CN110274714A - A kind of six-dimension force sensor applied to industry spot - Google Patents
A kind of six-dimension force sensor applied to industry spot Download PDFInfo
- Publication number
- CN110274714A CN110274714A CN201910524444.8A CN201910524444A CN110274714A CN 110274714 A CN110274714 A CN 110274714A CN 201910524444 A CN201910524444 A CN 201910524444A CN 110274714 A CN110274714 A CN 110274714A
- Authority
- CN
- China
- Prior art keywords
- foil gauge
- elastomer
- top cover
- measurement plate
- force sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/225—Measuring circuits therefor
- G01L1/2262—Measuring circuits therefor involving simple electrical bridges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2287—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges constructional details of the strain gauges
-
- 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
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
Abstract
The present invention relates to a kind of six-dimension force sensors applied to industry spot, are made of top cover, measurement plate.Wherein measurement plate is made of interior rod structure, outer ring structure, elastomer, foil gauge, thin-slab structure；Top cover by round plate, inner convex platform and outer convex sets at.The foil gauge pasted on elastomer structure has the foil gauge of measurement function and the foil gauge of another detection function, acquires two kinds of strain gage bridge circuit-switched datas and compares, larger difference then cue circuit failure occurs.Thin-slab structure is variable section structure, whole to seamlessly transit.Gap is arranged in the outer lug boss and measurement plate outer ring structure of the top cover, and outer lug boss and outer ring structure collision limit under overload condition.The present invention improves safety when sensor circuit failure；The intensity of six-dimension force sensor is greatly improved by variable cross-section thin-slab structure, while being provided with position limiting structure, so that anti-overloading performance and safety of the sensor in industry spot use process greatly improved.
Description
Technical field
The present invention relates to industrial robot and its sensor application field, specifically a kind of 6 DOF applied to industry spot
Force snesor.
Background technique
With the development of robot technology, Robot Force control application demand it is increasingly vigorous.Six-dimension force sensor is to realize
The key sensor of Robot Force control.Six-dimension force sensor is that one kind can detect 3 direction force components and three moment point simultaneously
The high-precision force sensor of amount.
Industrial environment is more severe, and the six-dimension force sensor of industry spot application requires have high reliablity, exceeds
The requirement of load.The link that moment sensor is easy to appear problem is peace caused by moment big overload and strain gauge bridge fault
Full potential problem.
General six-dimension force sensor anti-overload ability is poor, generally 3 times or so of rated load, rarely exceeds 5 times.
In industry spot application probably because operation error, false hit cause instantaneous big overload, so as to cause sensor degradation.It is right
More in resistance-strain chip six-dimension force sensor circuit link, easily causing fault leads to output abnormality, and six-dimensional force
The unique parts that sensor is perceived as robot end's power, output abnormality can cause robot maloperation, so as to cause machine
People's security risk.
Summary of the invention
The present invention is low for overload capacity present in traditional six-dimension force sensor industry spot application, and fault is easy
Cause the problem implied safely, proposes a kind of six-dimension force sensor applied to industry spot.
In order to achieve the above object, the present invention includes the composition such as top cover, measurement plate.Wherein measurement plate is by interior rod structure, outer
Ring structure, elastomer composition, top cover is by round plate, inner convex platform and outer convex sets at being connect by bolt with measurement plate, top cover
On have the threaded hole connecting with workpiece.
It is characterized by: being pasted with foil gauge on elastomer, elastomer foil gauge is divided to two kinds by function, a kind of measurement function
Strain gauge adhesion in the position close to interior rod structure, the foil gauge of another detection function is by measurement function strain gauge adhesion
In the position far from interior rod structure.
It is characterized by: the elastomer quantity is 3 or 4, elastomer is solid rectangular cross-section structure.Can define with
The normal for passing through one of elastomer rectangular section center is X-axis, with the normal group at each elastomer rectangular section center
At plane in, perpendicular to X-axis and pass through elastomeric interface centre normal focus axis be defined as Y-axis, with the right hand right angle seat
Z axis can be obtained in mark system.The power and torque of three axial directions are respectively Fx, Fy, Fz, Mx, My, Mz.
It is characterized by: measuring the foil gauge of function on 4 faces of elastomer for the foil gauge on single elastomer
Each face paste 2, for each face paste 1 on 4 faces of foil gauge of detection function.On the foil gauge corresponding surface for measuring function
4 foil gauge group full-bridges, for 2 foil gauge group half-bridges on the foil gauge corresponding surface of detection function.
It is characterized by: six-dimension force sensor is in use, the electric bridge sample rate of measurement function foil gauge composition is big
In being equal to 500Hz, the sample rate of the electric bridge of the composition of detection function foil gauge is less than or equal to 10Hz, and two groups of data are done pair after acquisition
Than there is larger difference and robot controller failure then being prompted to shut down.
It is characterized by: thin-slab structure is variable section structure, middle part cross-sectional area is the 1/2-2/3 of root, whole smooth
Transition.
It is characterized by: top cover, measurement plate are connected through a screw thread after the assembly is completed, the outer lug boss of top cover and measurement plate it is outer
Between ring structure gap size 0.08mm-0.15mm, in use process under Mx, My overload condition, outer lug boss and measurement plate it is outer
Ring structure collision, to protect elastomer not damaged.
The present invention has the following advantages and outstanding effects: the present invention realizes a kind of six-dimensional force applied to industry spot
Sensor structure the case where sampling difficulty and cost is not significantly increased, is improved by the way that detection function foil gauge bridge is arranged
Safety when fault；The intensity of six-dimension force sensor is greatly improved by variable cross-section thin-slab structure, is arranged simultaneously
Mx, My to position limiting structure, play a protective role when the direction Mx, My is overloaded, greatly improve the overload resistance of sensor
Energy.
Detailed description of the invention
Fig. 1 is a kind of six-dimension force sensor decomposition chart applied to industry spot.
Fig. 2 is a kind of six-dimension force sensor front view applied to industry spot.
Fig. 3 is measurement plate and elastomer foil gauge patch location schematic diagram.
Specific embodiment
Following further describes the present invention with reference to the drawings:
Each section is described as follows:
1, top cover 2, measurement plate 3, screw 4, foil gauge
101, round plate 102, inner convex platform 103, outer lug boss 104, threaded hole
201, interior rod structure 202, outer ring structure 203, elastomer 204, thin-slab structure
401, function foil gauge 402, detection function foil gauge are measured
As shown in Figure 1, the present invention includes the composition such as top cover 1, measurement plate 2.Wherein measurement plate 2 is by interior rod structure 201, outer ring
Structure 202, elastomer 203, thin-slab structure 204 form, and the interior rod structure 201 is located at the middle part of measurement plate 2, the elastomer
203 are uniformly distributed in around interior rod structure 201 and one end is directly connected to interior rod structure 201,203 other end of elastomer
It is connected in the middle part of thin-slab structure 204,204 both ends of thin-slab structure and outer ring structure 202 are connected, as shown in figure 3, elastomer 203 is
Solid rectangular cross-section structure, is also pasted with foil gauge 4 on elastomer 203, and top cover 1 is by round plate 101, inner convex platform 102 and outer
Boss 103 forms, and round plate 101 is the substrate of top cover 1, and inner convex platform 102 is that the circle of middle part protrusion on round plate 101 is convex
Platform, outer lug boss 103 are the annular protrusion of side on round plate 101, have the threaded hole 104 connecting with workpiece on the top cover 1.
The connection type of the top cover 1 and measurement plate 2 is: by bolt 3 by the inner convex platform 102 and measurement plate 2 of top cover 1
Interior rod structure 201 connect, to realize the connection of top cover 1 and measurement plate 2.
Shown in Fig. 3, foil gauge 4 is pasted on elastomer 203, elastomer foil gauge 4 is divided to two kinds by function, a kind of measurement function
The foil gauge 401 of energy is pasted onto close to the position of interior rod structure 201, and the foil gauge 402 of another detection function is by measurement function
Energy foil gauge 401 is pasted onto the position far from interior rod structure 201.
203 quantity of elastomer is 3 or 4.It can define to pass through one of 203 rectangular section center of elastomer
Normal be X-axis, in plane form with the normal at each elastomer rectangular section center, perpendicular to X-axis axis definition
For Y-axis, Z axis can be obtained with right hand rectangular coordinate system.The power and torque of three axial directions are respectively Fx, Fy, Fz, Mx, My, Mz.It is right
Foil gauge on single elastomer 203 measures the foil gauge 401 of function each face paste 2 on 4 faces of elastomer 203,
For detection function foil gauge 402 on 4 faces of elastomer 203 each face paste 1.The foil gauge 401 for measuring function is right
4 foil gauge group full-bridges on face are answered, for 2 foil gauge group half-bridges on 402 corresponding surface of foil gauge of detection function.
In use, the electric bridge sample rate that measurement function foil gauge 401 forms is more than or equal to six-dimension force sensor
500Hz can be very good the real-time for guaranteeing force control in this way；The sampling of the electric bridge of the composition of detection function foil gauge 402
Rate is less than or equal to 10Hz, and detection function foil gauge bridge can reduce the configuration requirement of acquisition system using low sampling rate mode,
Reduce cost.It is calibrated simultaneously when calibration.In actual use, two groups of data compare after acquisition, larger output difference occur
Different time then prompts robot controller failure to shut down.
As shown in figure 3, thin-slab structure 204 is variable section structure, middle part cross-sectional area is the 1/2-2/3 of root, whole flat
It slips over and crosses.Make thin-slab structure Stiffness by variable section structure, while intensity does not have significant changes, is conducive to Fx, the direction Fy
Overall structural strength is guaranteed while decoupling.
Current this body structure of measurement plate can guarantee 8 times of the direction Fx, Fy, Fz, Mz overload capacity, but the direction Mx, My mistake
Loading capability is poor, and to improve the direction Mx, My overload capacity, setting structure is as follows: top cover 1, measurement plate 2 are connected through a screw thread assembly
After the completion, the axial slits size t of the outer ring structure 202 of the outer lug boss 103 and measurement plate 2 of top cover 1 guarantees in 0.08mm-
Between 0.15mm, in use process under Mx, My overload condition, the outer ring structure 202 of outer lug boss 101 and measurement plate 2 is collided, thus
Protect elastomer not damaged.
Claims (6)
1. a kind of six-dimension force sensor applied to industry spot is made of top cover, measurement plate:
The measurement plate is made of interior rod structure, outer ring structure, elastomer, foil gauge, thin-slab structure, and the inner prop structure is located at
The middle part of measurement plate, the elastomer is uniformly distributed in around interior rod structure and one end is directly connected to interior rod structure, described
It is connect in the middle part of the elastomer other end and thin-slab structure, thin-slab structure both ends and outer ring structure are connected, and the strain gauge adhesion is in bullet
Property body on, and be divided into two kinds according to paste position difference, a kind of strain gauge adhesion measuring function is on elastomer close to inner prop
The position of structure, the foil gauge of another detection function is by measurement function strain gauge adhesion far from interior rod structure on foil gauge
Position；
The top cover is by round plate, inner convex platform and outer convex sets at round plate is the substrate of top cover, and inner convex platform is circular flat
The round boss of middle part protrusion on plate, outer lug boss are the annular protrusion of round plate side last week, have on the top cover and connect with workpiece
The threaded hole connect；
The connection type of the top cover and measurement plate is: being connected the inner convex platform of top cover and the interior rod structure of measurement plate by bolt
It connects, to realize the connection of top cover and measurement plate.
2. six-dimension force sensor described in accordance with the claim 1, elastomer structure is solid rectangular cross-section structure, and quantity is 3
Or 4；It defines using the normal for passing through one of elastomer rectangular section center as X-axis, with each elastomer rectangular section
In the plane of the normal composition at center, it is defined as Y-axis perpendicular to X-axis and across the axis of elastomeric interface centre normal focus,
Can be obtained Z axis with the definition mode of right hand rectangular coordinate system, the power and torque of three axial directions be respectively defined as Fx, Fy, Fz, Mx,
My、Mz。
3. six-dimension force sensor described in accordance with the claim 1 measures the foil gauge of function in elastomer for single elastomer
4 faces on each face paste 2, for each face paste 1 on 4 faces of foil gauge of detection function；Measure the foil gauge of function
4 foil gauge group full-bridges on corresponding surface, for 2 foil gauge group half-bridges on the foil gauge corresponding surface of detection function.
4. six-dimension force sensor described in accordance with the claim 1, in use, the electric bridge of measurement function foil gauge composition are adopted
Sample rate is more than or equal to 500Hz, and the sample rate of the electric bridge of detection function foil gauge composition is less than or equal to 10Hz, two groups of data after acquisition
It compares, larger difference occurs and robot controller failure is then prompted to shut down.
5. six-dimension force sensor described in accordance with the claim 1, thin-slab structure is variable section structure, and middle part cross-sectional area is root
1/2-2/3, it is whole to seamlessly transit.
6. six-dimension force sensor described in accordance with the claim 1, top cover, measurement plate are connected through a screw thread after the assembly is completed, top cover
Outer lug boss and measurement plate outer ring structure between axial gap size 0.08mm-0.15mm, Mx, My are super in use process
In the case of load, the outer ring structure of outer lug boss and measurement plate is collided, to protect elastomer not damaged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910524444.8A CN110274714A (en) | 2019-06-18 | 2019-06-18 | A kind of six-dimension force sensor applied to industry spot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910524444.8A CN110274714A (en) | 2019-06-18 | 2019-06-18 | A kind of six-dimension force sensor applied to industry spot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110274714A true CN110274714A (en) | 2019-09-24 |
Family
ID=67960992
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910524444.8A Pending CN110274714A (en) | 2019-06-18 | 2019-06-18 | A kind of six-dimension force sensor applied to industry spot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110274714A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112284600A (en) * | 2020-10-23 | 2021-01-29 | 吉林大学 | Six-component force measuring sensor |
| WO2021082613A1 (en) * | 2019-10-30 | 2021-05-06 | 南京神源生智能科技有限公司 | Small-measuring-range three-dimensional sensor and testing method therefor |
| CN114414113A (en) * | 2021-12-01 | 2022-04-29 | 蓝点触控(北京)科技有限公司 | Six-dimensional force sensor overload protection device and equipment with same |
| WO2022088818A1 (en) * | 2020-10-28 | 2022-05-05 | 珠海格力电器股份有限公司 | Strain sensor and robot |
| CN114603605A (en) * | 2022-03-07 | 2022-06-10 | 常熟理工学院 | Exoskeleton tail end tendency force detection device, detection method and manufacturing method |
| JP7474383B2 (en) | 2020-10-28 | 2024-04-24 | グリー エレクトリック アプライアンシーズ インク オブ ズーハイ | Strain sensor and robot |
-
2019
- 2019-06-18 CN CN201910524444.8A patent/CN110274714A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021082613A1 (en) * | 2019-10-30 | 2021-05-06 | 南京神源生智能科技有限公司 | Small-measuring-range three-dimensional sensor and testing method therefor |
| CN112284600A (en) * | 2020-10-23 | 2021-01-29 | 吉林大学 | Six-component force measuring sensor |
| WO2022088818A1 (en) * | 2020-10-28 | 2022-05-05 | 珠海格力电器股份有限公司 | Strain sensor and robot |
| EP4239301A4 (en) * | 2020-10-28 | 2024-03-20 | Gree Electric Appliances Inc Zhuhai | Strain sensor and robot |
| JP7474383B2 (en) | 2020-10-28 | 2024-04-24 | グリー エレクトリック アプライアンシーズ インク オブ ズーハイ | Strain sensor and robot |
| CN114414113A (en) * | 2021-12-01 | 2022-04-29 | 蓝点触控(北京)科技有限公司 | Six-dimensional force sensor overload protection device and equipment with same |
| CN114603605A (en) * | 2022-03-07 | 2022-06-10 | 常熟理工学院 | Exoskeleton tail end tendency force detection device, detection method and manufacturing method |
| CN114603605B (en) * | 2022-03-07 | 2023-11-07 | 常熟理工学院 | Exoskeleton terminal tendency force detection device, detection method and manufacturing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110274714A (en) | A kind of six-dimension force sensor applied to industry spot | |
| CN103528726B (en) | Cross-beam-type six-dimensional force sensor with overload protection function | |
| CN105588669B (en) | Axle pin type three-way force cell sensor | |
| US20190275681A1 (en) | Torque sensor device and method for detecting torques | |
| CN102785253B (en) | Robot system having error detection function of robot and control method thereof | |
| JP5980877B2 (en) | System, robot, and robot system for detecting load applied to robot | |
| US11085836B2 (en) | Force sensor that detects at least one of a force in each axial direction and a moment around each axis in an XYZ three-dimensional coordinate system | |
| KR20160147035A (en) | Torque sensor and method for detecting torques occurring on or in a joint of an articulated arm robot | |
| CN201255672Y (en) | Force measuring sensor | |
| US8881597B2 (en) | Measuring device including detection of deformations | |
| CN102052984A (en) | Redundancy fault-tolerant type parallel-structured six-dimensional force sensor | |
| US20220299389A1 (en) | Anti-overload torque sensor based on thin film sputtering | |
| CN110802585A (en) | Mechanical arm tail end sensor compensation method and contact force/moment measurement method | |
| CN105588759B (en) | The test method of pin load distribution ratio in a kind of indirect determination composite Multi-fasteners joint structure failure history | |
| CN103863959A (en) | Tension sensor, moment limiter and crane | |
| CN108801523A (en) | A kind of proving ring and device for measuring force of thrust bearing | |
| CN102865947A (en) | Fault-tolerant wide-range parallel six-axis force sensor | |
| CN210533581U (en) | Six-dimensional force sensor applied to industrial field | |
| CN209623930U (en) | A kind of optical fiber axle power bolt | |
| CN112284600A (en) | Six-component force measuring sensor | |
| CN206683798U (en) | A kind of new six force snesor based on Stewart structures | |
| CN102539031B (en) | Inner conical elastomer for strain force transducer, and optimization method for inner conical elastomer | |
| CN111780909A (en) | Six-component force measuring sensor | |
| CN111896164A (en) | Three-component force measuring sensor | |
| CN214224409U (en) | Double-range force transducer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |