CN209230854U - Rotate three component sensors - Google Patents

Abstract

The utility model discloses a kind of three component sensors of rotation, and including the shell coaxially arranged with transmission shaft, one end of the shell is connect with transmission axis connection, the other end and executing agency；The inner cavity of the shell is provided with X-direction strain regions, Y-direction strain regions, Z-direction strain regions, the X-direction, Y-direction corresponds to the radial direction of transmission shaft and the two angle is 90 °, the Z-direction corresponds to the axial direction of transmission shaft, the X-direction strain regions, Y-direction strain regions, Z-direction strain regions all metal clad foil foil gauges, the inner cavity of shell is provided with the signal processing circuit connecting with the metal foil stain gauge of X-direction strain regions, Y-direction strain regions, Z-direction strain regions, and the signal processing circuit is connect with radio transmitter.Without signal transmission cable, the frictional abrasion problem of slip ring structure is avoided, it is ensured that the tri- direction component of X, Y, Z of detection transmission shaft when rotated.

Description

Rotate three component sensors

Technical field

The utility model belongs to three component fields of measurement, in particular to a kind of three component sensors of rotation.

Background technique

Three component sensors can detect three force informations (Fx, Fy, Fz) of three-dimensional space simultaneously, currently, three component sense The mounting means of device on the robotic arm mainly have it is fixed and two kinds of sliding ring type, it is fixedly mounted to cannot be used for setting for continuous rotation Standby, because the elastomer of the power supply of sensor and signal transmission cable and sensor is directly connected to, cable connects in sensor Winding can occur when continuous rotation even to snap.Therefore, fixedly mounted three-dimensional force sensor is used all on most of mechanical arm Reserving one section can be with movable cable, and the rotation angle of sensor can only be unable to continuous rotation within 360 degree.It is sliding Three component sensors of ring type installation increase a slip ring, to a certain extent the company of solving on the basis of fixedly mounted When continuous rotation the problem of cable winds, but between the stator of slip ring and rotor be contact type structure, when work frictional dissipation compared with Greatly, it is also not suitable for using for a long time at high speed.

Utility model content

The purpose of this utility model is to provide a kind of three component sensors of rotation, are not necessarily to signal transmission cable, avoid sliding The frictional abrasion problem of ring structure, it is ensured that the tri- direction component of X, Y, Z of detection transmission shaft when rotated.

To achieve the goals above, the utility model takes following technical scheme: a kind of three component sensors of rotation, including One end of the coaxially arranged shell with transmission shaft, the shell is connect with transmission axis connection, the other end and executing agency；

The inner cavity of the shell is provided with X-direction strain regions, Y-direction strain regions, Z-direction strain regions, the side X To, Y-direction corresponds to the radial direction of transmission shaft and the two angle is 90 °, the Z-direction corresponds to the axial direction of transmission shaft, the side X To strain regions, Y-direction strain regions, Z-direction strain regions all metal clad foil foil gauges, the inner cavity of shell is provided with and X-direction The signal processing circuit of the metal foil stain gauge connection of strain regions, Y-direction strain regions, Z-direction strain regions, at the signal Reason circuit is connect with radio transmitter.

The inner cavity medium position of the shell is provided with flange collar, and the inner wall connection of the flange collar and shell is described It is provided with cylinder table at the center of the inner cavity medium position of shell, connection ring flat-plate is provided between the flange collar and cylinder table, The anchor ring of the connection ring flat-plate is uniformly provided with through-hole, and a surface of the cylinder table is vertically connected with two risers one, institute Space except another surface for the cylinder table stated forms the installation cavity for arranging signal processing circuit, radio transmitter； The end of two risers one is connected with transverse slat, and the surface of the transverse slat is vertically connected with two risers two, and described two is perpendicular The riser of plate two and two one is arranged vertically, and the end of two risers two is connect with executing agency；The flange collar, cylinder table, It connects ring flat-plate and through-hole constitutes Z-direction strain regions, two risers one constitute Y-direction strain regions, two risers, two structure At X-direction strain regions.

One end of the shell is provided with connecting flange, the connecting flange and transmission axis connection, and described two is perpendicular The end of plate two extend to the other end of shell outside it is vertical with connecting plate connect, the connecting plate and executing agency connect It connects.

The signal processing circuit includes bridge signal output circuit, signal amplification circuit；The bridge signal is defeated Circuit includes the wiring connecting respectively with the metal foil stain gauge of X-direction strain regions, Y-direction strain regions, Z-direction strain regions out Terminal JP2, JIP3, JP4, the pin 4,3 of the connecting terminal JP2 export X-direction IN+ signal, X through resistance R3, R5 respectively Capacitor C3, C4 is also respectively connected in direction IN- signal, the output end of described resistance R3, R5, and described capacitor C3, C4 are common It is connect with ground wire；

The pin 4,3 of the connecting terminal JP3 is believed through resistance R7, R9 output Y-direction IN+ signal, Y-direction IN- respectively Number, capacitor C5, C6 is also respectively connected in the output end of described resistance R7, R9, and described capacitor C5, C6 connect with ground wire jointly It connects；

The pin 4,3 of the connecting terminal JP4 exports Z-direction IN+ signal, Z-direction IN- through resistance R10, R11 respectively Signal, the output end of described resistance R10, R11 are also respectively connected capacitor C7, C8, and described capacitor C7, C8 are jointly and ground wire Connection.

The signal amplification circuit includes single-chip microcontroller U5, and the pin 1,2,3,4,5,6 of the single-chip microcontroller U5 is used respectively In reception X-direction IN+ signal, X-direction IN- signal, Y-direction IN+ signal, Y-direction IN- signal, Z-direction IN+ signal, Z-direction IN- signal；Voltage source VCC is connect with capacitor C9, C10, resistance R13 respectively through resistance R12, described capacitor C9, C10 jointly with Ground wire connection, the resistance R13 are connect with the pin 12 of single-chip microcontroller U5；Between the pin 15,16 of the single-chip microcontroller U5 simultaneously It is associated with resistance R14, the pin 1,2 of crystal oscillator Y1, the crystal oscillator Y1 are connected separately with capacitor C11, C12, institute Capacitor C11, the C12 stated is connect with ground wire jointly；The pin 3,4 of jtag interface JP5 connects with the pin of single-chip microcontroller U5 11,12 respectively It connects.

The radio transmitter includes single-chip microcontroller U4, the single-chip microcontroller U5 of the pin 3,4,8,9 of the single-chip microcontroller U4 Pin 19,20,25,14 connect.

The inner cavity of the shell is additionally provided with power supply circuit, the power supply circuit include lithium battery, with lithium battery just The pin 2 of the connecting terminal JP1, the connecting terminal JP1 of cathode connection access linear voltage stabilization through switch S1, diode VD1 The pin 2 of device U1, the pin 2 of the linear voltage regulator U1 are connect with the anode of tantalum capacitor E1, the linear voltage regulator Pin 3 is connect with the anode of tantalum capacitor E2, polarity free capacitor C1 respectively, the cathode of the tantalum capacitor E1, tantalum capacitor E2 it is negative Pole, polarity free capacitor C1, linear voltage regulator U1 pin 1 connect jointly with the pin 1 of connecting terminal JP1 and access ground wire again.

In above-mentioned technical proposal, the utility model can effectively realize the transmission shaft continuous rotation of the equipment such as mechanical arm When, to the precise measurement of tri- direction component of X, Y, Z, solve the problems, such as the measurement of three component of rotation, due in sensor Portion increases lithium battery power supply, signal processing and radio transmitter, and supply lines is no longer needed between sensor and display instrument Cable and signal transmission cable, when solving sensor with Devices to test continuous rotation, the winding of cable and problem of snapping；Meanwhile Communication can select different communication frequency and communication protocol according to actual condition, display instrument and sensor it Between distance can be distant, can also freely adjust；In addition, the frictional dissipation that communication does not have slip ring structure is asked Topic, measures stability and service life is significantly larger than the sensor for using slip ring structure.

Detailed description of the invention

Fig. 1 is sensor housing perspective view；

Fig. 2 is sensor housing cross-sectional view；

Fig. 3 is the half-sectional perspective view of sensor housing；

Fig. 4 is the installation main view of the utility model；

Fig. 5 is the working principle block diagram of the utility model；

Fig. 6 is lithium battery power supply circuit diagram in the utility model；

Fig. 7 is bridge signal output circuit schematic diagram in the utility model；

Fig. 8 is radio transmitter schematic diagram in the utility model；

Fig. 9 is signal amplification circuit schematic diagram in the utility model.

Specific embodiment

It is made further instructions in conjunction with 1~9 pair of the utility model of attached drawing:

A kind of three component sensors of rotation, as shown in Figure 1, using cylindrical shape, top and bottom are respectively set shape There are connecting plate 19, connecting flange 18, the radial direction of X and Y-direction respective sensor end face, the angle between X and Y-direction is 90 degree, Z The axial direction of direction respective sensor.

In a preferred embodiment of the utility model, the mounting means of sensor is as shown in Figure 4: shell 1 is mounted on Between the transmission shaft 2 and executing agency 3 of mechanical arm 5, connected between the transmission shaft 2 and shell 1 of mechanical arm 5 by connecting flange 18 It connects, is connected between shell 1 and executing agency 3 by connecting plate 19；Installation cavity of the transmitting antenna of radio transmitter from shell 1 The antenna fairlead 41 that 4 outer wall opens up is drawn；When mechanical arm 5 works, shell 1 and executing agency 8 follow mechanical arm 5 jointly Transmission shaft 2 is moved forward and backward and is rotated.

The internal structure of sensor housing 1 is as shown in Figure 2,3, including tri- strain regions X, Y, Z, and two risers 2 17, two are perpendicular Plate 1 is all the cantilever beam structure that elastomer is constituted, and respectively constitutes X-direction strain regions, Y-direction strain regions, respectively posts 4 above Piece metal foil stain gauge, two risers 2 17, two risers 1 each medial surface respectively post 2 metal foil stain gauges, structure At wheatstone bridge configuration；Flange collar 11, cylinder table 12, connection ring flat-plate 13 and through-hole 14 are the spoke structure that elastomer is constituted, Z-direction strain regions are constituted, post 8 metal foil stain gauges above, through-hole 14 offers 8, flat between every two through-hole 1 metal foil stain gauge is posted on face, also constitutes wheatstone bridge configuration.

Installation cavity 4 is for installing lithium battery and arrangement signal processing circuit, radio transmitter and power supply circuit, connection ring Hole can be also opened up on plate 13, Wheatstone bridge machine is accessed into signal processing circuit, open up antenna fairlead in the outer wall of installation cavity 4 41 draw the antenna of radio transmitter；The connecting plate 19 at 1 top of shell opens up the executing agency of mounting hole Yu 5 end of mechanical arm 3 flanged joint, the connecting flange 18 of 1 bottom of shell open up mounting hole for the flanged joint with the transmission shaft 2 of mechanical arm 5.

The working principle of sensor is as shown in figure 5, when mechanical arm 5 works, when the executing agency 3 of mechanical arm tail end is by outer Power effect, since it is rigid connection between the shell 1 of sensor, so deformation occurs for the strain regions meeting on elastomer, outside The X-direction component of power can make two risers 2 17 of X-direction strain regions generate micro- deformation, paste 4 metal foils on a cantilever beam The output voltage of the Wheatstone bridge of formula foil gauge composition also accordingly changes, the variation and X-direction component size of this voltage At linear approximate relationship, by the variation for detecting this voltage, so that it may detect the size of X-direction component；Likewise, external force Y-direction component can make the cantilever beam of Y-direction strain regions generate micro- deformation, and the Z-direction component of external force can make the wheel of Z-direction strain regions Spoke elastomer structure generates micro- deformation, and the output voltage of corresponding Wheatstone bridge also accordingly changes, and passes through detection electricity The variation of pressure, so that it may detect the size of Y-direction and Z-direction component.

X, the signal of the Wheatstone bridge output in tri- directions Y, Z is all mV magnitude voltage signals, fainter, so first leading to After oversampling circuit conditioning and amplification, it is re-fed into 24 bit A/D converters inside single-chip microcontroller C8051F350 and is AD converted；Single-chip microcontroller U5 carries out data processing to the result of AD conversion, the specific value of corresponding tri- direction component of X, Y, Z is calculated, then by three The numerical value of direction component is deposited into data frame to be sent；It will include X, Y, Z tripartite that single-chip microcontroller U5, which drives radio transmitter, It is sent to the data frame of component numerical value, the wireless receiving circuit module of distal end receives data frame, and sends display instrument to Table, display instrument parsing data frame simultaneously extract tri- direction component numerical value of X, Y, Z, are then shown on instrument display screen or carry out Other processing.

Fig. 6 is lithium battery power supply circuit diagram in the utility model, and JP1 connecting terminal is for connecting lithium battery in figure Positive and negative anodes, switch S1 can be disconnected when mechanical arm 5 does not work, and save electric quantity of lithium battery, and diode VD1 is used for anti-reverse guarantor Shield, when normal work, diode VD1 is conducting, and when user is accidentally reversed by lithium battery positive and negative anodes, diode is reversely cut Only, circuit is to disconnect；Tantalum capacitor E1, E2 play energy storage and low frequency filtering, and polarity free capacitor C1 is mainly used for filtering out height Frequency noise.Due to using lithium battery power supply, so linear voltage regulator U1 uses the HT7133 of low-power consumption, its main feature is that small in size, Low in energy consumption, suitable in the system of lithium battery power supply, HT7133 output voltage is 3.3V, uses VCC and GND table in circuit diagram Show.

Fig. 7 is bridge signal output circuit schematic diagram in the utility model, the metal foil stain gauge group of X-direction strain regions At Wheatstone bridge, circuit is connected to by connecting terminal JP2, the pin 1,2 of JP2 is the energization pins of Wheatstone bridge, JP2 pin 3,4 is the signal output pin of Wheatstone bridge；The differential voltage that the output signal of Wheatstone bridge is mV grades is believed Number, resistance R3 and capacitor C3, resistance R5 and capacitor C4 respectively constitute RC low-pass filter, the high frequency filtered out in differential signal is made an uproar Sound and interference signal, the differential signal of the Wheatstone bridge output of X-direction strain regions are output to Fig. 9 after RC low-pass filtering The analog input pin 1,2 of single-chip microcontroller U5.Similarly, the Wheatstone bridge of Y-direction strain regions accesses circuit, output by JP3 Signal is connected to the pin 3,4 of single-chip microcontroller U5 after RC low-pass filtering；The Wheatstone bridge of Z-direction strain regions is accessed by JP4 Circuit, output signal are connected to the pin 3,4 of single-chip microcontroller U5 after RC low-pass filtering.X, Y, Z-direction bridge output signal point It Jie Ru not be put by 128 times of programmable amplifiers inside single-chip microcontroller after the corresponding analog input pin of single-chip microcontroller U5 Greatly, corresponding digital signal then is converted by 24 bit A/D converters inside single-chip microcontroller U5 again.

Fig. 8 is the schematic diagram of radio transmitter in the utility model, and the model that wireless transmitter module uses is RN630, Feature is small in size, low-power consumption, and about 500 meters of accessible transmission range, circuit interface is the single needle of 9 cores.It is indicated in figure with U4, Pin 1,2 is the feeder ear of wireless transmitter module, meets 3.3V power supply VCC and GND；Pin 4,3 is wireless transmitter module and monolithic The communications pins RXD and TXD of machine U5, communication use serial mode, and Transistor-Transistor Logic level connects the pin 20,19 of single-chip microcontroller U5 respectively；Nothing The pin 5 of line transmitting module is also grounding pin, and pin 6,7 is also serial communication pin, RS232 level, is not used in system It arrives, therefore hanging processing；Pin 8 is sleep control pin, connects the pin 25 of single-chip microcontroller, when not sending data, single-chip microcontroller U4 Enter sleep battery saving mode by this pin control module, battery capacity can be saved；Pin 9 is the reset pin of module, is connect The pin 14 of single-chip microcontroller, single-chip microcontroller U4 can carry out reset operation to wireless transmitter module by this pin when necessary.

Fig. 9 is signal amplification circuit schematic diagram and single-chip microcontroller U5 minimum system circuit diagram in the utility model, single Piece machine U5 uses C8051F350, built-in 128 times of programmable amplifiers and 24 bit A/D converters, and power consumption is relatively low, single-chip microcontroller Pin 1~8 be analog input pin, wherein pin 1~6 connects the letter of sensors X, tri- direction Wheatstone bridge of Y, Z respectively Number output；The pin 31,32 of single-chip microcontroller is the reference voltage input pin of internal A/D converter, connect in figure 3.3V power supply VCC and GND；Pin 21,22 is the power input pin of internal digital device, meets 3.3V power supply VCC and GND in figure；Pin 9,10 is interior The power input pin of portion's analog device meets 3.3V power supply VCC and GND in figure；Resistance R12, R13, capacitor C9, C10 are constituted single The electrification reset circuit of piece machine U5 connects No. 12 pins of single-chip microcontroller, it is therefore an objective in system electrification, carry out to single-chip microcontroller U5 automatic Reset operation；JP5 is the jtag interface of single-chip microcontroller, and pin 1,2 is power supply, and pin 3,4 connects the pin 11,12 of single-chip microcontroller respectively (reset pin that pin 12 is also single-chip microcontroller U5 simultaneously), the main function of JP5 is by compiled program burn writing into single-chip microcontroller U5 and to single-chip microcontroller U5 carry out on-line debugging；Resistance R14, crystal oscillator Y1, capacitor C11, C12 collectively form oscillation electricity Road connects the pin 15,16 of single-chip microcontroller U5；The pin 14,25,20,19 of single-chip microcontroller U5, connect wireless transmitter module U4 pin 9,8, 3,4, the working condition of wireless transmitter module U4 is controlled, and communicate with.

In conclusion when the utility model can effectively realize the transmission shaft continuous rotation of the equipment such as mechanical arm, to X, Y, the precise measurement of tri- direction component of Z solves the problems, such as the measurement of three component of rotation, since the inside in sensor increases Lithium battery power supply, signal processing and radio transmitter, no longer need power cable and signal between sensor and display instrument Transmission cable, when solving sensor with Devices to test continuous rotation, the winding of cable and problem of snapping；Meanwhile it wirelessly communicating Mode can select different communication frequency and communication protocol, the distance between display instrument and sensor according to actual condition Can be distant, it can also freely adjust；In addition, communication does not have the frictional abrasion problem of slip ring structure, measurement Stability and service life are significantly larger than the sensor for using slip ring structure.

Claims (7)

1. a kind of three component sensors of rotation, it is characterised in that: described including the shell (1) coaxially arranged with transmission shaft (2) One end of shell (1) is connect with transmission shaft (2), the other end and executing agency (3) connect；

The inner cavity of the shell (1) is provided with X-direction strain regions, Y-direction strain regions, Z-direction strain regions, the X-direction, Y-direction corresponds to the radial direction of transmission shaft (2) and the two angle is 90 °, and the Z-direction corresponds to the axial direction of transmission shaft (2), described X-direction strain regions, Y-direction strain regions, Z-direction strain regions all metal clad foil foil gauges, the inner cavity of shell (1) be provided with The signal processing circuit of the metal foil stain gauge connection of X-direction strain regions, Y-direction strain regions, Z-direction strain regions, it is described Signal processing circuit is connect with radio transmitter.

2. three component sensors of rotation according to claim 1, it is characterised in that: in the middle part of the inner cavity of the shell (1) Position is provided with flange collar (11), and the flange collar (11) is connect with the inner wall of shell (1), in the middle part of the inner cavity of the shell (1) It is provided at the center of position cylinder table (12), is provided with connection ring flat-plate between the flange collar (11) and cylinder table (12) (13), the anchor ring of the connection ring flat-plate (13) is uniformly provided with through-hole (14), and a surface of the cylinder table (12) is vertical Two risers one (15) are connected with, the space except another surface of the cylinder table (12) is formed for arranging signal processing electricity Road, radio transmitter installation cavity (4)；The end of two risers one (15) is connected with transverse slat (16), the transverse slat (16) surface is vertically connected with two risers two (17), and two risers two (17) are arranged vertically with two risers one (15), institute The end for two risers two (17) stated is connect with executing agency (3)；The flange collar (11), cylinder table (12), connection ring flat-plate (13) Z-direction strain regions are constituted with through-hole (14), two risers one (15) constitute Y-direction strain regions, two risers Two (17) constitute X-direction strain regions.

3. three component sensors of rotation according to claim 2, it is characterised in that: one end of the shell (1) is arranged Have connecting flange (18), the connecting flange (18) is connect with transmission shaft (2), and the end of two risers two (17) extends It is connect to the outside of the other end of shell (1) is vertical with connecting plate (19), the connecting plate (19) and executing agency (3) are even It connects.

4. three component sensors of rotation according to claim 1, it is characterised in that: the signal processing circuit includes electricity Bridge signal output circuit, signal amplification circuit；

The bridge signal output circuit includes the metal with X-direction strain regions, Y-direction strain regions, Z-direction strain regions respectively Foil gage connection connecting terminal JP2, JIP3, JP4, the pin 4,3 of the connecting terminal JP2 respectively through resistance R3, R5 exports X-direction IN+ signal, X-direction IN- signal, and capacitor C3, C4 is also respectively connected in the output end of described resistance R3, R5, Described capacitor C3, the C4 is connect with ground wire jointly；

The pin 4,3 of the connecting terminal JP3 exports Y-direction IN+ signal, Y-direction IN- signal, institute through resistance R7, R9 respectively Capacitor C5, C6 is also respectively connected in the output end of resistance R7, R9 for stating, and described capacitor C5, C6 are connect with ground wire jointly；

The pin 4,3 of the connecting terminal JP4 exports Z-direction IN+ signal, Z-direction IN- signal through resistance R10, R11 respectively, Capacitor C7, C8 is also respectively connected in the output end of described resistance R10, R11, and described capacitor C7, C8 are connect with ground wire jointly.

5. three component sensors of rotation according to claim 4, it is characterised in that: the signal amplification circuit includes single The pin 1,2,3,4,5,6 of piece machine U5, the single-chip microcontroller U5 are respectively used to receive X-direction IN+ signal, X-direction IN- signal, Y Direction IN+ signal, Y-direction IN- signal, Z-direction IN+ signal, Z-direction IN- signal；Voltage source VCC through resistance R12 respectively with electricity Hold C9, C10, resistance R13 connection, described capacitor C9, C10 are connect with ground wire jointly, the resistance R13 and single-chip microcontroller U5's Pin 12 connects；Resistance R14, crystal oscillator Y1, the crystal are parallel between the pin 15,16 of the single-chip microcontroller U5 The pin 1,2 of oscillator Y1 is connected separately with capacitor C11, C12, and described capacitor C11, C12 are connect with ground wire jointly；JTAG connects The pin 3,4 of mouth JP5 is connect with the pin of single-chip microcontroller U5 11,12 respectively.

6. three component sensors of rotation according to claim 5, it is characterised in that: the radio transmitter includes single The pin 19,20,25,14 of the single-chip microcontroller U5 of the pin 3,4,8,9 of piece machine U4, the single-chip microcontroller U4 connects.

7. three component sensors of rotation according to claim 1, it is characterised in that: the inner cavity of the shell (1) is also set It is equipped with power supply circuit, the power supply circuit includes lithium battery, the connecting terminal JP1 connecting with lithium battery positive and negative anodes, described Pin 2 of the pin 2 of connecting terminal JP1 through switch S1, diode VD1 access linear voltage regulator U1, the linear voltage regulator The anode of the pin 2 of U1 and tantalum capacitor E1 are connect, the pin 3 of the linear voltage regulator respectively with the anode of tantalum capacitor E2, nothing Polar capacitor C1 connection, the cathode of tantalum capacitor E1, the cathode of tantalum capacitor E2, polarity free capacitor C1, linear voltage regulator U1 Pin 1 connect jointly with the pin 1 of connecting terminal JP1 and access ground wire again.