CN1168964C - Four dimensional force and moment sensor of direct output type robot - Google Patents
Four dimensional force and moment sensor of direct output type robot Download PDFInfo
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- CN1168964C CN1168964C CNB031126804A CN03112680A CN1168964C CN 1168964 C CN1168964 C CN 1168964C CN B031126804 A CNB031126804 A CN B031126804A CN 03112680 A CN03112680 A CN 03112680A CN 1168964 C CN1168964 C CN 1168964C
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- elastic beam
- central shaft
- foil gauge
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Abstract
The present invention discloses a four-dimensional force and moment sensor of a direct output type robot, which is used for a robot. The present invention is composed of a central shaft, a force sensing element and a bottom seat, wherein the force sensing element is arranged on the bottom seat, and the force sensing element is composed of crossed elastic beams and floating beams; each floating beam is arranged at end part of each crossed elastic beam and is perpendicular with the crossed elastic beam, and both sides of each crossed elastic beam is at least provided with a pair of strain foils; a pair of strain foils are at least arranged on the upper surface and the lower surface of each crossed elastic beam. The force sensing element of the present invention uses the technical scheme that the crossed elastic beams and the end part of the crossed elastic beams are vertically provided with the floating beams. The present invention has the advantages of simple structure, small size, high sensitivity, a few errors and no decoupling of output signals. Particularly, the force sensing element with the simple structure, which is used for the present invention, can be used as integration to be processed and moulded once. Thus, the present invention has good rigidity, low cost and good dynamic property.
Description
One, technical field
The present invention relates to a kind of sensor that is used for robot, especially relate to a kind of direct output type robot four dimensional power and torque sensor.
Two, background technology
Robot Force and torque sensor are the important robot sensors of a class.Widespread use along with industrial robot and teleoperation robot, the robot sensor that needs are a large amount of, Robot Force and torque sensor then are the guarantees that robot finishes the contact job task, also are the guarantees that teleoperation robot is finished the remote job task.Teleoperation robot need detect the contact force of mechanical arm and environment and retroactive effect in operator's hand by power and torque sensor, and the power that makes the operator produce " on the spot in person " is felt the telepresenc effect, thereby realizes control that the robot band is felt.Existing robots power and torque sensor mainly are divided into sextuple and three-dimensional two kinds of power and torque sensor, the design of most Robot Force and torque sensor concentrates on sextuple power and torque sensor aspect, and produced multinomial patented technology, specifically have: " six degree of freedom power and torque sensor ", " robot with sextuple power/torque sensor ", " a kind of sextuple power and torque sensor " with elastic hinge, " multi-dimension force sensor ", " parallel decoupling structure six-dimensional force and torque sensor ", " integral pretightened flat bed type six-dimensional force transducer ", Deng, about the patent of three-dimensional force and torque sensor is reported then seldom.The sextuple power of existing robots is many with torque sensor structure relative complex, paster quantity and group bridge circuit, volume greatly, price is high, and exist between comparatively serious dimension and be coupled.Existing three-dimensional force sensor patented technology has: " three-dimensional force sensor ", " frame-type three-dimensional force sensor ".Though three-dimensional force and torque sensor are simple in structure, do not have coupling phenomenon between dimension, and essential torque signals in the robot assembling work process can't be provided, it generally is applicable to robot finger's Three-dimension Contact force measurement.In actual applications, we find for industrial robot assembling work and teleoperation robot remote operation, four dimensional force and torque sensor are Robot Force and torque sensors the most with practical value, and it mainly provides three-dimensional force information and an axial rotating moment information.Special-purpose at present four dimensional force and torque sensor are then rarely found, generally all be to utilize existing sextuple power and torque sensor, select for use wherein 4 dimensional signals to realize the measurement of 4 dimension power and moment, so not only cause the waste of hardware resource, and can't overcome the influence that is coupled between the intrinsic dimension of sextuple power and torque sensor.
Three, technology contents
Technical matters the invention provides a kind of direct output type robot four dimensional power and torque sensor, and this structure can realize miniaturization, improve rigidity and sensitivity, and it is little to have error, and output signal need not the advantage of decoupling zero.
A kind of direct output type robot four dimensional power and torque sensor that is used for robot of technical scheme, form by central shaft 1, force sensing element 2 and base 3, force sensing element 2 is located on the base 3, force sensing element 2 is made up of cross elastic beam 21 and floating beam 22, floating beam 22 is located at the end of cross elastic beam 21 and vertical with cross elastic beam 21, both sides at every elastic beam of cross elastic beam 21 are provided with a pair of foil gauge at least, are provided with a pair of foil gauge at least on the upper and lower surface of cross elastic beam 21.
The technical scheme that beneficial effect (1) force sensing element of the present invention adopts the cross elastic beam and floating beam vertically is set in its end, has advantage of simple structure, cause the present invention to have little, the highly sensitive advantage of size, especially the force sensing element of this simple structure taked of the present invention can be used as an one piece machine-shaping, and this just makes good rigidity of the present invention, cost is low, dynamic property good.In addition, owing to adopted the floating beam structure, this floating beam plays flexible beam and resiliency supported beam action in different directions respectively, thereby the acting force that makes all directions does not influence the effect of acting force on other directions, therefore, this sensor has the advantage that error is little, output signal need not decoupling zero again.(2) 4 groups of half-bridge circuit technical measures of 4 pairs of foil gauges taking of the present invention make the present invention realize further reducing of error with less foil gauge.(3) technical measures of 4 groups of full-bridge circuits of 8 pairs of foil gauges taking of the present invention can further reduce error.
Four, description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the structural representation of force sensing element of the present invention.
Fig. 3 is the vertical view of cross elastic beam of the present invention.
Fig. 4 is the upward view of cross elastic beam of the present invention.
Fig. 5 is X dimension power U of the present invention
FxHalf-bridge group bridge circuit.
Fig. 6 is Y dimension power U of the present invention
FyHalf-bridge group bridge circuit.
Fig. 7 is Z dimension power U of the present invention
FzHalf-bridge group bridge circuit.
Fig. 8 is Z dimension moment U of the present invention
TzHalf-bridge group bridge circuit.
Fig. 9 is X dimension power U of the present invention
FzFull-bridge group bridge circuit.
Figure 10 is Y dimension power U of the present invention
FyFull-bridge group bridge circuit.
Figure 11 is Z dimension power U of the present invention
FzFull-bridge group bridge circuit.
Figure 12 is Z dimension moment U of the present invention
TzFull-bridge group bridge circuit.
Five, specific embodiments
1 one kinds of direct output type robot four dimensional power and torque sensors that are used for robot of embodiment, form by central shaft 1, force sensing element 2 and base 3, force sensing element 2 is located on the base 3, force sensing element 2 is made up of cross elastic beam 21 and floating beam 22, floating beam 22 is located at the end of cross elastic beam 21 and vertical with cross elastic beam 21, both sides at every elastic beam of cross elastic beam 21 are provided with a pair of foil gauge at least, at least be provided with a pair of foil gauge on the upper and lower surface of cross elastic beam 21, the physical dimension of above-mentioned force sensing element satisfies following relation:
Wherein, w is the length of side of cross elastic beam, d is the thickness of floating beam, h is the floating beam height, in the present embodiment (with reference to Fig. 4～Fig. 7), the wherein both sides of an elastic beam at cross elastic beam 21 are provided with a pair of foil gauge R5 and R6, and this to foil gauge R5 and R6 at the end points of elastic beam and the mid point between central shaft 1 edge, on above-mentioned elastic beam, lower surface be provided with a pair of foil gauge R9 and R11 and this to foil gauge R9 and R11 also at the end points of elastic beam and the mid point between central shaft 1 edge, both sides at another root elastic beam of cross elastic beam 22 are provided with two couples of foil gauge R1, R2 and R13, R14, this wherein a pair of foil gauge R1 and R2 are at the end points of elastic beam and the mid point between central shaft 1 edge, wherein another is positioned at an end of the close central shaft 1 on the elastic beam to foil gauge R13 and R14 for this, and a pair of foil gauge R5 on above-mentioned wherein elastic beam and R6 or R8 and R7 and two self-contained battery R constitute Y dimension power U
FyHalf-bridge group bridge circuit, be positioned at two upper and lower lip-deep a pair of foil gauge R9 of elastic beam and R11 or R12 and R10 and two fixed resistances simultaneously and constitute Z dimension power U
FzHalf-bridge group bridge circuit, two couples of foil gauge R1, R2 on another root elastic beam of cross elastic beam 21 and R13, R14 or R4, R3 and R15, R16 and two permanent circuits separately constitute X dimension power U respectively
FxHalf-bridge group bridge circuit and Z dimension moment U
TzHalf-bridge group bridge circuit.
2 one kinds of direct output type robot four dimensional power and torque sensors that are used for robot of embodiment, by central shaft 1, force sensing element 2 and base 3 are formed, force sensing element 2 is located on the base 3, force sensing element 2 is made up of cross elastic beam 21 and floating beam 22, floating beam 22 is located at the end of cross elastic beam 21 and vertical with cross elastic beam 21, both sides at every elastic beam of cross elastic beam 21 are provided with a pair of foil gauge at least, on cross elastic beam 21, at least be provided with a pair of foil gauge on the lower surface, in the present embodiment (with reference to Fig. 8～Figure 11), the wherein both sides of an elastic beam at cross elastic beam 21 are provided with two couples of foil gauge R5, R6 and R7, R8 and to be symmetrically distributed in central shaft 1 be the both sides of the central shaft 1 of symcenter, these two couples of foil gauge R5, R6 and R7, R8 lays respectively at the mid point between elastic beam end points and central shaft 1 edge, on above-mentioned elastic beam, lower surface is provided with two couples of foil gauge R9, R11 and R10, R12 and to be symmetrically distributed in central shaft 1 be the both sides of the central shaft 1 of symcenter, these two couples of foil gauge R9, R11 and R10, R12 lays respectively at the mid point between elastic beam end points and central shaft 1 edge, both sides at another root elastic beam of cross elastic beam 22 are provided with four couples of foil gauge R1 and R2, R3 and R4, R13 and R14, R15 and R16, two couples of foil gauge R1 wherein and R2, R3 and R4 be symmetrically distributed in central shaft 1 be symcenter central shaft 1 both sides and lay respectively at the elastic beam end points and central shaft 1 edge between mid point, wherein another is to foil gauge R13 and R14, R15 and R16 also be symmetrically distributed in central shaft 1 be symcenter central shaft 1 both sides and be positioned at an end of the close central shaft 1 on the elastic beam, above-mentioned two couples of foil gauge U
TzFull-bridge group bridge circuit.
Claims (3)
1, a kind of direct output type robot four dimensional power and torque sensor that is used for robot, by central shaft (1), force sensing element (2) and base (3) are formed, force sensing element (2) is located on the base (3), it is characterized in that force sensing element (2) is made up of cross elastic beam (21) and floating beam (22), floating beam (22) is located at the end of cross elastic beam (21) and vertical with cross (21), the both sides of the elastic beam of a cross elastic beam (21) are provided with a pair of foil gauge at least therein, both sides at the elastic beam of another root cross elastic beam (21) are provided with two pairs of foil gauges at least, on cross elastic beam (21), at least be provided with a pair of foil gauge on the lower surface.
2, direct output type robot four dimensional power according to claim 1 and torque sensor, it is characterized in that being provided with a pair of foil gauge (R5 and R6) in the wherein both sides of an elastic beam of cross elastic beam (21), and this is positioned at the end points of elastic beam and the mid point between central shaft (1) edge to foil gauge (R5 and R6), on above-mentioned elastic beam, lower surface is provided with a pair of foil gauge (R9 and R11) and this also is positioned at the end points of elastic beam and the mid point between central shaft (1) edge to foil gauge (R9 and R11), both sides at another root elastic beam of cross elastic beam (21) are provided with two couples of foil gauge (R1, R2 and R13, R14), this wherein a pair of foil gauge (R1 and R2) is positioned at the end points of elastic beam and the mid point between central shaft (1) edge, and wherein another is positioned at an end of the close central shaft (1) on the elastic beam to foil gauge (R13 and R14) for this.
3, direct output type robot four dimensional power according to claim 1 and torque sensor, it is characterized in that being provided with two couples of foil gauge (R5 in the wherein both sides of an elastic beam of cross elastic beam (22), R6 and R7, R8) and to be symmetrically distributed in central shaft (1) be the both sides of the central shaft (1) of symcenter, these two couples of foil gauge (R5, R6 and R7, R8) lay respectively at mid point between elastic beam end points and central shaft (1) edge, on above-mentioned elastic beam, lower surface is provided with two couples of foil gauge (R9, R11 and R10, R12) and to be symmetrically distributed in central shaft (1) be the both sides of the central shaft (1) of symcenter, these two couples of foil gauge (R9, R11 and R10, R12) lay respectively at mid point between elastic beam end points and central shaft (1) edge, both sides at another root elastic beam of cross elastic beam (21) are provided with four couples of foil gauges (R1 and R2, R3 and R4, R13 and R14, R15 and R16), wherein two couples of foil gauges (R1 and R2, R3 and R4) be symmetrically distributed in central shaft (1) be symcenter central shaft (1) both sides and lay respectively at the elastic beam end points and central shaft (1) edge between mid point, wherein another is to foil gauge (R13 and R14, R15 and R16) also be symmetrically distributed in central shaft (1) be symcenter central shaft (1) both sides and be positioned at an end of the close central shaft (1) on the elastic beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031126804A CN1168964C (en) | 2003-01-15 | 2003-01-15 | Four dimensional force and moment sensor of direct output type robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031126804A CN1168964C (en) | 2003-01-15 | 2003-01-15 | Four dimensional force and moment sensor of direct output type robot |
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| CN1425903A CN1425903A (en) | 2003-06-25 |
| CN1168964C true CN1168964C (en) | 2004-09-29 |
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| CNB031126804A Expired - Fee Related CN1168964C (en) | 2003-01-15 | 2003-01-15 | Four dimensional force and moment sensor of direct output type robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100549645C (en) * | 2008-05-21 | 2009-10-14 | 中国科学院合肥物质科学研究院 | Underwater robot four dimensional fingertip force sensor and information getting method thereof |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5243704B2 (en) * | 2006-08-24 | 2013-07-24 | 本田技研工業株式会社 | Force sensor |
| CN101825507B (en) * | 2010-05-25 | 2012-10-24 | 上海应用技术学院 | Multi-axis force transducer with double-bending beam structure |
| CN101858801A (en) * | 2010-05-25 | 2010-10-13 | 上海应用技术学院 | Two-way beam multi-axis force sensor |
| CN102353483A (en) * | 2011-07-08 | 2012-02-15 | 吉林大学 | Device for detecting three-dimensional micro mechanical signal |
| CN103134625B (en) * | 2011-11-29 | 2014-12-31 | 北京交通大学 | Torsion load testing structure of H-shaped dynamometric framework |
| TWI485376B (en) * | 2014-03-11 | 2015-05-21 | Hon Hai Prec Ind Co Ltd | Multidimensional force/torque sensor |
| CN105424255B (en) * | 2015-11-11 | 2018-05-01 | 上海大学 | A kind of combined type four dimensional force and torque sensor based on structure decoupling |
| CN106404261A (en) * | 2016-11-07 | 2017-02-15 | 张鹏 | Novel four-dimensional force sensor elastomer |
| CN109974916B (en) * | 2019-04-03 | 2020-12-29 | 东南大学 | Variable-pole-pitch capacitive three-dimensional force sensor structure |
| WO2022000117A1 (en) * | 2020-06-28 | 2022-01-06 | Shanghai Flexiv Robotics Technology Co., Ltd. | Axial force sensor assembly, robot gripper and robot |
| CN113739976B (en) * | 2021-08-27 | 2023-03-31 | 南京航空航天大学 | Six-dimensional force sensor with integrated structure decoupling |
| CN114894364B (en) | 2022-04-26 | 2023-01-31 | 东南大学 | Microminiature combined type multidimensional force sensor structure |
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2003
- 2003-01-15 CN CNB031126804A patent/CN1168964C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100549645C (en) * | 2008-05-21 | 2009-10-14 | 中国科学院合肥物质科学研究院 | Underwater robot four dimensional fingertip force sensor and information getting method thereof |
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| CN1425903A (en) | 2003-06-25 |
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