CN114323394A - Six-dimensional force sensor - Google Patents
Six-dimensional force sensor Download PDFInfo
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- CN114323394A CN114323394A CN202111643357.8A CN202111643357A CN114323394A CN 114323394 A CN114323394 A CN 114323394A CN 202111643357 A CN202111643357 A CN 202111643357A CN 114323394 A CN114323394 A CN 114323394A
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- 229920001971 elastomer Polymers 0.000 claims description 7
- 239000000806 elastomer Substances 0.000 claims description 7
- 239000011888 foil Substances 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000007789 sealing Methods 0.000 description 14
- 238000004891 communication Methods 0.000 description 12
- 238000013461 design Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 239000003990 capacitor Substances 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The invention belongs to the technical field of sensors, and particularly relates to a six-dimensional force sensor which is mainly used for enabling measuring ranges of six dimensions to be more balanced and improving detection precision. The elastic body comprises a fixed shell arranged on the periphery, a loading platform arranged in the center and a plurality of elastic beams uniformly connected between the fixed shell and the loading platform, wherein strain gauges are adhered on the elastic beams, and the rigidity of the elastic beams is matched with the range of the corresponding dimension of the elastic beams in the orthogonal direction. In the invention, the rigidity of the elastic beam is designed to be matched with the range of the corresponding dimension of the orthogonal direction of the elastic beam, and the sensor can meet the range requirement of the corresponding dimension only by changing the rigidity of one or more elastic beams. The dimensions of the elastic beams in the application can be different, and the elastic beams are tailored to the measurement range requirement of the dimension corresponding to the orthogonal direction. The measuring ranges of all dimensions of the six-dimensional sensor can be more balanced, and the detection precision is convenient to improve.
Description
Technical Field
The invention belongs to the technical field of sensors, and particularly relates to a six-dimensional force sensor which is mainly used for enabling measuring ranges of six dimensions to be more balanced and improving detection precision.
Background
With the wide application of robots in the field of industrial automation, force control sensors, especially multidimensional force control sensors, are more and more widely used, and the need of replacing manpower by robots is more and more urgent in certain processes and flows with explosion risks.
The patent with publication number CN106768522A discloses a six-dimensional force sensor elastomer, which comprises a central platform, radial beams, circumferential beams and circumferential supports; the radial beams are uniformly distributed on the periphery of the central platform, one end of each radial beam is fixedly connected with the periphery of the central platform, the other end of each radial beam is connected with the circumferential beam in a T shape, the circumferential beam is a T-shaped top cross arm, and the radial beams are T-shaped vertical rod sections; the radial beam is provided with a through hole, so that stress is concentrated on two sides of the through hole; the circumferential beams and the circumferential supports are uniformly distributed on the periphery of the central platform; the circumferential beams and the circumferential supports are arranged at intervals one by one, and two ends of each circumferential support are respectively and fixedly connected with the end parts of two adjacent circumferential beams, so that the circumferential beams and the circumferential supports are connected to form an annular body; order: the central platform and the annular body formed by connecting the circumferential beams and the circumferential supports are in a horizontal state.
In the patent, "T" type between the circumferential direction roof beam and the radial direction roof beam sets up and has obtained good rigidity, has effectively improved the dynamic behavior of sensor structure. However, in the application of the multi-dimensional force sensor, the measurement range requirements of multiple dimensions are different, the structure of the "T" shaped beam is fixed, and the deformation of a certain dimension is small, so that the accuracy of the sensor is reduced.
Disclosure of Invention
The invention aims to provide a six-dimensional force sensor which is mainly used for enabling measuring ranges of six dimensions to be more balanced and improving detection precision.
In order to solve the technical problem, the application provides a six-dimensional force transducer, including the elastomer, the elastomer is including locating outlying fixed shell, locating central loading platform, evenly connecting many elastic beams in the middle of fixed shell and the loading platform, it has the foil gage to paste on the elastic beam, the range phase-match of the corresponding dimension of rigidity and this elastic beam orthodrome of elastic beam.
In this application, be connected through a plurality of elastic beams between sensor loading platform and the fixed shell, according to the atress direction, elastic beam deformation direction is perpendicular with the atress direction, therefore, through the range phase-match of the corresponding dimension of design elastic beam rigidity and this elastic beam orthogonal direction in this application, only need change the rigidity of a certain or a plurality of elastic beam, just can make the sensor satisfy the range demand of corresponding dimension. The dimensions of the elastic beams in the application can be different, and the elastic beams are tailored to the measurement range requirement of the dimension corresponding to the orthogonal direction. The measuring ranges of all dimensions of the six-dimensional sensor can be more balanced, and the detection precision is convenient to improve.
Preferably, the elastic beam is a T-shaped beam and comprises a head part connected with the fixed shell and a main beam body connected with the loading platform, and the size of the head part is matched with the measuring range of the corresponding dimension of the main orthogonal direction of the elastic beam.
Preferably, four elastic beams are arranged and distributed between the loading platform and the fixed shell in a cross manner, so that two adjacent elastic beams are perpendicular to each other.
Preferably, the size of the head of the elastic beam in the X direction of the sensor is matched with the range requirements of the force and the moment respectively corresponding to the Y direction and the Z direction.
Preferably, the length of the elastic beam head in the X direction of the sensor is matched with the span requirements of the forces and moments corresponding to the Y direction.
Preferably, the thickness of the spring beam head in the X direction of the sensor is matched to the span requirements of the forces and moments corresponding to the Z direction.
Preferably, the size of the head of the elastic beam in the Y direction of the sensor is matched with the range requirements of the force and the moment corresponding to the X direction and the Z direction respectively.
Preferably, the width of the spring beam head in the Y direction of the sensor is matched to the span requirements of the forces and moments corresponding to the X direction.
Preferably, the thickness of the spring beam head in the Y direction of the sensor is matched to the span requirements of the forces and moments corresponding to the Z direction.
Preferably, the sensor further comprises a circuit board, and an explosion-proof circuit is designed on the circuit board.
The invention has the following technical effects:
1. the elastic beam is T-shaped beam, including head and girder body, and the size through design elastic beam head in this application and the range phase-match of the main orthogonal direction corresponding dimension of place elastic beam, the head size is less, and the rigidity of place elastic beam is less, and the deflection is big more, and sensitivity is high more, and the range is big more. Compared with the whole elastic beam, the difference between the design and other elastic beams is only reflected in the head part, and the head part of the elastic beam is smaller in size, so that the sensor is more time-saving and labor-saving to manufacture.
2. Six dimensions's that the six dimension sensor measured power is X, Y, Z direction's power and moment respectively, correspond with X, Y, Z three direction mutually perpendicular's relation, the elastic beam is equipped with four in this application, be cross distribution between loading platform and fixed shell, make between the adjacent two elastic beams mutually perpendicular, be two elastic beams that distribute in the X direction and two elastic beams that distribute in the Y direction respectively, correspond with X, Y, Z three direction mutually perpendicular's relation, when the range of a certain dimension, correspond the size of adjusting setting up the elastic beam in this dimension orthogonal direction, be convenient for to the regulation of a certain one-dimensional measurement journey, simplify accommodation process.
3. The size of the head of the elastic beam in the X direction of the sensor is matched with the range requirements of the force and the moment respectively corresponding to the Y direction and the Z direction, namely the range adjustment of the force and the moment respectively corresponding to the Y direction and the Z direction can be realized by adjusting the size of the head of the T-shaped beam in the X direction.
4. When the force and moment range in the Y direction of the sensor needs to be increased, the force and moment range can be realized only by adjusting the length of the head of the elastic beam in the X direction, and the adjusting mode is simple and easy to realize.
5. When the force and moment range in the X direction of the sensor needs to be increased, the force and moment range can be realized only by adjusting the length of the head of the elastic beam in the Y direction, and the adjusting mode is simple and easy to realize.
6. The thickness of the head of the elastic beam in the Y direction of the sensor is matched with the range requirement of the force and the moment corresponding to the Z direction; the thickness of the elastic beam head in the Y direction of the sensor is matched with the range requirement of the force and the moment corresponding to the Z direction. Namely, when the force and moment range in the Z direction of the sensor needs to be increased, the adjustment can be realized only by adjusting the thicknesses of the heads of the elastic beams in the X direction and the Y direction, and the adjustment mode is simple and easy to realize.
7. The sensor also comprises a circuit board, wherein an explosion-proof circuit is designed on the circuit board, and the circuit on the circuit board is prevented from being damaged due to overlarge current through a current-limiting design, so that the normal work of the sensor is ensured.
Drawings
Fig. 1 is an overall configuration diagram of a sensor.
Fig. 2 is a view showing the structure of a loading lid.
FIG. 3 is a view showing the structure of an elastomer.
Fig. 4 is a schematic diagram of a circuit board.
Wherein, 1-an elastomer; 1-1-a stationary housing; 1-2-load platform; 1-3-elastic beam; 1-31-head; 1-32-main beam body; 1-4-circuit board; 1-41-filter circuit; 1-42-collection module; 1-43-a processing module; 1-44-communication module; 1-45-external interface; 1-46-a power module; 2-loading the cover plate; 3-sealing the groove; 4-bottom plate.
Detailed Description
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Unless otherwise defined, all terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that the conventional terms should be interpreted as having a meaning that is consistent with their meaning in the relevant art and this disclosure. The present disclosure is to be considered as an example of the invention and is not intended to limit the invention to the particular embodiments.
The embodiment provides a six-dimensional force sensor which comprises an elastic body 1, wherein the elastic body 1 comprises a fixed shell 1-1 arranged on the periphery, a loading platform 1-2 arranged in the center and a plurality of elastic beams 1-3 uniformly connected between the fixed shell 1-1 and the loading platform 1-2, strain gauges are pasted on the elastic beams 1-3, and the rigidity of the elastic beams 1-3 is matched with the measuring range of the corresponding dimension of the elastic beams 1-3 in the orthogonal direction.
Generally, the range requirements of six dimensions of the six-dimensional sensor are often different, in this embodiment, for the requirements of different ranges of the six-dimensional sensor with different dimensions, the sensitivity of the elastic beam 1-3 is changed to change the range of the dimension corresponding to the orthogonal direction of the elastic beam 1-3, so that the ranges of the six dimensions of the sensor are more balanced, and the detection precision of the sensor is improved.
In this embodiment, the elastic beam 1-3 is a T-shaped beam, and includes a head 1-31 connected to the fixed housing 1-1, and a main beam body 1-32 connected to the loading platform 1-2, where the size of the head 1-31 matches the range of the dimension corresponding to the main orthogonal direction of the elastic beam 1-3. The head parts 1-31 are perpendicular to the main beam bodies 1-32, the size of the head parts 1-31 is far smaller than that of the main beam bodies 1-32, the range of the dimension corresponding to the orthogonal direction of the elastic beams 1-3 is realized by designing the size of the head parts 1-31 of the elastic pieces in the embodiment, and compared with the change of the size of the whole elastic beams 1-3 or the size of the main beam bodies 1-32, the size of the head parts 1-31 is only changed, so that the sizes of the head parts 1-31 of the elastic beams 1-3 are different, and the design and the manufacture are convenient.
Six dimensions of the six-dimensional sensor for measuring force are force and moment in the X direction, force and moment in the Y direction and force and moment in the Z direction respectively, the X direction, the Y direction and the Z direction are perpendicular to each other, the up-down direction of the sensor is taken as the Z direction, and the Z directions of the elastic beams 1-3 are perpendicular to each other. When the sensor is subjected to force and moment in the X direction, the elastic beams 1-3 deform towards the X direction, so that the deformation of the elastic beams 1-3 in the Y direction is the largest for measuring, and the force and moment in the X direction can be measured more easily. Based on the above stress situation, in this embodiment, four elastic beams 1-3 are arranged and distributed between the loading platform 1-2 and the fixed housing 1-1 in a cross shape, so that two adjacent elastic beams 1-3 are perpendicular to each other. The stress analysis of the four elastic beams 1-3 is as follows: when measuring the force and moment in the X direction, the elastic beams 1-3 in the orthogonal direction of the X direction are main strain beams (namely two elastic beams 1-3 in the Y direction); when the force in the Y direction is measured, the elastic beams 1-3 in the orthogonal direction of the Y direction are main strain beams (namely two elastic beams 1-3 in the X direction); when the force and moment in the Z direction are measured, the elastic beams 1-3 in the direction orthogonal to the Z direction are the main strain beams (i.e., the four elastic beams 1-3 in the X direction and the Y direction).
According to the force analysis, in the embodiment, the size of the head 1-31 of the elastic beam in the X direction of the sensor is matched with the range requirements of the force and the moment respectively corresponding to the Y direction and the Z direction. Namely, the size of the head part 1-31 of the elastic beam in the X direction determines the range of force and moment in the Y direction and the range of force and moment in the Z direction. The length of the elastic beam head 1-31 in the X direction of the sensor is matched with the range requirement of the corresponding force and moment in the Y direction. The thickness of the elastic beam head 1-31 in the X direction of the sensor is matched with the range requirement of the corresponding force and moment in the Z direction. Namely, for the elastic beam 1-3 in the X direction, the measuring range of the force and the moment corresponding to the Y direction is changed by changing the length of the head part 1-31; changing the range of the corresponding force and moment in the Z direction is achieved by changing the thickness of the head 1-31.
Similarly, in this embodiment, the size of the elastic beam head 1-31 in the Y direction of the sensor is matched with the range requirements of the force and the moment respectively corresponding to the X direction and the Z direction. Namely, the size of the head part 1-31 of the elastic beam in the Y direction determines the range of force and moment in the Z direction and the range of force and moment in the Z direction. The widths of the elastic beam heads 1-31 in the Y direction of the sensor are matched with the range requirements of the corresponding force and moment in the X direction. The thickness of the elastic beam head 1-31 in the Y direction of the sensor is matched with the range requirement of the corresponding force and moment in the Z direction. Namely, for the elastic beam 1-3 in the Y direction, the measuring range of the force and the moment corresponding to the X direction is changed by changing the length of the head part 1-31; changing the range of the corresponding force and moment in the Z direction is achieved by changing the thickness of the head 1-31.
In summary, the range of force and moment in the Y direction is adjusted by changing the length of the elastic beam head parts 1-31 in the X direction; the force and moment range in the X direction is adjusted by changing the length of the elastic beam head parts 1-31 in the Y direction; the force and moment ranges in the Z direction are adjusted by simultaneously changing the thicknesses of the elastic beam heads 1-31 in the X direction and the thicknesses of the elastic beam heads 1-31 in the Y direction.
In this embodiment, the four elastic beams 1-3 are all provided with strain gauges to form a wheatstone bridge. Besides, in this embodiment, the sensor further includes a circuit board 1-4, and the circuit board 1-4 is designed with an explosion-proof circuit. The circuit board 1-4 is fixedly connected to the bottom of the loading platform 1-2. The circuit boards 1-4 are provided with electrodes which are connected with the strain gauges and used for measuring resistance changes of the strain gauges, when the strain gauges are stressed and deformed, the resistance of the strain gauges changes, the balance of the Wheatstone bridge is broken, voltage is output, and force detection is achieved. In this embodiment, the elastic beam 1-3 is deformed due to the displacement of the loading platform 1-2 under stress, so that the circuit board 1-4 is fixed at the bottom of the loading platform 1-2, the positions of the circuit board 1-4 and the elastic beam 1-3 are relatively stable, and the structure of the circuit board 1-4 connected with the strain gauge on the elastic beam 1-3 through the cable is relatively stable. The design of the explosion-proof circuit specifically is as follows: the circuit board 1-4 is provided with a filter circuit 1-41, an acquisition module 1-42, a processing module 1-43, a communication module 1-44 and a power module 1-46 which are communicated with the strain gauge, and used for supplying power to the modules; the power modules 1-46 are provided with current limiting resistors to prevent excessive voltages. The power supply modules 1-46 provide power for the normal work of the whole sensor, and the design of the current-limiting resistor meets the requirements of the sensor in various explosion-proof scenes. In the embodiment, power is supplied to the sensor through 24V, current firstly passes through the current-limiting resistor and then supplies power to the filter circuit 1-41, the acquisition module 1-42, the processing module 1-43 and the communication module 1-44, so that any or all faults of the filter circuit 1-41, the acquisition module 1-42, the processing module 1-43 and the communication module 1-44 can be avoided, and fault points exceeding safety limits cannot occur on the whole sensor. Meanwhile, the elastic body 1 is also provided with a communication interface for connecting with external equipment, and the communication interface is communicated with the communication modules 1-44; and the circuit board 1-4 is provided with a current limiting resistor connected between the communication module 1-44 and the communication interface. Preventing sensor output failure. In addition, the circuit boards 1-4 are provided with safety barriers between the safety barriers and external equipment, and the safety barriers are used for cutting off power supply when the voltage is too large. Even if the sensor protection is completely failed (the current-limiting resistor is short-circuited) and an overcurrent condition occurs, the safety grid can also play a final protection role, and fault isolation and stop are completed by cutting off the power supply of the sensor. In this embodiment, the filter circuit 1-41 is mainly used for tuning, that is, converting ac power into dc power that can be directly used by the acquisition module 1-42, the processing module 1-43, and the communication module 1-44 on the sensor circuit board 1-4. The filter circuits 1 to 41 comprise filter capacitors and filter inductors, wherein the filter capacitors and the filter inductors are configured strictly according to the explosion-proof requirements of intrinsic safety type equipment. In this embodiment, the working process of the circuit boards 1 to 4 is as follows; the acquisition module 1-42 is connected with the strain gauge and used for detecting the resistance of the strain gauge and sending the detected data to the processing module 1-43, the processing module 1-43 calculates and processes the detected resistance data on each strain gauge and sends the result to the communication module 1-44 in an electric signal mode, and the communication module 1-44 is connected with the external interface 1-45 and sends the electric signal to external equipment (client).
In this embodiment, the sensor further includes a loading cover plate 2 disposed at the upper end of the elastic body 1, and a sealing ring for sealing the sensor is disposed between the loading cover plate 2 and the elastic body 1. The loading cover plate 2 is connected with the loading platform 1-2 of the elastic body 1 through a bolt, wherein the diameter of the loading cover plate 2 is consistent with that of the fixed shell 1-1 of the elastic body 1, and a sealing ring arranged between the loading cover plate 2 and the elastic body 1 can ensure that a circuit board 1-4 arranged in the sensor is not influenced by the environment such as outside rain. In order to facilitate the structural stability when the sealing ring is arranged between the loading cover plate 2 and the elastic body 1, sealing grooves 3 are formed in the opposite surfaces of the loading cover plate 2 and the fixed shell 1-1; the upper end and the lower end of the sealing ring are respectively arranged in the loading cover plate 2 and the sealing groove 3 on the fixed shell 1-1. When the sealing ring is installed, the sealing ring can be placed into any sealing groove 3 on the loading cover plate 2 or the fixed shell 1-1, then the loading cover plate 2 is connected with the elastic body 1, and the other end of the sealing ring can be embedded into the other sealing groove 3, so that the sealing connection between the loading cover plate 2 and the elastic body 1 is realized. The embodiment also comprises a bottom plate 4 arranged at the lower end of the elastic body 1, and the upper end and the lower end of the elastic body 1 are sealed by the loading cover plate 2 at the upper end and the bottom plate 4 at the lower end simultaneously, so that a closed space which is not influenced by the external environment is formed inside the elastic body 1.
Although embodiments of the present invention have been described, various changes or modifications may be made by one of ordinary skill in the art within the scope of the appended claims.
Claims (10)
1. The utility model provides a six-dimensional force transducer, includes the elastomer, the elastomer is including locating outlying fixed shell, locating central loading platform, evenly connecting many elastic beams in the middle of fixed shell and the loading platform, it has foil gage, its characterized in that to paste on the elastic beam:
the rigidity of the elastic beam is matched with the measuring range of the corresponding dimension of the orthogonal direction of the elastic beam.
2. A six-dimensional force sensor according to claim 1, wherein:
the elastic beam is a T-shaped beam and comprises a head part connected with the fixed shell and a main beam body connected with the loading platform, and the size of the head part is matched with the measuring range of the corresponding dimension of the elastic beam in the main orthogonal direction.
3. A six-dimensional force sensor according to claim 2, wherein:
the four elastic beams are distributed between the loading platform and the fixed shell in a cross shape, so that the two adjacent elastic beams are perpendicular to each other.
4. A six-dimensional force sensor according to claim 3, wherein:
the size of the head of the elastic beam in the X direction of the sensor is matched with the measuring range requirements of the force and the moment respectively corresponding to the Y direction and the Z direction.
5. The six-dimensional force sensor of claim 4, wherein:
the length of the elastic beam head in the X direction of the sensor is matched with the range requirement of the corresponding force and moment in the Y direction.
6. The six-dimensional force sensor of claim 4, wherein:
the thickness of the elastic beam head in the X direction of the sensor is matched with the measuring range requirement of the force and the moment corresponding to the Z direction.
7. A six-dimensional force sensor according to claim 3, wherein:
the size of the head of the elastic beam in the Y direction of the sensor is matched with the measuring range requirements of the force and the moment respectively corresponding to the X direction and the Z direction.
8. The six-dimensional force sensor of claim 7, wherein:
the width of the head of the elastic beam in the Y direction of the sensor is matched with the range requirement of the corresponding force and moment in the X direction.
9. The six-dimensional force sensor of claim 7, wherein:
the thickness of the elastic beam head in the Y direction of the sensor is matched with the range requirement of the force and the moment corresponding to the Z direction.
10. A six-dimensional force sensor according to claim 1, wherein:
the sensor also comprises a circuit board, and an explosion-proof circuit is designed on the circuit board.
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|---|---|---|---|
| CN202111643357.8A CN114323394A (en) | 2021-12-30 | 2021-12-30 | Six-dimensional force sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111643357.8A CN114323394A (en) | 2021-12-30 | 2021-12-30 | Six-dimensional force sensor |
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| CN114323394A true CN114323394A (en) | 2022-04-12 |
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| FR2631118A1 (en) * | 1988-05-03 | 1989-11-10 | Onera (Off Nat Aerospatiale) | Six-component force sensor device, in particular for robotics |
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| RU121930U1 (en) * | 2012-07-11 | 2012-11-10 | Федеральное государственное автономное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ЦНИИ РТК) | HEX POWER AND MOMENT SENSOR |
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