CN214951926U - Multi-axial force and moment sensor based on lens - Google Patents
Multi-axial force and moment sensor based on lens Download PDFInfo
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- CN214951926U CN214951926U CN202121629626.0U CN202121629626U CN214951926U CN 214951926 U CN214951926 U CN 214951926U CN 202121629626 U CN202121629626 U CN 202121629626U CN 214951926 U CN214951926 U CN 214951926U
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Abstract
The utility model discloses a multi-axial force and torque sensor based on a lens, which comprises an installation shell, a sensor seat arranged in the installation shell, and a light source PCB arranged in the installation shell and positioned below the sensor seat; the bottom of the sensor seat is also provided with a photosensitive PCB, and the surface of the photosensitive PCB is also covered with a lens mounting plate; a plurality of lens arrays are arranged on the periphery of the bottom of the lens mounting plate, and a blank area is formed by surrounding the lens arrays; the top of light source PCB board still is equipped with a light source chip with blank region department of corresponding, and the bottom of sensitization PCB board still all is equipped with a sensitization chip with blank region and the department of corresponding of each lens array. The utility model relates to a rationally, compact structure can realize the measurement of the linear power and the moment of 6 degrees of freedom, and it is convenient to measure, and the practicality is strong.
Description
Technical Field
The utility model relates to a power and torque sensor technical field especially relates to a multiaxis power and torque sensor based on lens.
Background
Multiaxis force and torque sensor wide application is controlled in robot, automation industry and experiment, and multiaxis torque sensor is the device that can measure linear force and moment in the multiple degrees of freedom, can observe 6 degrees of freedom, but current multiaxis torque sensor's structure is general comparatively complicated, and manufacturing cost is higher, and it is inconvenient to use.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a multiaxis power and torque sensor based on lens, this sensor reasonable in design, compact structure, can realize the measurement of the linear force and the moment of 6 degrees of freedom, it is convenient to measure, can be according to the optical characteristic of different lenses, change light intensity and light and shade image information on lens in order to adjust the sensitization chip, and then can be under the unchangeable prerequisite of physical structure, through changing lens and sensitization chip with change journey and measurement object, thereby the application of extension sensor, general utility is strong, and simultaneously, because the existence of lens, the produced small deformation of structure can be enlarged, consequently, the required precision of light source and sensitization chip has been reduced, therefore, the clothes hanger is strong in practicability.
In order to realize the purpose, the following technical scheme is adopted:
a lens-based multi-axial force and moment sensor comprises a mounting shell, a sensor seat mounted in the mounting shell, and a light source PCB (printed circuit board) mounted in the mounting shell and positioned below the sensor seat; the bottom of the sensor seat is also provided with a photosensitive PCB, and the surface of the photosensitive PCB is also covered with a lens mounting plate; a plurality of lens arrays are arranged on the periphery of the bottom of the lens mounting plate, and a blank area is formed by surrounding the lens arrays; the top of light source PCB board still is equipped with a light source chip with blank region department of corresponding, and the bottom of sensitization PCB board still all is equipped with a sensitization chip with blank region and the department of corresponding of each lens array.
Further, the mounting shell comprises a base and a top cover; the top of the base is provided with a first accommodating cavity, and the sensor seat, the photosensitive PCB and the light source PCB are uniformly distributed in the first accommodating cavity; the top cover is fixedly arranged at the top of the sensor seat and seals the first containing cavity.
Furthermore, the sensor seat comprises a connecting ring body arranged in the first cavity, a central disc positioned in the connecting ring body, and a plurality of elastic connecting beams which are arranged around the central disc and connected between the outer wall of the central disc and the inner wall of the connecting ring body at intervals; the photosensitive PCB and the lens mounting plate are both mounted at the bottom of the central disc.
Furthermore, both sides of each elastic connecting beam are provided with a concave notch.
Furthermore, a plurality of elastic supporting beams are obliquely arranged on the periphery of the connecting ring body.
Furthermore, a plurality of limiting notches are arranged on the periphery of the lower portion of the connecting ring body at intervals, and a plurality of limiting clamping seats are further arranged at positions, corresponding to the limiting notches, of the inner wall of the first accommodating cavity.
Adopt above-mentioned scheme, the beneficial effects of the utility model are that:
reasonable in design, compact structure, can realize the measurement of the linear force and the moment of 6 degrees of freedom, it is convenient to measure, and can be according to the optical characteristic of different lenses, change light intensity and light and shade image information on lens in order to adjust the sensitization chip, and then can be under the unchangeable prerequisite of physical structure, through changing lens and sensitization chip with change journey and measuring object, thereby the application of extension sensor, the commonality is strong, and simultaneously, because the existence of lens, the produced small deformation of structure can be enlarged, consequently, the required precision to light source and sensitization chip has been reduced, high durability and convenient use.
Drawings
FIG. 1 is an exploded view of the present invention;
FIG. 2 is an exploded view of FIG. 1 from another perspective;
fig. 3 is a perspective view of the sensor holder of the present invention;
FIG. 4 is an exploded view of the light source PCB, the lens mounting plate and the photosensitive PCB of the present invention;
fig. 5 is a diagram illustrating a light distribution of the sensor on each photo-sensing chip without any force according to an embodiment of the present invention;
fig. 6 is a diagram illustrating a light distribution of the sensor on each photo-sensing chip under Fx and Fy forces according to an embodiment of the present invention;
fig. 7 is a diagram illustrating a distribution of light rays on each photo-sensing chip when the sensor is subjected to Mx, My, Mz, and Fz forces according to an embodiment of the present invention;
wherein the figures identify the description:
1-mounting a housing; 2-sensor seat;
3-light source PCB board; 4, photosensitive PCB board;
5-a lens mounting plate; 6-a lens array;
7-blank area; 8, a light source chip;
9-a photosensitive chip; 11-a base;
12-a top cover; 21-a linking ring;
22 — central disc; 23-elastic connecting beam;
24-concave notch; 25-elastic support beam;
26-a limit notch; 27-limiting clamping seat.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 7, the present invention provides a lens-based multi-axial force and torque sensor, which includes a mounting case 1, a sensor base 2 installed in the mounting case 1, and a light source PCB board 3 installed in the mounting case 1 and located below the sensor base 2; the bottom of the sensor base 2 is also provided with a photosensitive PCB 4, and the surface of the photosensitive PCB 4 is also covered with a lens mounting plate 5; a plurality of lens arrays 6 are arranged on the periphery of the bottom of the lens mounting plate 5, and a blank area 7 is formed between the lens arrays 6; the top of light source PCB board 3 still is equipped with a light source chip 8 with blank region 7 department of corresponding, and the bottom of sensitization PCB board 4 still all is equipped with a sensitization chip 9 with blank region 7 and every lens array 6 department of corresponding.
Wherein, the mounting shell 1 comprises a base 11 and a top cover 12; the top of the base 11 is provided with a first accommodating cavity, and the sensor seat 2, the photosensitive PCB 4 and the light source PCB 3 are uniformly distributed in the first accommodating cavity; the top cover 12 is fixedly arranged at the top of the sensor base 2 and seals the first cavity; the sensor seat 2 comprises a connecting ring body 21 arranged in the first cavity, a central disc 22 positioned in the connecting ring body 21, and a plurality of elastic connecting beams 23 which are arranged around the central disc 22 and connected between the outer wall of the central disc 22 and the inner wall of the connecting ring body 21 at intervals; the photosensitive PCB 4 and the lens mounting plate 5 are both arranged at the bottom of the central disc 22; a concave notch 24 is arranged on each elastic connecting beam 23; a plurality of elastic supporting beams 25 are obliquely arranged on the periphery of the connecting ring body 21; a plurality of limiting notches 26 are further formed in the periphery of the lower portion of the connecting ring body 21 at intervals, and a plurality of limiting clamping seats 27 are further arranged at positions, corresponding to the limiting notches 26, of the inner wall of the first accommodating cavity.
The utility model discloses the theory of operation:
with continued reference to fig. 1 to 7, in the present embodiment, a plurality of threaded holes are reserved in the top cover 12 of the mounting seat for connecting with different external actuators; the periphery of the lower part of the connecting ring body 21 is provided with a plurality of limiting notches 26, and the connecting ring body 21 can be clamped and limited through the limiting clamping seat 27 and the limiting notches 26 during assembly, so that the assembly is simple and convenient; the central disc 22 is positioned at the upper part in the connecting ring body 21 and is connected with the inner wall of the connecting ring body 21 through a plurality of elastic connecting beams 23, and concave notches 24 are arranged at two sides of each elastic connecting beam 23, so that the design mode can amplify Fx, Fy and Mz acting on the central disc 22; the elastic connection beams 23 are uniformly distributed around the center of the central disc 22, are centrosymmetric as a whole, and are axisymmetric in the directions of the X axis and the Y axis, the number and the thickness of the elastic connection beams 23 influence the sensitivity and the measuring range of the sensor, the more the number, the lower the sensitivity of the sensor, the larger the measuring range, the smaller the thickness, the higher the sensitivity of the sensor, and the smaller the measuring range; a plurality of elastic supporting beams 25 are obliquely arranged on the periphery of the connecting ring body 21, the existence of the elastic supporting beams 25 provides the freedom degree of the sensor seat 2 for rotating along the X axis and the Y axis, and Mx and My acting on the whole sensor seat are amplified, and meanwhile, the existence of the elastic supporting beams 25 allows the deformation of the Z axis when the Z axis is stressed, and Fz acting on the whole sensor seat is amplified; in this embodiment, the plurality of elastic supporting beams 25 are designed to be parallel-like structures, and when viewed from the positive direction or the negative direction of the X-axis and the Y-axis, the elastic supporting beams 25 are parallel to each other, which ensures the isotropy of the sensor seat 2 when being stressed; in addition, the length, slope, thickness and sparseness of the elastic support beam 25 can affect the sensitivity and measurement range of the sensor, in this embodiment, the upper edge does not exceed the bottom surface of the central disc 22, the lower edge does not exceed the upper surface of the bottom of the connecting ring body 21, the thickness does not exceed the thickness of the side surface of the sensor seat 2, and other parameters can be corresponded as required.
The lens mounting plate 5 covers the surface of the photosensitive PCB 4, the bottom of the lens mounting plate 5 is provided with a plurality of lens arrays 6, in the embodiment, four sides of the bottom of the lens mounting plate 5 are respectively provided with a group of lens arrays 6, the bottom of the photosensitive PCB 4, corresponding to each lens array 6 and the blank area 7, is provided with a photosensitive chip 9 (in the embodiment, the number of the photosensitive chips 9 is 5), the photosensitive chip 9 can be a photodiode array, a CCD photosensitive coupling chip and the like, and can measure light distribution information and light intensity irradiated to the surface area; through the above arrangement, each photosensitive chip 9 can be located in the area where the light intensity and the light and shade pattern change most strongly, and meanwhile, the light intensity and the light and shade pattern change caused by the deformation in the structure can be amplified, so that the precision requirements on the light source and the photosensitive chip 9 are further reduced, and the principle of the method is as follows:
with reference to fig. 5, in an embodiment, the 5 photo-sensors 9 at the bottom of the photo-sensor PCB 4 are respectively denoted as Oxp, Oxn, Oyp, Oyn, Oo, when the sensor is not stressed and normally operates, the light distribution on each photo-sensor 9 is as shown in fig. 5, wherein the black area is an area that cannot be reached by the light emitted from the light source, as shown in fig. 6, (a) and (b) in fig. 6 respectively indicate that Fx is negative and positive, the light distribution diagram of each photo-sensor 9, and (c) and (d) in fig. 6 respectively indicate Fy is negative and positive, the light distribution diagram of each photo-sensor 9, when the sensor is only subjected to Fx, the central disc 22 drives the photo-sensor PCB 4 and the lens array 6 to translate along the X axis, the light-available area on Oxn and Oxp of the photo-sensor 9 moves corresponding to the light-free area, and the light intensities of Oyn and Oyp do not change; on the contrary, when the sensor is only subjected to Fy, the central disc 22 drives the photosensitive PCB 4 and the lens to translate along the Y axis, the light-emitting areas and the light-not-emitting areas on the Oyn and Oyp of the photosensitive chips 9 move correspondingly, and the light intensities of Oxn and Oxp do not change, in this case, the stress of the sensor can be calculated by analyzing the total light intensity of each of the four photosensitive chips 9 Oxn, Oxp, Oyn and Oyp.
As shown in fig. 7, (e), (f), (g) and (h) in fig. 7 respectively show the light distribution diagram of each photosensitive chip 9 when the sensor is subjected to Mx, My, Mz and Fz forces, when the sensor is subjected to Mx, My, Mz or Fz, the central disc 22 drives the photosensitive PCB 4 and the lens array 6 to move in a specific manner, and the light and dark areas on the photosensitive chips 9 change, so that the total light intensity on each photosensitive chip 9 and the coordinates of the light and dark areas on each photosensitive chip 9 in the chip internal unit are analyzed, and each stress condition can be analyzed; when the sensor is stressed, the total light intensity values IOxn, IOxp, IOyn, IOyp and IOo of each chip can be obtained, and the slope values kOxn, kOyn, kOxp, kOyp and kOo of the light and dark boundaries of the internal photosensitive units of each chip can be obtained; the relationship between Fx, Fy, Fz, Mx, My, Mz and IOxn, IOxp, IOyn, IOyp, kxn, kyn, kxp, kyp can be described as:
[FxFyFzMxMyMz]T＝K×[IOxnIOxIOynIOypkOxnkOynkOxpkOyp]T
to calculate the calibration matrix K, different combinations of six-axis forces and moments will be applied to the sensors, and the corresponding amount of angular displacement needs to be recorded, the recorded pairs of angular displacement values and applied force and moment values can be substituted into the above formula, and then an optimization algorithm (e.g., Lavenberg-Marquardt algorithm) can be used to find the best-fit calibration matrix K.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A lens-based multi-axial force and moment sensor is characterized by comprising a mounting shell, a sensor seat mounted in the mounting shell, and a light source PCB (printed circuit board) mounted in the mounting shell and positioned below the sensor seat; the bottom of the sensor seat is also provided with a photosensitive PCB, and the surface of the photosensitive PCB is also covered with a lens mounting plate; a plurality of lens arrays are arranged on the periphery of the bottom of the lens mounting plate, and a blank area is formed by surrounding the lens arrays; the top of light source PCB board still is equipped with a light source chip with blank region department of corresponding, and the bottom of sensitization PCB board still all is equipped with a sensitization chip with blank region and the department of corresponding of each lens array.
2. The lens-based multi-axis force and moment sensor according to claim 1, wherein the mounting housing comprises a base, and a top cover; the top of the base is provided with a first accommodating cavity, and the sensor seat, the photosensitive PCB and the light source PCB are uniformly distributed in the first accommodating cavity; the top cover is fixedly arranged at the top of the sensor seat and seals the first containing cavity.
3. The lens-based multi-axial force and moment sensor according to claim 2, wherein the sensor mount comprises a connection ring body disposed within the first cavity, a central disc located within the connection ring body, and a plurality of resilient connection beams disposed around the central disc and connected at intervals between an outer wall of the central disc and an inner wall of the connection ring body; the photosensitive PCB and the lens mounting plate are both mounted at the bottom of the central disc.
4. The lens-based multi-axis force and torque sensor of claim 3, wherein each resilient connecting beam is further provided with a concave indentation on both sides.
5. Lens-based multi-axial force and moment sensor according to claim 3, characterized in that the connection ring body is also provided with several resilient support beams inclined around its circumference.
6. The lens-based multi-axial force and moment sensor according to claim 3, wherein a plurality of limiting notches are further provided at intervals on the lower peripheral side of the connection ring body, and a plurality of limiting clamping seats are further provided at positions corresponding to the limiting notches on the inner wall of the first cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121629626.0U CN214951926U (en) | 2021-07-16 | 2021-07-16 | Multi-axial force and moment sensor based on lens |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121629626.0U CN214951926U (en) | 2021-07-16 | 2021-07-16 | Multi-axial force and moment sensor based on lens |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214951926U true CN214951926U (en) | 2021-11-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121629626.0U Active CN214951926U (en) | 2021-07-16 | 2021-07-16 | Multi-axial force and moment sensor based on lens |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214951926U (en) |
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2021
- 2021-07-16 CN CN202121629626.0U patent/CN214951926U/en active Active
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