CN110514341B - Six-dimensional force and torque sensor with fault-tolerant capability for aerospace mechanical arm - Google Patents
Six-dimensional force and torque sensor with fault-tolerant capability for aerospace mechanical arm Download PDFInfo
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- CN110514341B CN110514341B CN201910816542.9A CN201910816542A CN110514341B CN 110514341 B CN110514341 B CN 110514341B CN 201910816542 A CN201910816542 A CN 201910816542A CN 110514341 B CN110514341 B CN 110514341B
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- 230000035945 sensitivity Effects 0.000 abstract description 17
- 238000005259 measurement Methods 0.000 abstract description 14
- 230000000694 effects Effects 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 3
- 239000011888 foil Substances 0.000 description 4
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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
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
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Abstract
The application discloses a six-dimensional force and torque sensor with fault-tolerant capability for an aerospace mechanical arm, which adopts a double-layer structure and mainly comprises a loading block, a fixed block, a strain beam, a floating beam and a strain gauge; the loading block and the six strain beams are positioned in the same plane, the strain beams are uniformly distributed around the loading block, the fixed block is positioned in the other plane, and the fixed block is connected with the strain beams through the vertical floating beams; load concentration grooves in the vertical direction and the horizontal direction penetrate through the upper surface, the lower surface, the left surface and the right surface of each strain beam, so that the sensitivity of force and moment measurement is improved; the strain gauge is adhered to a corresponding load concentration position on the strain beam; the 12-path full-bridge circuit is formed by 48 strain gauges distributed on six strain beams, and six data such as force, moment and the like in three directions are measured. The sensor provided by the application realizes the detection backup effect through six strain beams, and achieves the redundancy and fault tolerance of the measurement of the six-dimensional force sensor, the reliability and the service life.
Description
Technical Field
The application relates to the field of sensor equipment, in particular to a six-dimensional force and torque sensor with fault-tolerant capability for an aerospace mechanical arm.
Background
The six-dimensional force sensor can simultaneously measure forces and moments in three directions in a space coordinate system, is widely applied to the sensing of the stress condition of an operated object at the tail end of the mechanical arm, and achieves force adaptive control. In order to achieve accurate measurement of the forces and moments experienced by the tip, six-dimensional force sensors must be connected in series into the force and moment transmission path. If according to traditional two backup modes, need establish ties two six-dimensional force sensor at the end, so not only increased the cost, also can reduce the rigidity of whole arm, increased force sensor's installation space. The six-dimensional force sensor can be divided into different types such as photoelectric type, piezoelectric type, capacitance type and strain type according to different principles of converting a moment signal into an electric signal, wherein the strain type has high reliability, good stability and the application is the most extensive.
In the prior art, a cross beam structure is generally adopted, six groups of strain gauges are realized through an inner layer of floating beam and an outer layer of floating beam, the measuring range of the sensor is increased and the rigidity of the sensor is expanded under the condition that the peripheral dimension is not changed, the fault-tolerant capability of the sensor is poor, and the sensor can be continuously used only by being maintained or replaced when a fault occurs.
In the prior art, in order to improve the strength of a six-dimensional force sensor, an eight-beam structure is further provided, wherein four main beams are arranged in a cross shape, four auxiliary beams and the main beams are uniformly arranged at an angle of 45 degrees, four main floating beams and four auxiliary floating beams are simultaneously designed so as to improve the force measurement rigidity and realize the measurement of large force and small moment, and the eight-beam structure is arranged so as to improve the strength and is not helpful for fault-tolerant capability. In addition, a double-cross beam high-sensitivity six-dimensional torque sensor is also available, two layers of cross beams in different grooving directions are adopted to measure forces or torques in different directions respectively, the measurement sensitivity in all directions is improved, and meanwhile, the inter-dimensional interference is reduced, but the structure is complex and the processing cost is high.
Therefore, how to improve the fault tolerance of the six-dimensional force and torque sensor and reduce replacement and maintenance is a technical problem to be solved by those skilled in the art.
Content of application
The six-dimensional force and torque sensor has high fault-tolerant capability through backup, and can be applied to aerospace mechanical arms and other occasions with high reliability requirements and difficult replacement.
In order to achieve the above purpose, the present application provides the following technical solutions:
a six-dimensional force and torque sensor with fault-tolerant capability for an aerospace mechanical arm comprises a fixed block, a loading block and a strain beam; the strain beams are connected between the fixed block and the loading block, the number of the strain beams is at least six, and the strain beams are uniformly distributed along the circumferential direction of the loading block; each strain beam is provided with a vertical direction load concentration groove along the upper surface and the lower surface in a penetrating manner, and the left side and the right side of each strain beam, which are close to the vertical direction load concentration grooves, are provided with at least one strain gauge; the device comprises a floating beam, wherein the floating beam is connected between the strain beam and the fixed block, so that the strain beam and the fixed block are positioned on different planes; horizontal direction load concentration grooves penetrate through the left side and the right side of the strain beam, and at least one strain gauge is arranged on the upper surface and the lower surface of the strain beam, which are close to the horizontal direction load concentration grooves; the included angle between the strain beam close to the positive direction of the Y axis and the positive direction of the Y axis is 10-20 degrees.
Preferably, the extending direction of the floating beam is perpendicular to the upper surface of the fixed block.
Preferably, the floating beam is plate-shaped or cylindrical.
Preferably, the fixed block and the loading block are both annular, and the floating beam is connected to the outer side of the upper surface of the fixed block.
Preferably, the fixing block and the loading block are both provided with bolt holes.
Preferably, everywhere the number of foil gage is two, four planes of 6 straining roof beams are all pasted 48 the foil gage is pasted totally 12 full-bridge circuit is constituteed to the foil gage, measures 6 data to the ascending power of three side and moment, and every ascending power of side or moment all have a principal part and two backups, realize the redundancy design.
Preferably, the vertical direction load concentration groove and the horizontal direction load concentration groove are both square grooves, and the strain gauge corresponding to the vertical direction load concentration groove is arranged at one end of the strain beam close to the floating beam.
Preferably, the six-dimensional force and moment sensor is of an integrally formed structure, the loading block and the strain beam are located in the same plane, the fixing block is located in the other plane, and the two planes are connected through the vertical floating beam.
Preferably, the structures of the six strain beams and the sticking positions of the strain gauges are the same, the structures of the six floating beams are the same, and the aerospace mechanical arm with fault tolerance is of a centrosymmetric structure with the six-dimensional force and torque sensors with fault tolerance.
The six-dimensional force and moment sensor comprises a fixed block, a loading block and a strain beam; the strain beams are connected between the fixed block and the loading block, the number of the strain beams is at least six, and the strain beams are uniformly distributed along the circumferential direction of the loading block; each strain beam is provided with a vertical direction load concentration groove along the upper surface and the lower surface in a penetrating manner, and the left side and the right side of each strain beam, which are close to the vertical direction load concentration grooves, are provided with at least one strain gauge; the floating beam is connected between the strain beam and the fixed block, so that the strain beam and the fixed block are positioned on different planes; horizontal direction load concentration grooves penetrate through the left side and the right side of the strain beam, and at least one strain gauge is arranged on the upper surface and the lower surface of the strain beam, which are close to the horizontal direction load concentration grooves; and the angle staggered between the strain beam close to the positive direction of the Y axis and the positive direction of the Y axis is 10-20 degrees. According to the six-dimensional force and moment sensor, the at least six strain beams are arranged, and the strain sheet is arranged on each strain beam, so that a detection backup effect is achieved, the fault-tolerant capability of the sensor is improved, and the overall reliability and service life of the sensor are further improved; the fixed block and the loading block are arranged in different planes, so that the strain beam can simultaneously process two mutually vertical load concentration grooves in the vertical direction and the horizontal direction, and the measurement sensitivity of the sensor in each direction is improved; in addition, the strain beam is staggered from the positive direction of the Y axis, so that the aim of balancing X, Y direction force and moment sensitivity can be achieved, and the overall sensitivity of the sensor is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of one embodiment of a six-dimensional force and moment sensor according to the present disclosure;
FIG. 2 is a top view of a six-dimensional force and moment sensor provided herein;
FIG. 3 is a bottom view of a six-dimensional force and moment sensor as provided herein;
wherein: the device comprises a fixing block (1), a strain beam (2), a loading block (3), a horizontal load concentration groove (4), a vertical load concentration groove (5), a floating beam (6), a strain gauge (7), a first strain beam (2-1), a second strain beam (2-2), a third strain beam (2-3), a fourth strain beam (2-4), a fifth strain beam (2-5), a sixth strain beam (2-6), a first strain gauge (7-1), a second strain gauge (7-2), a third strain gauge (7-3), a fourth strain gauge (7-4), a fifth strain gauge (7-5), a sixth strain gauge (7-6), a seventh strain gauge (7-7), an eighth strain gauge (7-8), a ninth strain gauge (7-9), a tenth strain gauge (7-10), Eleven (7-11) strain gauge, twelve (7-12) strain gauge, thirteen (7-13) strain gauge, fourteen (7-14) strain gauge, fifteen (7-15) strain gauge, sixteen (7-16) strain gauge, seventeen (7-17) strain gauge, eighteen (7-18) strain gauge, nineteen (7-19) strain gauge, twenty (7-20) strain gauge, twenty-one (7-21) strain gauge, twenty-two (7-22) strain gauge, twenty-three (7-23) strain gauge, twenty-four (7-24) strain gauge, twenty-five (7-25) strain gauge, twenty-six (7-26) strain gauge, twenty-seven (7-27) strain gauge, twenty-eight (7-28) strain gauge, twenty-nine (7-29) strain gauge, thirty (7-30) strain gauge, Thirty-one (7-31) strain gauge, thirty-two (7-32) strain gauge, thirty-three (7-33) strain gauge, thirty-four (7-34) strain gauge, thirty-five (7-35) strain gauge, thirty-six (7-36) strain gauge, thirty-seven (7-37) strain gauge, thirty-eight (7-38) strain gauge, thirty-nine (7-39) strain gauge, forty (7-40) strain gauge, forty-one (7-41) strain gauge, forty-two (7-42) strain gauge, forty-three (7-43) strain gauge, forty-four (7-44) strain gauge, forty-five (7-45) strain gauge, forty-six (7-46) strain gauge, forty-47 strain gauge and forty-eight (7-48) strain gauge.
Detailed Description
The core of the application is to provide a six-dimensional force and moment sensor, the six-dimensional force and moment sensor achieves the purpose of backup by increasing the number of strain beams, and the space required by backup cannot be increased and the rigidity of the sensor cannot be reduced.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1 to 3, fig. 1 is a schematic structural diagram of an embodiment of a six-dimensional force and moment sensor provided in the present application; FIG. 2 is a top view of a six-dimensional force and moment sensor provided herein; FIG. 3 is a bottom view of a six-dimensional force and moment sensor as provided herein.
In the embodiment, the six-dimensional force and moment sensor with fault tolerance is mainly applied to occasions with high precision requirements or difficult replacement, such as an aerospace mechanical arm, and comprises a fixed block 1, a loading block 3 and a strain beam 2.
The strain beams 2 are connected between the fixed block 1 and the loading block 3, the number of the strain beams 2 is six, and the strain beams are uniformly distributed along the circumferential direction of the loading block 3; each strain beam 2 is provided with a vertical direction load concentration groove 5 along the upper and lower surfaces thereof in a penetrating manner, and at least one strain gauge 7 is arranged at the position, close to the vertical direction load concentration groove 5, of the left side and the right side of each strain beam 2.
The six-dimensional force and torque sensor provided by the application is arranged through six strain beams 2, and each strain beam 2 is provided with a strain foil 7, so that the detection backup effect is realized, the fault-tolerant capability of the sensor is improved, and the integral reliability and service life of the sensor are further improved.
It should be noted here that the vertical direction and the horizontal direction referred to in the present embodiment are when the fixed block 1 is horizontally placed as shown in fig. 1, and when the position of the fixed block 1 is changed, the vertical direction and the horizontal direction should be changed accordingly.
On the basis of the above embodiments, the strain gauge further comprises a floating beam 6, wherein the floating beam 6 is connected between the strain beam 2 and the fixed block 1, so that the strain beam 2 and the fixed block 1 are on different planes; the left side and the right side of the strain beam 2 are provided with a horizontal direction load concentration groove 4 in a penetrating mode, and the upper surface and the lower surface of the strain beam 2 are provided with at least one strain gauge 7 at positions close to the horizontal direction load concentration groove 4.
Above-mentioned setting is through setting up fixed block 1 and loading piece 3 in the plane of difference for straining roof beam 2 can process two mutually perpendicular's of vertical direction and horizontal direction load concentrated groove simultaneously, improves the measuring sensitivity of sensor in each side.
Specifically, the floating beam 6 is located in a vertical plane and is connected with the fixed block 1 and the strain beam 2 which are located on different planes, and the floating effect of the floating beam 6 can be changed by designing the thickness, height and width of the floating beam 6, so that the rigidity and sensitivity of the sensor are influenced.
On the basis of the above embodiments, the floating beam 6 extends in a direction perpendicular to the upper surface of the fixed block 1 so that the strain beam 2 and the load block 3 are suspended on one side of the fixed block 1.
Specifically, the fixed block 1 and the loading block 3 are positioned in two different planes, but the central axes are overlapped; the six strain beams 2 and the loading blocks 3 are positioned in the same plane and are uniformly distributed around the loading ring; one end of the strain beam 2 is connected with the loading block 3, and the other end is connected with the fixed block 1 through the floating beam 6; the six strain beams 2 are identical in structural size and are provided with load concentration grooves in the vertical direction and the horizontal direction, and the strain gauges 7 are adhered to the positions, where the load of the strain beams 2 is concentrated.
In addition to the above embodiments, the floating beam 6 has a plate shape or a cylindrical shape, and the floating beam 6 should have flexibility so as to facilitate a slight deformation of the strain beam 2, but of course, the floating beam 6 is preferably a thin plate shape for easy processing.
On the basis of the above embodiments, the fixed block 1 and the loading block 3 are both annular, that is, the fixed block 1 and the loading block 3 are preferably disc-shaped, the fixed block 1 and the loading block 3 are both provided with bolt holes, and the floating beam 6 is connected to the outer side of the upper surface of the fixed block 1, so that the strain beam 2 has enough length to be provided with the vertical load concentration groove 5 and the horizontal load concentration groove 4.
It should be noted that, the fixing block 1 and the loading block 3 are both annular, so as to reduce weight on the premise of ensuring strength, and of course, the fixing block 1 may also be in the shape of a circular plate or other shapes, and may be fixed on a mechanical arm or other devices.
Specifically, the fixed block 1 is fixed by a screw, force and torque are loaded on the six-dimensional force sensor through the loading block 3, and the strain beam 2 is caused to generate micro strain; the strain is converted into an electric signal through a strain gauge 7 adhered to the strain beam 2, and the electric signal is amplified through a full-bridge circuit and a subsequent processing circuit, so that the purpose of measuring force and moment is achieved; the floating beam 6 is connected between the strain beams 2 and the fixed block 1, so that the interference between the strain beams 2 is reduced, and the strain effect of the strain beams 2 can be increased to improve the measurement sensitivity.
On the basis of each embodiment, the number of the strain gauges 7 at each position is two, specifically, taking the number of the strain beams 2 as six examples, each strain beam 2 is provided with one vertical direction load concentration groove 5 and one horizontal direction load concentration groove 4, each vertical direction load concentration groove 5 corresponds to two strain gauges 7, the total number is four, each horizontal direction load concentration groove 4 corresponds to two strain gauges 7, and the total number is four, namely, 8 strain gauges 7 are arranged on each strain beam 2.
Through the arrangement, 48 strain gauges 7 are pasted on the sensor to form 12 full-bridge measuring circuits, each force or moment measuring channel is guaranteed to have a backup, the four strain gauges 7 of each full-bridge circuit are symmetrical about the center of the central shaft, and the strain gauges 7 are pasted at the load concentration positions of the strain beams 2; when a certain full-bridge circuit breaks down, the measurement of the channel force or the moment can be continuously completed by using the data of the backup circuit, so that the service life of the sensor is prolonged under the condition of not influencing the rigidity, and the sensor is particularly suitable for occasions requiring high equipment reliability, such as spaceflight, sea diving and the like.
On the basis of the above embodiments, the vertical direction load concentration groove 5 and the horizontal direction load concentration groove 4 are both square grooves, and may also be circular or dumbbell-shaped, and the strain gauge 7 corresponding to the vertical direction load concentration groove 5 is provided at one end of the strain beam 2 close to the floating beam 6.
In addition to the above embodiments, the six-dimensional force and moment sensor is an integrally molded structure. Specifically, the six-dimensional force sensor is preferably of a centrosymmetric structure, can be integrally processed by one material, does not have the phenomena of gaps and hysteresis caused by combined assembly, and prolongs the service life.
In each of the above embodiments, the strain beam 2 closer to the positive Y-axis direction is shifted by an angle of 10 to 20 ° from the positive Y-axis direction.
Preferably, the included angle between the strain beam 2 close to the positive direction of the Y axis and the positive direction of the Y axis is 15 degrees, and the coordinate axis in the X, Y plane and the strain beam 2 are rotated by 15 degrees, so that the aim of balancing the sensitivity of force and moment in the X, Y direction is achieved, and the overall sensitivity of the sensor is improved.
In a specific embodiment, the six-dimensional force and moment sensor is manufactured by integral processing, has high integral strength and consists of a fixed block 1, a loading block 3, a strain beam 2, a floating beam 6 and a strain gauge 7. The fixed block 1 and the loading block 3 are located in 2 different horizontal planes, and six strain beams 2 are uniformly distributed around the loading block 3. In the embodiment, the fixing block 1 and the loading block 3 are both in a circular ring structure, and can also be square or hexagonal and are connected with the outside through a light hole. The strain beam 2 is connected with the fixed block 1 through a vertical floating beam 6. A horizontal direction load concentration groove 4 and a vertical direction load concentration groove 5 are machined in each strain beam 2, and the structural form and the size of the six strain beams 2 are completely consistent except for different directions. In the embodiment, the horizontal direction load concentration groove 4 and the vertical direction load concentration groove 5 are both square grooves, and the width of the floating beam 6 is consistent with that of the strain beam 2. The strain gauges 7 are adhered to the load concentration positions of the strain beams 2, 8 strain gauges 7 are adhered to each strain beam 2, and 48 strain gauges 7 are formed to form 12 full-bridge measuring circuits; the bonding positions of the strain gauge 7 on each strain beam 2 are the same, and the strain gauge 7 is symmetrical about the center axis.
Specifically, as can be seen from fig. 2 and 3, the third strain beam 2-3 is staggered by 15 degrees from the Y axis; seventeen 7-17 parts of strain gauge, eighteen 7-18 parts of strain gauge, nineteen 7-19 parts of strain gauge, twenty 7-20 parts of strain gauge, twenty six 7-26 parts of strain gauge, twenty seven 7-27 parts of strain gauge, twenty eight 7-28 parts of strain gauge and twenty nine 7-29 parts of strain gauge are adhered to the first strain beam 2-1; thirteen 7-13 parts of strain gauge, fourteen 7-14 parts of strain gauge, fifteen 7-15 parts of strain gauge, sixteen 7-16 parts of strain gauge, thirty 7-30 parts of strain gauge, thirty-one 7-31 parts of strain gauge, thirty-two 7-32 parts of strain gauge and thirty-three 7-33 parts of strain gauge are adhered to the second strain beam 2-2; nine 7-9 parts of strain gauge, ten 7-10 parts of strain gauge, eleven 7-11 parts of strain gauge, twelve 7-12 parts of strain gauge, thirty-four 7-34 parts of strain gauge, thirty-five 7-35 parts of strain gauge, thirty-six 7-36 parts of strain gauge and thirty-seven 7-37 parts of strain gauge are pasted on the third strain beam 2-3; five strain gauges 7-5, six strain gauges 7-6, seven strain gauges 7-7, eight strain gauges 7-8, thirty-eight strain gauges 7-38, thirty-nine strain gauges 7-39, forty-7-40 and forty-one strain gauges 7-41 are adhered to the fourth strain beams 2-4; the first strain gauge 7-1, the second strain gauge 7-2, the third strain gauge 7-3, the fourth strain gauge 7-4, the forty-two strain gauge 7-42, the forty-three strain gauge 7-43, the forty-four strain gauge 7-44 and the forty-five strain gauge 7-45 are adhered to the fifth strain beam 2-5; and twenty-one strain gauge 7-21, twenty-two strain gauge 7-22, twenty-three strain gauge 7-23, twenty-four strain gauge 7-24, forty-six strain gauge 7-46, forty-seven strain gauge 7-47, forty-eight strain gauge 7-48 and forty-nine strain gauge 7-49 are adhered to the sixth strain beam 2-6.
The strain bridge circuit comprises strain plates seventeen 7-17, strain plates twenty 7-20, strain plates eight 7-8 and strain plates five 7-5, wherein a strain bridge circuit a is formed by the strain plates sixteen 7-16, strain plates thirteen 7-13, strain plates four 7-4 and strain plates three 7-3, a strain bridge circuit b is formed by the strain plates nine 7-9, strain plates ten 7-10, strain plates twenty four 7-24 and strain plates twenty one 7-21, the strain bridge circuits a, b and c jointly measure Fx and Fy and are backups of each other, and when a certain path has a problem, the remaining two paths can still measure the force in the directions of the Fx and the Fy.
The strain bridge circuit d is composed of eighteen 7-18 strain sheets, seven 7-7 strain sheets, twenty eight 7-28 strain sheets and thirty nine 7-39 strain sheets, the strain bridge circuit e is composed of fourteen 7-14 strain sheets, two 7-2 strain sheets, 7-32 strain sheets and forty three 7-43 strain sheets, the strain bridge circuit f is composed of eleven strain sheets 7-11, twenty three strain sheets 7-23, thirty six strain sheets 7-36 and forty seven strain sheets 7-47 strain bridges d, e and f are used for measuring Mx and My together and backup each other, and when a certain path has a problem, the remaining two paths can still measure the forces in the Mx and My directions.
The strain bridge g is composed of twenty-nine strain sheets 7-29, twenty-six strain sheets 7-26, thirty-eight strain sheets 7-38 and forty-one strain sheets 7-41, the strain bridge h is composed of thirty-7-30 strain sheets, thirty-three strain sheets 7-33, forty-two strain sheets 7-42 and forty-five strain sheets 7-45, the strain bridge i is composed of twenty-five strain sheets 7-25, forty-sixteen strain sheets 7-46, thirty-seven strain sheets 7-37 and thirty-four strain sheets 7-34, the Mz is measured by the strain bridges g, h and i together, and the strain bridges are backup to each other, wherein any one path can finish the measurement of the force in the Mz direction.
Nineteen 7-19 strain gauge, six 7-6 strain gauge, twenty-seven 7-27 strain gauge and forty 7-40 strain gauge form a strain bridge j, fifteen 7-15 strain gauge, one 7-1 strain gauge, thirty-one strain gauge, 7-31 strain gauge and forty-four strain gauge, 7-44 strain bridge k, twelve 7-12 strain gauge, twenty-two strain gauge, 7-22 strain gauge, thirty-five strain gauge and forty-eight strain gauge, 7-48 strain bridge l, the strain bridges j, k and l measure Fz together and are backup for each other, wherein any one path can measure the force in the Fz direction.
Specifically, the sensor provided by this embodiment adopts a six-beam structure, on the premise of realizing fault-tolerant capability, the strain gauge 7 is used the least, the structure is the simplest, and simultaneously, a primary and secondary design for measuring each path is realized, and only two backups can realize error diagnosis; in order to reduce the sensitivity reduction caused by a six-beam structure, the structure in one plane is changed into a three-dimensional structure, and only then, a load concentration groove in the horizontal direction can be added on the strain beam; the floating effect is better through the three-dimensional floating beam structure, so that the sensitivity is more favorably improved; meanwhile, the strain beam and the coordinate axis are staggered by 15 degrees, so that the sensitivity in each direction is more uniform, and the sensitivity of the whole measurement can be improved, because the whole sensitivity is determined by a channel with the worst sensitivity; in addition, the more strain beams, the poorer the sensitivity, and the 6-beam structure is the optimal structure for realizing the redundant design.
When the six-dimensional force and moment sensor with fault-tolerant capability works, the fixed block 1 is fixed by using a screw, load acts on the sensor through the loading block 3 to cause the strain beam 2 to deform, and finally, the strain of the strain beam 2 is converted into an electric signal through the strain gauge 7 to be measured; the 48 strain gages 7 form 12 groups of full-bridge measuring circuits, each path of the six measuring channels is guaranteed to be provided with at least one backup, when a certain path is in a problem during measurement, the backup measuring circuits can be continuously used for continuously completing the measurement of the path, the fault-tolerant purpose is achieved, and the overall reliability of the sensor is improved.
Specifically, when all full-bridge circuits are normal, force or moment information of 6 channels is decoupled by using 12 full-bridge circuit measured values; when a certain channel has a fault, the measurement of force and moment can be continuously realized by using 11 full-bridge circuits until all the backup of the certain channel cannot be normally used.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The six-dimensional force and moment sensors provided herein are described in detail above. The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
Claims (6)
1. A six-dimensional force and torque sensor with fault-tolerant capability for an aerospace mechanical arm is characterized by comprising a fixed block (1), a loading block (3) and a strain beam (2); the strain beams (2) are connected between the fixed block (1) and the loading block (3), the number of the strain beams (2) is six, and the strain beams are uniformly distributed along the circumferential direction of the loading block (3); each strain beam (2) is provided with a vertical direction load concentration groove (5) along the upper surface and the lower surface in a penetrating manner, and the positions, close to the vertical direction load concentration grooves (5), of the left side and the right side of each strain beam (2) are provided with at least one strain gauge (7);
the strain beam is characterized by further comprising a floating beam (6), wherein the floating beam (6) is connected between the strain beam (2) and the fixed block (1), so that the strain beam (2) and the fixed block (1) are located on different planes;
horizontal direction load concentration grooves (4) penetrate through the left side and the right side of the strain beam (2), and at least one strain gauge (7) is arranged on the upper surface and the lower surface of the strain beam (2) close to the horizontal direction load concentration grooves (4);
moreover, the staggered angle between the strain beam (2) close to the positive direction of the Y axis and the positive direction of the Y axis is 10-20 degrees;
the number of the strain gauges (7) at each position is two, the strain gauges (7) are adhered to four planes of the 6 strain beams (2), 48 strain gauges (7) are adhered to the four planes to form 12 full-bridge circuits, 6 data of force and moment in three directions are measured, and one master part and two backup parts are arranged on the force or moment in each direction, so that redundant design is realized;
the floating beam (6) is plate-shaped or cylindrical; the fixed block (1) and the loading block (3) are both annular, and the floating beam (6) is connected to the outer side of the upper surface of the fixed block (1).
2. The six-dimensional force and moment sensor with fault tolerance for an aerospace robot arm according to claim 1, wherein the floating beam (6) extends in a direction perpendicular to the upper surface of the fixed block (1).
3. The six-dimensional force and torque sensor with fault tolerance for the aerospace mechanical arm of claim 1, wherein bolt holes are formed in the fixing block (1) and the loading block (3).
4. The six-dimensional force and moment sensor with fault tolerance for the aerospace mechanical arm according to any one of claims 1 to 3, wherein the vertical direction load concentration groove (5) and the horizontal direction load concentration groove (4) are both square grooves, and the strain gauge (7) corresponding to the vertical direction load concentration groove (5) is arranged at one end of the strain beam (2) close to the floating beam (6).
5. The six-dimensional force and moment sensor with fault tolerance for the aerospace mechanical arm according to any one of claims 1 to 3, wherein the six-dimensional force and moment sensor with fault tolerance for the aerospace mechanical arm is an integrated structure, the loading block (3) and the strain beam (2) are located in the same plane, the fixed block (1) is located in the other plane, and the two planes are connected through the vertical floating beam (6).
6. The six-dimensional force and moment sensor with fault tolerance for the aerospace mechanical arm according to any one of claims 1 to 3, wherein the structures of six strain beams (2) and the bonding positions of the strain gauges (7) are the same, the structures of six floating beams (6) are the same, and the six-dimensional force and moment sensor with fault tolerance for the aerospace mechanical arm with fault tolerance is a centrosymmetric structure.
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