CN113848011B - Structural decoupling type six-dimensional force sensor and measuring method thereof - Google Patents
Structural decoupling type six-dimensional force sensor and measuring method thereof Download PDFInfo
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- 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
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
- G01L1/246—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using integrated gratings, e.g. Bragg gratings
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Abstract
The invention provides a structural decoupling type six-dimensional force sensor and a measuring method thereof, wherein the structural decoupling type six-dimensional force sensor comprises a spherical limiting cover, an upper annular body, a lower annular body, eight beam assemblies, a central hemispherical rotating body and a base; the upper and lower tourus is two-layer about being and rotates continuously with central hemisphere through four roof beam subassemblies respectively, is equipped with on the base and rotates assorted recess and link to each other with lower tourus with central hemisphere, and the spacing lid of spheroid rotates the restriction of central hemisphere in its inboard and the recess of base and links to each other with the base, makes power and moment act on elastic beam about respectively through the rotation that the hemisphere rotated, and then has realized the decoupling zero output of six-dimensional power and moment measured information. Compared with the traditional sliding decoupling structure, the main structure has good symmetry, is easy to process and manufacture, has overload protection capability, and effectively solves the problem of improper contact force in the sliding process. The invention adopts the fiber bragg grating as a strain detection element, and has the advantages of electromagnetic interference resistance, small appearance, easy reuse and the like.
Description
Technical Field
The invention relates to a structural decoupling type six-dimensional force sensor and a measuring method thereof, belonging to the field of sensors.
Background
The six-dimensional force/moment sensor is a force sensor capable of simultaneously measuring a three-dimensional orthogonal force and a three-dimensional orthogonal moment in space, and is a new sensor which appears along with the development of the robot technology since the 70 th of the 20 th century. The six-dimensional force/moment sensor was initially studied to enable robots to be applied to more complex tasks, and was later applied to various fields of civil engineering, aerospace, national defense and military, machining, automobile manufacturing, medical instruments, and the like. With the continuous development of industrial informatization, the six-dimensional force/torque sensor needs to meet the requirements of more and more diversified tasks under various scenes, so that the requirements of the multi-dimensional force sensor are higher and higher.
The high cross sensitivity between different axes caused by coupling interference between different dimensions of an early sensor structure can influence the accuracy of the sensor to a great extent, so that a complex calibration test and a decoupling algorithm are required to obtain a decoupling matrix, and the speed of obtaining a result is influenced. Designing a special structure to minimize the inherent coupling of the sensor is therefore an urgent problem to be solved.
The existing six-dimensional force sensor has the problems of complex structure, difficult processing and assembly, low structural safety, improper contact force and the like in order to improve the precision and sensitivity of the sensor and reduce the influence of coupling between dimensions; for example, the chinese patent CN208867192U and the chinese patent CN 103487194A adopt a space orthogonal structure to reduce coupling, but have the disadvantages of more complex structure and complex processing and assembly; the Chinese patent CN 105181193A and the Chinese patent CN 208595994U add a flexible thin-wall cylinder and a flexible hinge in the structure for decoupling, but have the problems of poor safety, no overload protection and easy damage of a sensor; chinese patent CN 104048790A and chinese patent CN 102095534A adopt a relative sliding structure to realize decoupling, but the relative displacement of such rectangular groove may generate an additional force to affect the decoupling effect due to improper contact such as deflection, so further improvement is still needed for the main structure.
The six-dimensional force sensor has a simple and compact structure, realizes the decoupling of force and moment, has overload protection capability and has a very wide application prospect.
Disclosure of Invention
The present invention is directed to a six-dimensional force sensor and a main structure thereof to solve the above problems. Meanwhile, a measuring method of the fiber grating six-dimensional force sensor is also provided.
The purpose of the invention is realized by the following steps: the spherical structure comprises a central hemispherical swivel, a beam assembly and two ring bodies which are arranged up and down, wherein the beam assembly is divided into an upper layer and a lower layer which are respectively connected between the inner walls of the two ring bodies and the outer wall of the central hemispherical swivel, each layer of beam assembly is arranged at equal intervals, the beam assembly comprises an outer rectangular beam connected with the ring bodies, an inner rectangular beam connected with the central hemispherical swivel and a force transmission block connected with the outer rectangular beam and the inner rectangular beam, the base is arranged below the central hemispherical swivel, and a groove matched with the central hemispherical swivel is formed in the center of the base; the inner side shape of the spherical limiting cover is matched with the central hemispherical rotating body, and the beam assembly is provided with a fiber grating.
The invention also includes such structural features:
1. the eight beam assemblies are arranged in two layers, and the included angle between the beam assemblies on each layer is 90 degrees.
2. The inner and outer rectangular beams of each beam assembly are arranged vertically.
3. The arrangement of the fiber grating on the beam assembly means that: the rectangular beam in the upper layer is respectively provided with a first fiber grating, a second fiber grating, a third fiber grating and a fourth fiber grating, the rectangular beam in the lower layer is respectively provided with a fifth fiber grating, a sixth fiber grating, a seventh fiber grating and an eighth fiber grating, the two side surfaces of any one lower layer of outer rectangular beam, which are close to the force transfer block, are symmetrically provided with a ninth fiber grating and a tenth fiber grating, and the rectangular beam in the upper layer is provided with an eleventh fiber grating and a twelfth fiber grating.
4. Firstly, applying force or moment on an upper-layer circular ring body by taking the center of the upper surface of a central hemispherical rotating body as a reference point, then leading the central reflection wavelengths of first to twelfth fiber gratings to shift due to structural stress deformation, measuring the shift amount of each wavelength, and finally calculating the applied force or moment through the shift amount of the wavelength, wherein a difference signal delta lambda 13= delta lambda 1-delta lambda 3 of the wavelength shift amounts of the first fiber grating and the third fiber grating is used for calculating an Fx signal; the difference signal delta lambda 24= delta lambda 2-delta lambda 4 of the wavelength drift amounts of the second fiber bragg grating and the fourth fiber bragg grating is used for calculating an Fy signal; a difference signal delta lambda 57= delta lambda 5-delta lambda 7 of the wavelength drift amounts of the fifth fiber bragg grating and the seventh fiber bragg grating is used for calculating a My signal; the difference signal delta lambda 68= delta lambda 6-delta lambda 8 of the wavelength drift amounts of the sixth fiber grating and the eighth fiber grating is used for calculating an Mx signal; a difference signal Δ λ 910= Δ λ 9- Δ λ 10 of wavelength drift amounts of the ninth fiber grating and the tenth fiber grating for calculating Mz; the sum signal Δ λ 1112= Δ λ 11+ Δ λ 12 of the wavelength shift amount of the twelfth fiber grating and the wavelength shift amount of the eleventh fiber grating is used to calculate Fz.
Compared with the prior art, the invention has the beneficial effects that: the invention is different from the existing six-dimensional force sensor adopting decoupling means such as double cross beams, elastic hinges and the like, combines the thought of a sliding structure on the basis of the traditional cross beam structure, does not generate extra errors caused by improper contact by using the three-dimensional rotation of a spherical structure, realizes the decoupling requirement, and has compact integral structure, good symmetry, easy processing and assembly and strong universality.
The main structure of the invention adopts the overload protection device, and a certain distance exists between the upper elastomer and the lower elastomer, between the beam structure and the ball limiting cover, so as to limit the failure of the sensor when the deformation is overlarge.
The fiber grating six-dimensional force sensor provided by the invention has the advantages that the number of the fiber grating elements is only 12, and compared with a sensor of a resistance strain gauge bridge measurement principle which generally needs 24 strain gauges, the number of the sensitive elements is reduced by one time. Meanwhile, the optical wavelength information is used as an output signal of the sensor, and the sensor has the advantages of electromagnetic interference resistance, small appearance, easiness in multiplexing and the like.
According to the measuring method, the wavelength value output information of six groups of fiber gratings formed by 12 fiber gratings is used, and the automatic decoupling output of the six-dimensional force and moment measurement information is realized. Therefore, the invention reduces the coupling between dimensions and realizes the self-decoupling measurement of three-dimensional force and three-dimensional moment.
Drawings
FIG. 1 is a schematic view of the overall structure of the sensor of the present invention;
FIG. 2 is a front view of the sensor of the present invention;
FIG. 3 is a spherical structure of the sensor of the present invention;
FIG. 4 is a schematic view of a sensor base of the present invention;
FIG. 5 is a schematic view of a sensor sphere retaining cap of the present invention;
FIG. 6 is a schematic diagram of a fiber grating arrangement of an upper beam of the sensor;
fig. 7 is a schematic view of a fiber grating arrangement of the lower beam of the sensor.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention includes:
the spherical structure comprises a central hemispherical rotating body, an upper beam assembly, a lower beam assembly and two annular bodies, the main structure is provided with a first axial direction, a second axial direction and a third axial direction which are perpendicular to each other to form a three-dimensional coordinate system, the direction of the symmetrical center line of the outer annular body and the central hemispherical rotating body is the third axial direction, the eight beam assemblies are connected between the inner wall of the outer annular body and the outer wall of the central spherical body in an upper layer and a lower layer, the four beam assemblies in each layer are respectively spaced by 90 degrees, two beam assemblies in each layer are arranged along the direction of the second axial direction, and the other two beam assemblies are arranged along the first axial direction; the beam assembly comprises an outer rectangular beam connected with the outer annular body, an inner rectangular beam connected with the inner annular cylinder and a force transmission block connected between the outer rectangular beam and the inner rectangular beam;
the base comprises a groove which is connected below the central sphere and is matched with the central sphere in the center;
and the spherical limiting cover comprises four same parts, and the shapes of the inner sides of the spherical limiting covers are matched with the shapes of spheres.
As a further improvement of the main body structure, in the outer rectangular beam arranged in the first axial direction on the upper layer, the length of the outer rectangular beam along the first axial direction is greater than that along the second axial direction, and the length of the outer rectangular beam along the second axial direction is more than 3 times of that along the third axial direction; the length of the outer rectangular beam in the second axial direction of the upper layer is greater than that of the outer rectangular beam in the first axial direction; the length of the first axial direction is more than 3 times of the length of the third axial direction; in the internal rectangular beam arranged on the upper layer along the first axial direction, the length of the internal rectangular beam along the first axial direction is greater than that of the internal rectangular beam along the third axial direction, and the length of the internal rectangular beam along the third axial direction is more than 3 times of that of the internal rectangular beam along the second axial direction; the length of the upper layer in the inner rectangular beam arranged along the second axial direction is greater than that of the upper layer in the third axial direction; the length of the bearing in the third axial direction is more than 3 times of the length of the bearing in the first axial direction. In the outer rectangular beam arranged along the first axial direction, the length of the lower layer along the first axial direction is greater than that along the second axial direction, and the length of the lower layer along the third axial direction is more than 3 times of that along the second axial direction; in the outer rectangular beam arranged along the second axial direction of the lower layer, the length of the outer rectangular beam along the second axial direction is greater than that of the outer rectangular beam along the first axial direction, and the length of the outer rectangular beam along the third axial direction is more than 3 times of that along the first axial direction; in the inner rectangular beam arranged along the first axial direction, the length of the lower layer along the first axial direction is greater than that along the third axial direction, and the length of the lower layer along the second axial direction is more than 3 times of that along the third axial direction; in the inner rectangular beam arranged along the second axial direction of the lower layer, the length of the inner rectangular beam along the second axial direction is larger than that along the third axial direction, and the length of the inner rectangular beam along the first axial direction is more than 3 times of that along the third axial direction.
As a further improvement of the main body structure, the overall size of the upper layer inner and outer rectangular beam structure is twice that of the lower layer inner and outer rectangular beam structure;
as a further improvement of the main body structure, when the force transfer block is arranged along the first axial direction, the thickness of the force transfer block along the first axial direction is more than 2 times of the length of the upper-layer outer rectangular beam along the third axial direction and more than 2 times of the length of the lower-layer outer rectangular beam along the second axial direction; two side surfaces of the force transfer block are flush with two side surfaces of the corresponding outer rectangular beams, the upper outer rectangular beam is positioned in the center of the force transfer block along the third axial length, and the lower outer rectangular beam is positioned in the center of the force transfer block along the second axial length; two side surfaces of the force transfer block are flush with two side surfaces of the inner rectangular beam, the upper-layer inner rectangular beam is positioned in the center of the force transfer block along the second axial length, and the lower-layer inner rectangular beam is positioned in the center of the force transfer block along the third axial length;
as the further improvement of the main body structure, the central ball body, the beam assembly and the ring body are of an integrated structure made of elastic materials, and the ball body limiting cover is mechanically matched with the base and fixed by laser spot welding.
As a further improvement of the main body structure, when the spherical limit cover is connected with the base, the distance between the spherical limit cover and the force transfer block is half of the second axial length of the force transfer block;
the fiber bragg grating six-dimensional force sensor comprises the main body structure and the sensitive detection element, wherein the sensitive detection element is a fiber bragg grating, a first fiber bragg grating FBG1, a second fiber bragg grating FBG2, a third fiber bragg grating FBG3 and a fourth fiber bragg grating FBG4 are respectively arranged on a rectangular beam in the upper layer, the first fiber bragg grating FBG1 and the third fiber bragg grating FBG3 are located in a plane where the upper side of the first axial inner rectangular beam is located, and the second fiber bragg grating FBG2 and the fourth fiber bragg grating FBG4 are located in a plane where the upper side of the second axial inner rectangular beam is located; the lower-layer rectangular beam is respectively provided with a fifth fiber bragg grating FBG5, a sixth fiber bragg grating FBG6, a seventh fiber bragg grating FBG7 and an eighth fiber bragg grating FBG8, the fifth fiber bragg grating FBG5 and the seventh fiber bragg grating FBG7 are located in a plane where the side face of the first axial inner rectangular beam is located, and the sixth fiber bragg grating FBG6 and the eighth fiber bragg grating FBG8 are located in a plane where the side face of the second axial inner rectangular beam is located;
a ninth fiber bragg grating FBG9 and a tenth fiber bragg grating FBG10 are symmetrically arranged on two side faces, close to the force transmission block, of any one of the lower-layer outer rectangular beams;
if the ninth fiber bragg grating FBG9 and the tenth fiber bragg grating FBG10 are arranged on the lower layer inner rectangular beam along the first axial direction, the ninth fiber bragg grating FBG9 and the tenth fiber bragg grating FBG10 are arranged in parallel to the first axial direction;
if the ninth fiber bragg grating FBG9 and the tenth fiber bragg grating FBG10 are arranged on the lower layer inner rectangular beam along the second axial direction, the ninth fiber bragg grating FBG9 and the tenth fiber bragg grating FBG10 are arranged in parallel to the second axial direction;
the eleventh fiber bragg grating FBG11 and the twelfth fiber bragg grating FBG12 are arranged on the rectangular beam outside the upper layer and are positioned in the plane where the first axial direction and the third axial direction of the rectangular beam outside the upper layer are positioned
As a further improvement of the fiber grating six-dimensional force sensor, grating positions engraved on the first to twelfth fiber gratings FBG1-FBG 12) are all adhered;
as shown in fig. 1, the sensor includes a body structure and a sensitive detection element.
The main body structure comprises a sphere structure 1, a base 2 and a sphere limiting cover 3.
Wherein spheroid structure 1 is the integral type elastic construction that forms as an organic whole processing, and base 2 and the spacing lid 3 of spheroid are independent parts, adopt laser spot welding fixed after the outer ring body 8 cooperation with spheroid structure 1 lower floor, and the spacing lid 3 of spheroid only plays the effect of the central hemisphere of restriction spheroid structure 1 and turns 6, and does not have the elastic deformation function. FIG. 1 is a schematic view of the assembled, secured sensor.
As indicated in fig. 1, the main body structure has a first axial direction, a second axial direction and a third axial direction perpendicular to each other to form a three-dimensional coordinate system (i.e., an XYZ three-dimensional coordinate system is defined by using the center of the bottom surface of the base 2 as an origin 0, the X axis is the first axis, the Y axis is the second axis, and the Z axis is the third axis), and the directions of the symmetry center lines of the upper outer annular body 7 and the central hemispherical rotating body 6 are the third axes.
Fig. 3 is a schematic diagram of a central sphere of the sensor, which shows the structure and position relationship of the upper elastic disk 4 in detail, and the upper elastic disk 4 includes an upper outer annular ring 7, an upper outer rectangular beam 9, a force transfer block 10, and an upper inner rectangular beam 11. The structure and the position relation of the lower elastic disc 5, the lower elastic disc 5 comprises a lower layer outer ring body 8, a lower layer outer rectangular beam 12, a force transmission block 10 and a lower layer inner rectangular beam 14.
The upper layer beam assembly is composed of an upper layer outer rectangular beam 9, an upper layer inner rectangular beam 11 and a force transmission block 10, the lower layer outer rectangular beam 9, the lower layer inner rectangular beam 11 and the force transmission block 10 are composed of a lower layer beam assembly, eight beam assemblies are arranged in the embodiment, the upper layer four beam assemblies are connected between the inner wall of the outer annular body 7 and the outer wall of the central hemispherical rotating body 6, the lower layer four beam assemblies are connected between the inner wall of the lower layer outer annular body 8 and the outer wall of the central hemispherical rotating body 6, the four beam assemblies on each layer are respectively spaced by 90 degrees, and a certain distance exists between the upper layer elastic disc and the lower layer elastic disc.
The upper layer outer ring body 7 is provided with a threaded hole corresponding to the upper layer outer rectangular beam 9 as a loading ring, the outer rectangular beams are respectively arranged along the X axis or the Y axis, and the inner rectangular beams are respectively arranged along the X axis or the Y axis. The upper elastic disc 4 is symmetrical to the lower elastic disc 5 about the XOZ plane as well as the YOZ plane.
The upper layer outer rectangular beam 9, the upper layer inner rectangular beam 11, the lower layer outer rectangular beam 12 and the lower layer inner rectangular beam 14 are all of thin-wall structures, the length of the upper layer outer rectangular beam 9 in the Y-axis direction is greater than that in the Y-axis direction, and the length of the upper layer outer rectangular beam in the Y-axis direction is more than 3 times of that in the Z-axis direction; in the upper outer rectangular beam 9 arranged along the Y-axis direction, the length of the upper outer rectangular beam along the Y-axis direction is greater than that along the X-axis direction; the length of the X-axis direction is more than 3 times of the length of the Z-axis direction; in the upper-layer inner rectangular beam 11 arranged along the X-axis direction, the length along the X-axis direction is greater than the length along the Z-axis direction, and the length along the Z-axis direction is more than 3 times of the length along the Y-axis direction; in the upper-layer inner rectangular beam 11 arranged along the Y-axis direction, the length of the upper-layer inner rectangular beam along the Y-axis direction is greater than that of the upper-layer inner rectangular beam along the Z-axis direction; the length of the X-axis direction is more than 3 times of the length of the X-axis direction. In the lower-layer outer rectangular beam 12 arranged along the Y-axis direction, the length along the X-axis direction is greater than the length along the Y-axis direction, and the length along the Z-axis direction is more than 3 times of the length along the Y-axis direction; in the lower-layer outer rectangular beam 12 arranged along the Y-axis direction, the length along the Y-axis direction is greater than the length along the X-axis direction, and the length along the Z-axis direction is more than 3 times of the length along the X-axis direction; in the lower-layer inner rectangular beam 14 arranged along the X-axis direction, the length along the X-axis direction is greater than the length along the Z-axis direction, and the length along the Y-axis direction is more than 3 times of the length along the Z-axis direction; in the lower-layer inner rectangular beam 14 arranged along the Y-axis direction, the length along the Y-axis direction is greater than the length along the Z-axis direction, and the length along the X-axis direction is more than 3 times of the length along the Z-axis direction.
The length of the upper outer rectangular beam 9 in the Z-axis direction is the same as the length of the upper inner rectangular beam 11 arranged in the X-axis direction in the Y-axis direction or the length of the upper inner rectangular beam 11 arranged in the Y-axis direction in the X-axis direction.
The length of the lower-layer outer rectangular beams 12 in the Z-axis direction is the same as the length of the lower-layer inner rectangular beams 14 arranged in the X-axis direction in the Y-axis direction or the length of the lower-layer inner rectangular beams 14 arranged in the Y-axis direction in the X-axis direction.
The length of the rectangular beams 11 in the upper layer arranged along the X-axis direction is twice of the length of the rectangular beams 9 in the lower layer arranged along the X-axis direction; the length of the upper-layer outer rectangular beam 9 arranged along the X-axis direction is twice of the length of the lower-layer inner rectangular beam 14 arranged along the X-axis direction along the Z-axis direction;
two side surfaces of the force transfer block 10 are flush with two side surfaces of the upper layer outer rectangular beam 9, and the upper layer outer rectangular beam 9 is positioned in the center of the force transfer block 10 along the height of the z-axis direction along the X-axis direction; the upper surface and the lower surface of the force transfer block 10 are flush with the upper surface and the lower surface of the rectangular beam 11 in the upper layer, and the rectangular beam 11 in the upper layer arranged along the X-axis direction is positioned in the center of the length of the force transfer block 10 along the Y-axis direction;
two side surfaces of the force transfer block 10 are flush with two side surfaces of the lower-layer inner rectangular beam 14, and the lower-layer inner rectangular beam 14 is positioned in the center of the height of the force transfer block 10 in the z-axis direction; the upper surface and the lower surface of the force transfer block 10 are flush with the upper surface and the lower surface of the lower-layer outer rectangular beam 14, and the lower-layer outer rectangular beam 14 arranged along the X-axis direction is positioned in the center of the length of the force transfer block 10 along the Y-axis direction;
the upper surface of the upper layer outer annular body 7 is flush with the upper surface of the upper layer inner rectangular beam 14 and the upper surface of the central hemispherical rotating body 6;
as shown in fig. 4, a groove 15 matched with the ball limiting cover 3 is arranged at the center of the base 2, and the depth of the groove 15 is one third of the radius of the central hemispherical rotating body 6;
as shown in fig. 5, the sphere limit cover 3 comprises four same structures, and the lower surface of the sphere limit cover 3 is flush with the upper surface of the base 2; the inner surface of the sphere limiting cover 3 is attached to the side surface of the central hemispherical rotating body 6, and the central hemispherical rotating body 6 can freely rotate along the inner surface of the sphere limiting cover 3; the upper surface of the spherical limiting cover 3 is higher than the upper surface of the central hemispherical rotating body 6;
the sensitive detecting element of the sensor is a fiber grating, and after the fiber grating is arranged at a specific position of the elastic structure of the sensor, the wavelength output of the fiber grating is utilized to measure the three-dimensional force and the three-dimensional moment.
As shown in fig. 6 and 7, a first fiber grating FBG1 and a third fiber grating FBG3 are arranged along the radial direction of the upper elastic disc 4 on the side surfaces of the rectangular beams 11 in the two upper layers along the X-axis direction, which are close to the force transmission block 10; similarly, fiber bragg gratings FBG2 and FBG4 are radially arranged along the upper elastic disc 4 at the side surfaces of the rectangular beams 11 in the two upper layers close to the force transmission block 10 along the Y-axis direction;
a fifth fiber bragg grating FBG5 and a seventh fiber bragg grating FBG7 are radially arranged on the upper surfaces, close to the force transmission block 10, of the two lower-layer inner rectangular beams 14 in the X-axis direction along the lower elastic disc 5; similarly, fiber bragg gratings (FBG 6, FBG 8) are radially arranged on the upper surfaces, close to the force transmission block 10, of the two lower-layer inner rectangular beams 14 in the Y-axis direction along the lower elastic disc 5;
a ninth fiber bragg grating FBG9 and a tenth fiber bragg grating FBG10 of the fiber bragg gratings are symmetrically arranged on two side faces, close to the force transmission block 10, of any one of the lower-layer outer rectangular beams 12, and the ninth fiber bragg grating FBG9 and the tenth fiber bragg grating FBG10 are arranged along the radial direction of the lower elastic disc 5;
the fiber bragg grating eleventh fiber bragg grating FBG11 and the twelfth fiber bragg grating FBG12 are symmetrically arranged on the upper surfaces, close to the force transmission block 10, of the two upper layer outer rectangular beams 9 in the same axial direction, and the eleventh fiber bragg grating FBG11 and the twelfth fiber bragg grating FBG12 are arranged in the X-axis direction;
the application provides a measuring method for a fiber grating six-dimensional force sensor, the fiber grating six-dimensional force sensor adopts the fiber grating six-dimensional force sensor, and the measuring steps of force and moment are as follows: firstly, applying force or moment on an upper-layer circular ring body by taking the center of the upper surface of a central hemispherical rotating body as a reference point, then leading the central reflection wavelengths of first to twelfth fiber gratings to shift due to structural stress deformation, measuring the shift amount of each wavelength, and finally calculating the applied force or moment through the shift amount of the wavelength, wherein a difference signal delta lambda 13= delta lambda 1-delta lambda 3 of the wavelength shift amounts of a first fiber grating FBG1 and a third fiber grating FBG3 is used for calculating an Fx signal; the difference signal delta lambda 24= delta lambda 2-delta lambda 4 of the wavelength drift amounts of the second fiber bragg grating FBG2 and the fourth fiber bragg grating FBG4 is used for calculating an Fy signal; the difference signal Δ λ 57= Δ λ 5- Δ λ 7 of the wavelength drift amounts of the fifth fiber grating FBG5 and the seventh fiber grating FBG7, for calculating the My signal; the difference signal Δ λ 68= Δ λ 6- Δ λ 8 of the wavelength drift amounts of the sixth fiber grating FBG6 and the eighth fiber grating FBG8, for calculating the Mx signal; the difference signal Δ λ 910= Δ λ 9- Δ λ 10 of the wavelength drift amounts of the ninth fiber grating FBG9 and the tenth fiber grating FBG10 is used for calculating Mz; the sum signal Δ λ 1112= Δ λ 11+ Δ λ 12 of the wavelength drift amount of the twelfth fiber grating FBG12 and the wavelength drift amount of the eleventh fiber grating FBG11 is used to calculate Fz.
The principle of the self-decoupling measurement of three-dimensional force and moment information of the invention is as follows:
FBG1 and FBG3 are combined into a pair of measuring units, and the difference of the respective wavelength drift amounts of FBG1 and FBG3 is output for measuring the force Fx in the x-direction. The difference output of the wavelength drift amounts of the FBG1 and the FBG3 is only sensitive to Fx, because:
1. when the force Fx in the x direction acts on the upper layer outer ring body as the loading ring, the FBG1 and the FBG3 are respectively positioned at two deformed sides of the upper elastic disc, and the wavelength drifts of the FBG1 and the FBG3 are equal in size but opposite in direction. The difference value of the wavelength drift amount is used as an output signal of the measuring unit, so that the measuring sensitivity is improved, and the wavelength homodromous and equivalent drift caused by the change of the environmental temperature are eliminated through the difference value;
2. when a force Fy in the y direction acts, the wavelengths of the FBGs 1 and 3 do not drift, and the difference value of the wavelength drift amounts of the FBGs 1 and 3 is not output; when a force Fz in the z direction acts, the wavelength drift of the FBG1 and the FBG3 is in the same direction and equivalent, and the difference value of the wavelength drift of the FBG1 and the FBG3 is not output;
3. when a moment Mx around the X-axis direction acts, the deformation is mainly concentrated on the inner rectangular beam arranged in the lower elastic disc along the Y-axis, the deformation of the upper elastic disc is not obvious, the wavelength drift of the FBG1 and the FBG3 is insensitive to the Mx, and the difference value of the wavelength drift of the FBG1 and the FBG3 has no output;
4. when a moment My around the Y-axis direction acts, the deformation is mainly concentrated on an inner rectangular beam arranged in the lower elastic disc along the X-axis, the deformation of the upper elastic disc is not obvious, the wavelength drift of the FBGs 1 and 3 is not sensitive to the My, and the difference value of the wavelength drift amounts of the FBGs 1 and 3 is not output;
5. when a moment Mz around the Z-axis direction acts, the deformation is mainly concentrated on the outer rectangular beam in the lower elastic disc, the deformation of the upper elastic disc is not obvious, the wavelength drift of the FBG1 and the FBG3 is insensitive to the Mz, even if the upper elastic disc deforms and has micro torsional deformation, the deformation states of the FBG1 and the FBG3 are consistent, the wavelength drift is consistent, and the difference value of the wavelength drift amounts of the FBG1 and the FBG3 is not output;
therefore, the differential output of the wavelength drift amount of the measurement unit consisting of the FBG1 and the FBG3 realizes the self-decoupling measurement sensitive to the Fx only. In the same analysis method, the sensor is rotated by 90 degrees along the Z axis, and the difference output of the wavelength drift amount of the measurement unit consisting of the FBG2 and the FBG4 can realize self-decoupling measurement sensitive to Fy only.
FBG5 and FBG7 are combined into a pair of measuring means, and the difference output of the respective wavelength drift amounts of FBG5 and FBG7 is used to measure the moment My around the Y-axis direction:
1. when a moment My around the Y-axis direction acts on an upper layer outer ring body serving as a loading ring, the two lower layer inner moment beams along the X-axis direction deform obviously, strain with the same size and opposite sign is generated at the arrangement positions of the FBGs 5 and 7, the wavelength drift of the FBGs 5 and 7 is equal in size and opposite in direction, the difference value of the wavelength drift amount is used as an output signal of a measuring unit, the measuring sensitivity is improved, and the wavelength homodromous and equivalent drift caused by the change of the environmental temperature are eliminated after the difference value;
2. when a force Fx or Fy in the x or y direction acts, the lower layer elastic disc is limited to move in the groove due to the central hemispherical rotating body and does not deform obviously, the wavelength drift of the FBG5 and the FBG7 is insensitive to the Fx and the Fy, and the difference value of the wavelength drift of the FBG5 and the FBG7 is not output;
3. when a force Fz in the z direction acts, the deformation trends of the rectangular beams in the four lower layers are consistent, the arrangement positions of the FBGs 5 and 7 generate strains with the same size and the same sign, and the wavelength drift amounts of the FBGs 5 and 7 are not output after difference processing;
4. when the moment Mx around the X-axis direction acts, the deformation states of the two lower-layer inner rectangular beams of the FBGs 5 and 7 along the X-axis direction are consistent, the FBGs 5 and 7 generate the same wavelength drift, and the wavelength drift amounts of the FBGs 5 and 7 are processed by difference values and then are not output;
5. when the moment Mz around the Z-axis direction acts, the two lower-layer inner rectangular beams of the FBGs 5 and 7 along the X-axis direction do not deform obviously, even if weak deformation occurs, the deformation states of the arrangement positions of the FBGs 5 and 7 are consistent, the FBGs 5 and 7 generate the same wavelength drift, and the wavelength drift amounts of the FBGs 5 and 7 are not output after difference processing;
therefore, the differential output of the wavelength drift amount of the measurement unit consisting of the FBG5 and the FBG7 realizes the self-decoupling measurement sensitive to My only. In the same analysis method, the sensor is rotated by 90 degrees along the Z axis, and the difference output of the wavelength drift amount of the measurement unit consisting of the FBG6 and the FBG8 can realize self-decoupling measurement sensitive to Mx only.
FBG9 and FBG10 are combined into a pair of measurement units, and the difference output of the respective wavelength drift amounts of FBG9 and FBG10 is used to measure the moment Mz around the Z-axis direction:
1. when a moment Mz around the Z-axis direction acts on an upper layer outer annular body serving as a loading ring, a lower layer outer rectangular beam provided with FBG9 and FBG10 is mainly deformed, strain with the same size and opposite sign is generated at the arrangement positions of the FBG9 and the FBG10, the wavelength drifts of the FBG9 and the FBG10 are equal in size and opposite in direction, the difference value of the wavelength drift amounts is used as an output signal of a measuring unit, the measuring sensitivity is improved, and the wavelength homodromous and equivalent drifts caused by the change of the environmental temperature are eliminated after the difference value;
2. when a force Fx, fy or Fz acts in the x, y or z direction, deformation mainly occurs in the upper elastic disc, the lower elastic disc is not obviously deformed due to the limitation of the central sphere by the groove and the sphere limiting cover, the wavelength drift of the FBGs 9 and 10 is not sensitive to the Fx, the Fy and the Fz, and the difference value of the wavelength drift of the FBGs 9 and 10 is not output;
3. when the moment Mx or My around the X-axis or Y-axis direction acts, the FBG9 and the FBG10 are in the same deformation state at the arrangement positions, the FBG9 and the FBG10 generate the same wavelength drift, and the wavelength drift amount of the FBG5 and the FBG7 is not output after difference processing;
it can be seen that the differential output of the wavelength drift amounts of the measurement units consisting of the FBGs 9 and 10 realizes the self-decoupling measurement sensitive only to Mz.
1. when a force Fz in the z direction acts on an upper layer outer annular body serving as a loading ring, deformation is mainly concentrated on an upper elastic disc, deformation of two upper layer outer rectangular beams is obvious, strain with the same size and the same sign is generated at the arrangement positions of the FBGs 11 and 12, the wavelength drift directions of the FBGs 11 and 12 are also the same, and the sum of the wavelength drift amounts serves as an output signal of a measuring unit, so that the measuring sensitivity is improved;
2. when a force Fx or Fy along the x or y direction acts, the FBGs 11 and 12 are arranged along the Z-axis direction, so that the deformation is not obvious;
3. when moments Mx, my and Mz around the X-axis, Y-axis and Z-axis directions act, deformation is mainly concentrated on the lower elastic disc due to the fact that the central sphere rotates in the groove and the sphere limiting cover, and the wavelength of the FBG12 is free of drift;
it can be seen that the output of the measurement unit consisting of FBGs 11 and 12 enables self-decoupling measurements that are sensitive only to Fz.
In summary, the invention discloses a main body structure of a structural decoupling type six-dimensional force sensor, which comprises a spherical limiting cover, an upper annular body, a lower annular body, eight beam assemblies, a central hemispherical rotating body and a base, wherein the upper annular body and the lower annular body are arranged on the upper surface of the spherical limiting cover; the upper and lower tourus is two-layer about being and links to each other with the central hemisphere through four roof beam subassemblies respectively, is equipped with on the base and turns assorted recess and link to each other with tourus down with the central hemisphere, and the spacing lid of spheroid is turned the restriction of central hemisphere in the recess of its inboard and base and is linked to each other with the base, makes power and moment act on respectively on upper and lower elastic beam through the rotation that the hemisphere turned, and then has realized the decoupling zero output of six-dimensional power and moment measuring information. Compared with the traditional sliding decoupling structure, the main structure provided by the application has good symmetry, is easy to process and manufacture, has overload protection capability, and effectively solves the problem of improper contact force in the sliding process.
The application also provides an arrangement method of the fiber grating sensor, and the number of the fiber grating elements is twice less than that of the force measuring elements compared with the strain gauges required by the sensor based on the bridge measurement principle of the resistance strain gauge. Meanwhile, the fiber bragg grating is used as a strain detection element, and the fiber bragg grating has the advantages of electromagnetic interference resistance, small appearance, easiness in multiplexing and the like.
Claims (6)
1. A structure decoupling type six-dimensional force sensor is characterized in that: the spherical structure comprises a central hemispherical swivel, a beam assembly and two ring bodies which are arranged up and down, wherein the beam assembly is divided into an upper layer and a lower layer which are respectively connected between the inner walls of the two ring bodies and the outer wall of the central hemispherical swivel, each layer of beam assembly is arranged at equal intervals, the beam assembly comprises an outer rectangular beam connected with the ring bodies, an inner rectangular beam connected with the central hemispherical swivel and a force transmission block connected with the outer rectangular beam and the inner rectangular beam, the base is arranged below the central hemispherical swivel, and a groove matched with the central hemispherical swivel is formed in the center of the base; the inner side shape of the sphere limiting cover is matched with the central hemispherical rotating body, and the beam assembly is provided with a fiber grating.
2. The structurally decoupled six-dimensional force sensor of claim 1, wherein: the eight beam assemblies are arranged in two layers, and the included angle between the beam assemblies on each layer is 90 degrees.
3. A structurally decoupled six-dimensional force sensor according to claim 1 or 2, characterized in that: the inner and outer rectangular beams of each beam assembly are arranged vertically.
4. A structurally decoupled six-dimensional force sensor according to claim 1 or 2, characterized in that: the arrangement of the fiber grating on the beam assembly means that: the rectangular beam in the upper layer is respectively provided with a first fiber grating, a second fiber grating, a third fiber grating and a fourth fiber grating, the rectangular beam in the lower layer is respectively provided with a fifth fiber grating, a sixth fiber grating, a seventh fiber grating and an eighth fiber grating, the two side surfaces of any one lower layer of outer rectangular beam, which are close to the force transfer block, are symmetrically provided with a ninth fiber grating and a tenth fiber grating, and the upper surfaces of any two upper layer outer rectangular beams in the same axial direction, which are close to the force transfer block, are symmetrically provided with an eleventh fiber grating and a twelfth fiber grating.
5. A structurally decoupled six-dimensional force sensor according to claim 3, wherein: the arrangement of the fiber grating on the beam assembly means that: the rectangular beam in the upper layer is respectively provided with a first fiber grating, a second fiber grating, a third fiber grating and a fourth fiber grating, the rectangular beam in the lower layer is respectively provided with a fifth fiber grating, a sixth fiber grating, a seventh fiber grating and an eighth fiber grating, the two side surfaces of any one lower layer of outer rectangular beam, which are close to the force transfer block, are symmetrically provided with a ninth fiber grating and a tenth fiber grating, and the upper surfaces of any two upper layer outer rectangular beams in the same axial direction, which are close to the force transfer block, are symmetrically provided with an eleventh fiber grating and a twelfth fiber grating.
6. A measuring method using the structural decoupling type six-dimensional force sensor of claim 5, characterized in that: firstly, applying force or moment on an upper-layer ring body by taking the center of the upper surface of a central hemispherical rotating body as a reference point, then leading the central reflection wavelengths of first to twelfth fiber gratings to shift due to the stress deformation of a structure, measuring the shift amount of each wavelength, and finally calculating the applied force or moment through the shift amount of the wavelength, wherein a difference signal delta lambda 13= delta lambda 1-delta lambda 3 of the wavelength shift amounts of the first fiber grating and the third fiber grating is used for calculating an Fx signal; the difference signal delta lambda 24= delta lambda 2-delta lambda 4 of the wavelength drift amounts of the second fiber grating and the fourth fiber grating is used for calculating the Fy signal; a difference signal delta lambda 57= delta lambda 5-delta lambda 7 of the wavelength drift amounts of the fifth fiber bragg grating and the seventh fiber bragg grating is used for calculating a My signal; the difference signal delta lambda 68= delta lambda 6-delta lambda 8 of the wavelength drift amounts of the sixth fiber grating and the eighth fiber grating is used for calculating an Mx signal; a difference signal Δ λ 910= Δ λ 9- Δ λ 10 of wavelength drift amounts of the ninth fiber grating and the tenth fiber grating for calculating Mz; the sum signal Δ λ 1112= Δ λ 11+ Δ λ 12 of the wavelength shift amount of the twelfth fiber grating and the wavelength shift amount of the eleventh fiber grating is used to calculate Fz.
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