of magnetorheological materials |
| CN106153237A (en) * | 2016-06-14 | 2016-11-23 | 南京神源生智能科技有限公司 | A kind of small-sized six-dimensional force and torque sensor |
| CN106289619A (en) * | 2016-09-13 | 2017-01-04 | 中国科学院长春光学精密机械与物理研究所 | A kind of high precision high rigidity six-dimensional force measuring table |
| CN106768522B (en) * | 2017-01-20 | 2023-03-24 | 合肥工业大学 | Six-dimensional force sensor elastomer |
| CN107131986A (en) * | 2017-05-15 | 2017-09-05 | 哈尔滨工业大学 | A kind of parallel beam type six-dimension force sensor of diplopore |
| CN107884100B (en) * | 2017-11-23 | 2023-09-22 | 燕山大学 | Integrated miniature six-dimensional force sensor based on capacitance sensing |
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